Flexible robot capable of switching between series connection and parallel connection

Abstract

The invention relates to the field of all-terrain moving flexible robots, in particular to a series-parallel switchable flexible robot which comprises a plurality of single-section deformation structures and memory alloy parts, and the single-section deformation structures are connected front and back through the memory alloy parts to form a single-row series structure or are connected side by side at the same time to form a side-by-side series structure; and the memory alloy part enables the correspondingly connected single-section deformation structure to overturn through temperature control deformation, so that the robot reconstructs the structure, and form switching of the series-parallel connection structure is achieved. The flexible robot can be transformed into a parallel robot in a wide area, fast and stable movement is achieved through the stability and high efficiency of the parallel robot, and in a narrow space, the flexible robot can be switched into a series robot to pass through, and all-terrain movement is achieved.

Description

Technical Field

[0001] The present invention relates to the field of flexible robots capable of all-terrain mobility, and in particular to a flexible robot capable of switching between series and parallel connections. Background Art

[0002] Existing all-terrain mobile robots are basically rigid robots, with few flexible application cases, and often require a lot of complex structures to achieve true all-terrain mobility; in addition, existing flexible robots are difficult to switch between serial and parallel modes, and there is little research in related fields. In summary, the problems existing in the existing technology are: The structure and control are complex, the size is large and the stability is low, so there is little research on flexible robots; It is difficult to achieve fast switching between series and parallel with only a single serial robot or parallel robot. Summary of the Invention

[0003] In order to solve the above technical problems existing in the prior art, the present invention proposes a flexible robot with serial and parallel switchability, and its specific technical solution is as follows: A flexible robot capable of switching between series and parallel connection comprises a plurality of single-segment deformable structures and memory alloy parts. The plurality of single-segment deformable structures are connected via front and rear rows of memory alloy parts to form a single-row series structure, or are simultaneously connected side by side to form a side-by-side series structure. The memory alloy parts deform through temperature control to cause the correspondingly connected single-segment deformable structures to flip, thereby reorganizing the robot structure to achieve morphological switching between the series and parallel structures.

[0004] Furthermore, the single-segment deformation structure 1 includes a series of spherical airbags, a traction rope and multiple deformable partition plates, each deformable partition plate is provided with four vertex holes and one middle hole, each vertex hole is passed through the traction rope, and the end of the traction rope is fixedly connected to the corresponding deformable partition plate; the middle hole is passed through the series of spherical airbags, and after the airbags are inflated, the multiple partition plates are spaced apart; when one end of the traction rope is pulled, the single-segment deformation structure will bend along the stretched direction.

[0005] Furthermore, the memory alloy parts include U-shaped memory alloy, type I memory alloy and mouth-shaped memory alloy. The U-shaped memory alloy is arranged and connected between the single-segment deformation structures in the front and rear rows. The type I memory alloy and the mouth-shaped memory alloy are respectively located at the two side ends of the parallel series structure and are arranged and connected between the two side-by-side single-segment deformation structures on the corresponding sides.

[0006] Furthermore, both the type I memory alloy and the U-shaped memory alloy can be heated and transformed into a V-shaped memory alloy by a heating chip controlled by a circuit, and the V-shaped memory alloy returns to its original shape after cooling down.

[0007] Furthermore, the U-shaped memory alloy can be transformed into a type I memory alloy through temperature control.

[0008] Furthermore, the mouth-shaped memory alloy is heated, deformed and expanded by a heating chip controlled by a circuit, and contracts and recovers after cooling; a connecting partition is provided on each of the two deforming partition plates on one side of the parallel series structure, and the two connecting partitions are connected by the mouth-shaped memory alloy.

[0009] Furthermore, the type I memory alloy is specifically connected to the outer surfaces of two deformable partition plates arranged on the other side of the parallel series structure.

[0010] Beneficial effects: The flexible robot of the present invention can be transformed into a parallel robot in a wide area, and can achieve fast and smooth movement by utilizing the stability and efficiency of the parallel robot. In a narrow space, it can be switched to a serial robot to pass through and achieve all-terrain movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 is a cross-sectional view of a single-segment deformation structure according to an embodiment of the present invention; Figure 2 is a three-dimensional diagram of a single-stage deformation structure according to an embodiment of the present invention; Figures 3a to 3d Schematic diagrams of the U-shaped, I-shaped, V-shaped and mouth-shaped structures of the memory alloy according to the embodiment of the present invention; Figure 4 Schematic diagram of the deformation among the U-shaped, I-shaped and V-shaped memory alloy plates according to an embodiment of the present invention; Figure 5 This is a three-dimensional diagram of a side-by-side series structure of flexible robots according to an embodiment of the present invention; Figure 6 yes Figure 5 A top view of Figure 7 Schematic diagram of the connection between the partition and the mouth-shaped memory alloy in the parallel series structure of an embodiment of the present invention; Figure 8 yes Figure 6 Schematic diagram of the three-dimensional structure of the parallel flexible robot after torsion switching of the flexible robot; Figure 9 yes Figure 8 Schematic diagram of the main viewing angle; Figure 10 2. This is a schematic diagram of the stretching deformation of a serial flexible robot according to an embodiment of the present invention; Figure 11 2. This is a schematic diagram of the stretching deformation of the parallel flexible robot according to an embodiment of the present invention; Figure 12 yes Figure 11 Schematic diagram of the top view; Figure 13 yes Figure 11 Schematic diagram of the main viewing angle; In the figure, 1-single-stage deformation structure, 2-series spherical airbags, 3-deformation partition plate, 4-traction rope, 5-U-type memory alloy, 6-type I memory alloy, 7-V-type memory alloy, 8-inflating hole, 9-apex hole position, 10-connecting partition plate, 11-mouth-shaped memory alloy. DETAILED DESCRIPTION

[0012] In order to make the purpose, technical solution and technical effect of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0013] like Figure 1 and Figure 2 As shown, the flexible robot of the embodiment of the present invention includes multiple single-segment deformable structures 1 and memory alloys connected thereto. The single-segment deformable structures 1 are divided into two structures: with a partition 10 and without a partition 10. They both include a series of spherical airbags 2, a deformable partition 3 and traction ropes 4 around them. The series of spherical airbags 2 have an inflation hole 8 at one end. Before inflation, the deformable partition 3 with a hole in the middle is first inserted into the series of spherical airbags 2. After the airbags are filled, they can be blocked. At this time, the deformable partition 3 will also be fixed in the corresponding position by the airbags; the traction rope 4 passes through the four vertex holes 9 reserved in each deformable partition 3, and the end of the traction rope 4 is kept fixed to the deformable partition 3. When one end is pulled, the single-segment deformable structure 1 will bend along the stretched direction; since there are a total of four traction ropes 4, the single-segment deformable structure 1 can achieve omnidirectional bending deformation. The single-segment deformation structure 1 with a partition is an additional connecting partition 10 added to the deformation partition plate at one end, which allows the mouth-shaped memory alloy 11 to pass through it and connect with another single-segment deformation structure 1 with a connecting partition 10, such as Figure 7 shown.

[0014] like Figure 3a to Figure 3d As shown, the memory alloy includes a U-shaped memory alloy 5, a type I memory alloy 6, a V-shaped memory alloy 7 and a mouth-shaped memory alloy 11. Figure 4 As shown, at low temperatures, the memory alloy exhibits two forms: U-shaped and I-shaped, connected to the deformable partition plates 3 on both sides of the single-stage deformation structure 1. The shaped memory alloy 11, on the other hand, is contracted. When heated above a critical temperature, the shaped memory alloy 11 expands, and both the U-shaped and I-shaped memory alloys become V-shaped, returning to their original shape after cooling. Similarly, the U-shaped memory alloy 5 can also be transformed into the I-shaped memory alloy 6 through temperature control.

[0015] like Figure 5 and Figure 6The figure shows a serial flexible robot composed of a single-segment deformation structure 1, a U-shaped memory alloy 5, a type I memory alloy 6 and a mouth-shaped memory alloy 11. At room temperature, the robot can achieve fine omnidirectional deformation by controlling the traction rope 4 of each single-segment deformation structure 1 separately. Figure 10 shown.

[0016] like Figure 8 and Figure 9 What is shown is a parallel flexible robot formed by heating some memory alloy plates of the serial flexible robot and then switching to a deformed one. The specific heating method is to keep only the temperature of the type one memory alloy 6 on one side unchanged, and heat the rest to above the critical temperature. The heating can be achieved by pasting a heating chip at the corresponding position and controlling it with a circuit. After this heating process, the deformation of the memory alloy parts will assist the serial flexible robot to reorganize into three groups of parallel deformation structures, each group having two single-segment deformation structures 1. Among them, the U-shaped memory alloy 5 will stretch and deform toward the V-shaped memory alloy 7, and the mouth-shaped memory alloy 11 will become loose due to expansion, so that the U-shaped memory alloy 5 can drive the single-segment deformation structure 1 with the connecting partition 10 to change position together when deforming, until the U-shaped memory alloy 5 is completely transformed into the V-shaped memory alloy 7, that is, after the serial flexible robot is transformed into a parallel flexible robot, the mouth-shaped memory alloy 11 is stopped from being heated, and after losing the heat source, it will shrink and tighten the two adjacent single-segment deformation structures 1 with the connecting partition 10, thereby realizing the change of the end shaft position.

[0017] In passing Figures 11 to 13 After the traction rope 4 shown is controlled, the parallel flexible robot can stand up, and by continuing to control the remaining traction ropes 4, complex functions such as crawling can be achieved; if it is necessary to change back to a serial flexible robot, it is only necessary to stop heating the memory alloy parts and the flexible robot will recover.

[0018] The above description is only a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the implementation process of the present invention is described in detail above, it is still possible for those familiar with the art to modify the technical solutions described in the above examples or to replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. A flexible robot that can switch between series and parallel, characterized in that: The invention comprises a plurality of single-segment deformation structures (1) and memory alloy parts, wherein the plurality of single-segment deformation structures (1) are connected by front and rear rows of memory alloy parts to form a single-row series structure, or are simultaneously connected side by side to form a side-by-side series structure; the memory alloy parts are deformed by temperature control to cause the corresponding connected single-segment deformation structures (1) to flip, thereby causing the robot to restructure.

2. The series-parallel switchable flexible robot according to claim 1, characterized in that: The single-segment deformation structure (1) comprises a series of spherical airbags (2), a traction rope (4) and a plurality of deformable partition plates (3), each deformable partition plate (3) being provided with four vertex holes (9) and one middle hole, each vertex hole (9) being passed through the traction rope (4), and the end of the traction rope (4) being fixedly connected to the corresponding deformable partition plate (3); the middle hole being passed through the series of spherical airbags (2), and the plurality of partition plates (3) being spaced apart after the airbags are filled with air; when one end of the traction rope is pulled, the single-segment deformation structure (1) will bend along the stretched direction.

3. The series-parallel switchable flexible robot according to claim 2, characterized in that: The memory alloy component comprises a U-shaped memory alloy (5), a type I memory alloy (6), and a mouth-shaped memory alloy (11); the U-shaped memory alloy (5) is arranged and connected between the single-segment deformation structures (1) in the front and rear rows; the type I memory alloy (6) and the mouth-shaped memory alloy (11) are respectively located at the ends of both sides of the parallel series structure, and are arranged and connected between the two parallel single-segment deformation structures (1) on the corresponding sides.

4. The serial-parallel switchable flexible robot according to claim 3, characterized in that: The type I memory alloy (6) and the U-shaped memory alloy (5) can both be heated and transformed into a V-shaped memory alloy (7) by a heating chip controlled by a circuit, and the V-shaped memory alloy (7) returns to its original shape after cooling.

5. The series-parallel switchable flexible robot according to claim 4, characterized in that: The U-shaped memory alloy (5) can also be transformed into a type I memory alloy (6) through temperature control.

6. The series-parallel switchable flexible robot according to claim 3, characterized in that: The mouth-shaped memory alloy (11) is heated, deformed, and expanded by a heating chip controlled by a circuit, and contracts and recovers after cooling; A connecting partition (10) is provided on each of the two deformable partition plates (3) on one side of the parallel series structure, and the two connecting partition plates (10) are connected via the mouth-shaped memory alloy (11).

7. The serial-parallel switchable flexible robot according to claim 6, characterized in that: The type-one memory alloy (6) is specifically connected to the outer surfaces of two deformable partition plates (3) arranged on the other side of the parallel series structure.

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