Flexible robot based on memory alloy

Abstract

The utility model discloses a flexible robot based on memory alloy, which comprises a first elastic body which is in an arc-shaped bending shape in an initial state, a first memory alloy body extending along the first elastic body is arranged in the first elastic body, and the first memory alloy body is in an arc-shaped bending shape under the action of the first elastic body in a normal temperature environment; the initial state of the second elastic body is in an arc-shaped bent shape, a second memory alloy body extending along the second elastic body is arranged in the second elastic body, the second memory alloy body is in an arc-shaped bent shape under the action of the second elastic body in a normal-temperature environment, and the second elastic body and the first elastic body are arranged in parallel and are connected through an elastic connecting piece; the electric control heating assembly comprises a first heating resistance wire and a second heating resistance wire, the first heating resistance wire is wound on the first memory alloy body, and the second heating resistance wire is wound on the second memory alloy body. The flexible robot based on the memory alloy can be used for detecting a target in a narrow space.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a flexible robot based on shape memory alloy. Background Technology

[0002] People are often forced into confined spaces due to disasters and accidents. Common examples include: ① earthquakes causing building collapses; ② mudslides and collapsed buildings; ③ explosions creating confined spaces; ④ traffic accidents, including deformed vehicle interiors; and ⑤ coal mine accidents involving confined spaces. Working in such spaces is inherently difficult, let alone conducting rescue operations. Countless confined space (CS) accidents have caused tragic casualties. The root cause lies in the failure of personnel to clearly recognize the dangers or potential hazards present within or near the confined space, or the confined space itself may not pose a significant hazard, but the potential environmental changes or introduction of new work-related hazards during work within it are not considered, making CS a series of "silent killers." The dangers of CS are complex and real, including common hazards such as oxygen deficiency, oxygen enrichment, toxic pollutants, flammable pollutants, engulfment, entrapment or suffocation, machinery lacking safety devices, or exposed live conductors.

[0003] Due to the complex conditions in narrow spaces, existing human detection methods or equipment cannot effectively detect the specific situation within narrow spaces. In view of this, this utility model proposes a robot suitable for target detection in narrow spaces. Utility Model Content

[0004] This invention proposes a flexible robot based on shape memory alloy, capable of various crawling methods such as straight movement and turning. It is better suited for target detection in confined spaces and can be used for rescue, reconnaissance, and other applications. Specifically, the following technical solution is adopted:

[0005] A flexible robot based on shape memory alloy, comprising:

[0006] The first elastic body is initially curved in an arc shape. The first elastic body has a first memory alloy body extending along the first elastic body. Under the action of the first elastic body at room temperature, the first memory alloy body is curved in an arc shape.

[0007] The second elastic body is initially curved in an arc shape. The second elastic body has a second shape memory alloy body extending along the second elastic body. Under the action of the second elastic body at room temperature, the second shape memory alloy body is curved in an arc shape. The second elastic body and the first elastic body are arranged side by side and connected by an elastic connector.

[0008] An electrically controlled heating assembly includes a first heating resistance wire and a second heating resistance wire, wherein the first heating resistance wire is wound around the first shape memory alloy body and the second heating resistance wire is wound around the second shape memory alloy body;

[0009] The electronically controlled heating component controls the first heating resistance wire to be energized, which heats the first shape memory alloy body. The first shape memory alloy body, when heated, stretches from a bent shape to a straight shape, while simultaneously causing the first elastic body to stretch and slide and creep. And / or the electronically controlled heating component controls the second heating resistance wire to be energized, which heats the second shape memory alloy body. The second shape memory alloy body, when heated, stretches from a bent shape to a straight shape, while simultaneously causing the second elastic body to stretch and slide and creep.

[0010] As an optional embodiment of this utility model, the electrically controlled heating assembly includes a power supply, a first connection circuit, and a second connection circuit. The power supply is electrically connected to the first heating resistance wire through the first connection circuit, and the power supply is electrically connected to the second heating resistance wire through the second connection circuit.

[0011] As an optional embodiment of this utility model, a first control switch is provided on the first connection circuit, and a second control switch is provided on the second connection circuit;

[0012] By controlling the first control switch and the second control switch to close simultaneously, the first heating resistance wire and the second heating resistance wire are simultaneously energized to heat the first memory alloy body and the second memory alloy body, which in turn causes the first elastic body and the second elastic body to extend synchronously and move in a straight line with sliding and creeping motion.

[0013] By controlling the first control switch and the second control switch to close in sequence, the first heating resistance wire and the second heating resistance wire are energized in sequence to heat the first shape memory alloy body and the second shape memory alloy body, which in turn causes the first elastic body and the second elastic body to extend asynchronously and perform sliding and creeping turning.

[0014] As an optional embodiment of this utility model, both the first shape memory alloy body and the second shape memory alloy body are nickel-titanium alloy plates.

[0015] As an optional embodiment of this utility model, the first elastic body is provided with first support claws at both the front and rear ends of its bottom, and the second elastic body is provided with second support claws at both ends of its bottom.

[0016] As an optional embodiment of this utility model, the first support claw is inclined toward the rear end of the first elastic body.

[0017] As an optional embodiment of this utility model, the second support claw is inclined toward the rear end of the second elastic body.

[0018] As an optional embodiment of this utility model, a detection camera is provided at the front end of the first elastic body, or the second elastic body, or the elastic connector.

[0019] As an optional embodiment of this utility model, both the first elastomer and the second elastomer are elastic plastic parts.

[0020] As an optional embodiment of this utility model, the elastic connector is a rubber column, and the first elastic body and the second elastic body are respectively fixedly connected to the rubber column.

[0021] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0022] This utility model discloses a flexible robot based on shape memory alloy, the specific motion logic of which includes:

[0023] Energy storage phase: The first and second elastic bodies are initially bent upwards. The electric heating component controls the first and second heating resistance wires to be energized, heating the first and second shape memory alloy bodies. During the heating process, the first and second elastic bodies extend forward and deform into a straight shape, generating elastic potential energy.

[0024] Release phase: The electronically controlled heating component de-energizes the first and second heating resistance wires, the first and second shape memory alloy bodies stop heating, and the first and second elastic bodies need to return to their original state due to the existence of elastic potential energy, and the pneumatic flexible robot moves forward.

[0025] Therefore, the flexible robot based on shape memory alloy of this invention can control the heating of the first shape memory alloy body and the second shape memory alloy body through an electronically controlled heating component, and the first elastic body and the second elastic body can move in a creeping motion. It can be applied to more complex terrain environments, can be used to detect targets in confined spaces, and can be used for rescue, reconnaissance, etc.

[0026] Furthermore, the second elastic body of this invention is arranged side by side with the first elastic body and connected by an elastic connector. The first and second shape memory alloy bodies are synchronously powered on and off via an electrically controlled heating assembly, causing them to move synchronously and deform synchronously, thus enabling the shape memory alloy-based flexible robot to move forward. Conversely, the first and second shape memory alloy bodies are asynchronously powered on and off via the electrically controlled heating assembly, causing them to move asynchronously and deform asynchronously, thus enabling the shape memory alloy-based flexible robot to turn. Therefore, the shape memory alloy-based flexible robot of this invention can achieve various movement patterns such as straight-line movement and turning, better meeting the needs of confined spaces and allowing for deeper exploration. Attached Figure Description

[0027] Figure 1 A front view (initial state) of a flexible robot based on shape memory alloy according to an embodiment of this utility model;

[0028] Figure 2 This utility model embodiment provides a front view (extended state) of a flexible robot based on shape memory alloy;

[0029] Figure 3 A top view of a flexible robot based on shape memory alloy according to an embodiment of this utility model;

[0030] Figure 4 This utility model embodiment discloses a flexible robot based on shape memory alloy. Figure 3 Cross-sectional view of surface AA. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model.

[0032] Therefore, the following detailed description of the embodiments of this utility model is not intended to limit the scope of the claimed utility model, but merely to illustrate some embodiments of the utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without inventive effort are within the scope of protection of this utility model.

[0033] It should be noted that, unless otherwise specified, the embodiments and features and technical solutions in the present invention can be combined with each other.

[0034] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0035] In the description of this utility model, it should be noted that the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this utility model is in use, or the orientation or positional relationship commonly understood by those skilled in the art. These terms are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this utility model. In addition, the terms "first," "second," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0036] See Figures 1-4 As shown, this embodiment of a flexible robot based on shape memory alloy includes:

[0037] The first elastic body 101A is initially curved in an arc shape. The first elastic body 101A has a first memory alloy body 301 extending 101A along the first elastic body. Under the action of the first elastic body 101A at room temperature, the first memory alloy body 301 is curved in an arc shape.

[0038] The second elastic body 101B is initially curved in an arc shape. The second elastic body 101B has a second shape memory alloy body 302 extending along the second elastic body 101B. The second shape memory alloy body 302 is curved in an arc shape under the action of the second elastic body 101B at room temperature. The second elastic body 101B and the first elastic body 101A are arranged side by side and connected by an elastic connector 500.

[0039] The electrically controlled heating assembly includes a first heating resistance wire 401 and a second heating resistance wire 402. The first heating resistance wire 401 is wound around the first shape memory alloy body 301, and the second heating resistance wire 402 is wound around the second shape memory alloy body 302.

[0040] In this embodiment, a flexible robot based on shape memory alloy is provided. An electrically controlled heating component controls the first heating resistance wire 401 to be energized, which heats the first shape memory alloy body 301. The first shape memory alloy body 301 stretches from a bent shape to a straight shape when heated, and at the same time, it causes the first elastic body 101A to stretch and slide and creep. And / or the electrically controlled heating component controls the second heating resistance wire 402 to be energized, which heats the second shape memory alloy body 302. The second shape memory alloy body 302 stretches from a bent shape to a straight shape when heated, and at the same time, it causes the second elastic body 101B to stretch and slide and creep.

[0041] This embodiment describes a flexible robot based on shape memory alloys, see [link to relevant documentation]. Figures 1-4 As shown, the specific motion logic includes:

[0042] Energy storage phase: The first elastic body 101A and the second elastic body 101B are initially bent upwards. The electric heating component controls the first heating resistance wire 401 and the second heating resistance wire 402 to be energized, heating the first shape memory alloy body 301 and the second shape memory alloy body 302. During the heating process, the first elastic body 101A and the second elastic body 101B extend forward and deform into a straight shape, generating elastic potential energy.

[0043] Release phase: The electric heating component controls the first heating resistance wire 401 and the second heating resistance wire 402 to be de-energized, the first shape memory alloy body 301 and the second shape memory alloy body 302 stop heating, the first elastic body 101A and the second elastic body 101B need to return to their original state due to the existence of elastic potential energy, and the pneumatic flexible robot moves forward.

[0044] Therefore, the flexible robot based on shape memory alloy in this embodiment can control the heating of the first shape memory alloy body 301 and the second shape memory alloy body 302 through the electronically controlled heating component, and the first elastic body 101A and the second elastic body 101B can perform peristalsis. It can be applied to more complex terrain environments, and can be used to detect targets in confined spaces for rescue, reconnaissance, etc.

[0045] Furthermore, in this embodiment, the second elastic body 101B is arranged side by side with the first elastic body 101A and connected by an elastic connector 500. The first shape memory alloy body 301 and the second shape memory alloy body 302 are synchronously powered on and off via an electrically controlled heating assembly, causing them to move synchronously and the first elastic body 101A and the second elastic body 101B to deform synchronously, thus enabling the shape memory alloy-based flexible robot to move forward. Conversely, the first shape memory alloy body 301 and the second shape memory alloy body 302 are asynchronously powered on and off via the electrically controlled heating assembly, causing them to move asynchronously and the first elastic body 101A and the second elastic body 101B to deform asynchronously, thus enabling the shape memory alloy-based flexible robot to turn. Therefore, the shape memory alloy-based flexible robot of this embodiment can achieve various movement patterns such as straight-line movement and turning, better meeting the needs of confined spaces and allowing for deeper exploration.

[0046] Furthermore, in this embodiment of a flexible robot based on shape memory alloy, the electrically controlled heating component includes a power supply 600, a first connection circuit 701, and a second connection circuit 702. The power supply 600 is electrically connected to a first heating resistance wire 401 through the first connection circuit 701, and the power supply 600 is electrically connected to a second heating resistance wire 402 through the second connection circuit 702.

[0047] In this embodiment, a first control switch is provided on the first connection circuit 701, and a second control switch is provided on the second connection circuit 702.

[0048] By controlling the first control switch and the second control switch to close simultaneously, the first heating resistance wire 401 and the second heating resistance wire 402 are simultaneously energized to heat the first memory alloy body 301 and the second memory alloy body 302, which drives the first elastic body 101A and the second elastic body 101B to extend synchronously and perform sliding and creeping straight movement.

[0049] By controlling the first control switch and the second control switch to close in sequence, the first heating resistance wire 401 and the second heating resistance wire 402 are energized in sequence to heat the first memory alloy body 301 and the second memory alloy body 302, which drives the first elastic body 101A and the second elastic body 101B to extend asynchronously and perform sliding and creeping turning.

[0050] As an optional implementation of this embodiment, both the first shape memory alloy body 301 and the second shape memory alloy body 302 in this embodiment are nickel-titanium alloy plates.

[0051] Furthermore, in this embodiment, the first elastic body 101A has first support claws at its front and rear ends, specifically a first front support claw 102A and a first rear support claw 103A, and the second elastic body 101B has second support claws at its bottom ends, specifically a second front support claw and a second rear support claw (not shown).

[0052] In this embodiment, the first support claw is tilted toward the rear end of the first elastic body.

[0053] In this embodiment, the second support claw is tilted toward the rear end of the second elastomer.

[0054] Furthermore, in this embodiment, a detection camera 200 is provided at the front end of the first elastic body 101A, or the second elastic body 101B, or the elastic connector 500, and the detection camera 200 can perform real-time acquisition of images of the detection environment.

[0055] Furthermore, this embodiment of a flexible robot based on shape memory alloy includes a main controller, and the detection camera 200 is communicatively connected to the main controller. The main controller can send real-time acquired environmental images to an intelligent control terminal via a communication module, facilitating remote observation and operation by staff.

[0056] Specifically, in this embodiment, both the first elastomer 101A and the second elastomer 101B are elastic plastic parts.

[0057] In this embodiment, the elastic connector 500 is a rubber column, and the first elastic body 101A and the second elastic body 101B are fixedly connected to the rubber column.

[0058] The above embodiments are only used to illustrate the present utility model and are not intended to limit the technical solutions described in the present utility model. Although the present utility model has been described in detail with reference to the above embodiments, the present utility model is not limited to the specific embodiments described above. Therefore, any modifications or equivalent substitutions to the present utility model, and all technical solutions and improvements that do not depart from the spirit and scope of the utility model, are covered within the scope of the claims of the present utility model.

Claims

1. A flexible robot based on shape memory alloy, characterized in that, include: The first elastic body is initially curved in an arc shape. The first elastic body has a first memory alloy body extending along the first elastic body. Under the action of the first elastic body at room temperature, the first memory alloy body is curved in an arc shape. The second elastic body is initially curved in an arc shape. The second elastic body has a second shape memory alloy body extending along the second elastic body. Under the action of the second elastic body at room temperature, the second shape memory alloy body is curved in an arc shape. The second elastic body and the first elastic body are arranged side by side and connected by an elastic connector. An electrically controlled heating assembly includes a first heating resistance wire and a second heating resistance wire, wherein the first heating resistance wire is wound around the first shape memory alloy body and the second heating resistance wire is wound around the second shape memory alloy body; The electronically controlled heating component controls the first heating resistance wire to be energized, which heats the first shape memory alloy body. The first shape memory alloy body, when heated, stretches from a bent shape to a straight shape, while simultaneously causing the first elastic body to stretch and slide and creep. And / or the electronically controlled heating component controls the second heating resistance wire to be energized, which heats the second shape memory alloy body. The second shape memory alloy body, when heated, stretches from a bent shape to a straight shape, while simultaneously causing the second elastic body to stretch and slide and creep.

2. The flexible robot based on shape memory alloy according to claim 1, characterized in that, The electrically controlled heating assembly includes a power supply, a first connection circuit, and a second connection circuit. The power supply is electrically connected to a first heating resistance wire through the first connection circuit, and the power supply is electrically connected to a second heating resistance wire through the second connection circuit.

3. A flexible robot based on shape memory alloy according to claim 2, characterized in that, A first control switch is provided on the first connection circuit, and a second control switch is provided on the second connection circuit; By controlling the first control switch and the second control switch to close simultaneously, the first heating resistance wire and the second heating resistance wire are simultaneously energized to heat the first memory alloy body and the second memory alloy body, which in turn causes the first elastic body and the second elastic body to extend synchronously and move in a straight line with sliding and creeping motion. By controlling the first control switch and the second control switch to close in sequence, the first heating resistance wire and the second heating resistance wire are energized in sequence to heat the first shape memory alloy body and the second shape memory alloy body, which in turn causes the first elastic body and the second elastic body to extend asynchronously and perform sliding and creeping turning.

4. A flexible robot based on shape memory alloy according to any one of claims 1-3, characterized in that, Both the first and second shape memory alloy bodies are nickel-titanium alloy plates.

5. A flexible robot based on shape memory alloy according to any one of claims 1-3, characterized in that, The first elastic body has first support claws at both the front and rear ends of its bottom, and the second elastic body has second support claws at both ends of its bottom.

6. A flexible robot based on shape memory alloy according to claim 5, characterized in that, The first support claw is inclined toward the rear end of the first elastic body.

7. A flexible robot based on shape memory alloy according to claim 5, characterized in that, The second support claw is tilted toward the rear end of the second elastic body.

8. A flexible robot based on shape memory alloy according to claim 5, characterized in that, A detection camera is provided at the front end of the first elastic body, or the second elastic body, or the elastic connector.

9. A flexible robot based on shape memory alloy according to any one of claims 1-3, characterized in that, Both the first elastomer and the second elastomer are elastic plastic parts.

10. A flexible robot based on shape memory alloy according to any one of claims 1-3, characterized in that, The elastic connector is a rubber column, and the first elastic body and the second elastic body are fixedly connected to the rubber column respectively.

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