CN102896633A - Flexible spine with omni-directional angle feedback - Google Patents

Flexible spine with omni-directional angle feedback Download PDF

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Publication number
CN102896633A
CN102896633A CN2012103699451A CN201210369945A CN102896633A CN 102896633 A CN102896633 A CN 102896633A CN 2012103699451 A CN2012103699451 A CN 2012103699451A CN 201210369945 A CN201210369945 A CN 201210369945A CN 102896633 A CN102896633 A CN 102896633A
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vertebra
fixed
flexible
flange
pedestal
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CN102896633B (en
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朱秋国
王世全
熊蓉
褚健
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Zhejiang University ZJU
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Zhejiang University ZJU
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Abstract

The invention discloses a flexible spine with omni-directional angle feedback. The flexible spine mainly comprises a spine, a base and a plurality of drive feedback units, a spine portion comprises a flexible spine body, a spine ring, a top flange and a bottom flange, one end of the flexible spine body is fixed on the top flange, the other end of the flexible spine body is fixed on the bottom flange, the bottom flange is fixed on the base, the drive feedback units are uniformly distributed on the base, each drive feedback unit comprises a displacement sensor, a tensioner and a shape memory alloy (SMA) wire, one end of the SMA wire is fixed on the tensioner, and the SMA wire and a displacement line together sequentially penetrate through circumferential holes of the bottom flange, the spine ring and the top flange to be fixed on the top flange. The initial angle and controllable angle range of the flexible spine body can be adjusted through adjusting the degree of tightness of the tensioner. The flexible spine with the omni-directional angle feedback has the advantages that the SMA wire is used for driving the flexible spine, the design cost is lowered, the space is saved, the improvement of flexibility of omni-directional moving of a robot is facilitated, and the adaptability of the robot to the environment is improved.

Description

Flexible vertebra with omnibearing angel feedback
Technical field
The invention belongs to the Robotics field, relate in particular to a kind of flexible vertebra with omnibearing angel feedback.
Background technology
In recent years, the bio-robot technology has obtained rapidly development, and Chinese scholars has been developed a collection of stem-winding bio-robot by physiology and the movement mechanism thereof of simulating nature circle biology." BigDog " that can run fast and " Cheetah " quadruped robot from the development of boston, u.s.a utility companies, but " Petman " biped anthropomorphic robot to the fast and stable walking, " large trunk " from the development of German FESTO company, to " the Smart Bird " that can freely circle in the air etc., these bionics techniques are applied to improve in the robot robot motion's flexibility and pliability, improved the adaptability of robot reform of nature circle environment, also so that the efficient of motion has obtained significantly lifting.
Vertebra is the pith of animal physiological structure, and vertebra has not only been protected the central nervous system of animal, has also strengthened flexibility and the compliance of animal movement.Such as, dog and leopard need to be realized running fast by bending and the stretching, extension of vertebra; Gecko need to rely on vertebra to realize turning to flexibly planar; The human needs relies on vertebra to realize various actions and attitude, also has simultaneously the effect that keeps balance.In addition, vertebra can also play the effect of extenuating vibrations in animal activity.Therefore, how spinal application has been become an important research topic in robot.
So far, the vertebra that Tokyo Univ Japan has developed has been applied on the anthropomorphic robot, the vertebrae of this vertebra is comprised of the ball-joint of a series of Three Degree Of Freedoms, make the cone dish by elastic silica gel between the adjacent ridge vertebra, and with tension spring simulation " ligament ", and be furnished with a plurality of tension pick-ups, finally drive this vertebra by 40 motors.Although this design has improved robot motion's flexibility, enlarged the range of movement of robot, also strengthened the mutual security of machine person to person, a large amount of motors and sensor have been adopted in global design, have increased the cost and risk of exploitation.In addition, the Karl Frederick Leeser of MIT by simulation analysis the kinetic characteristic of vertebra at quadruped robot, Utku Culha and Uluc Saranlip are with the vertebra characteristic in quadruped robot is run that has been simplified to a rigidity rotation joint analysis.At present, even domestic research blank to the robot vertebra.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, a kind of flexible vertebra with omnibearing angel feedback is provided, the present invention replaces traditional motor-driven by memory alloy material SMA, to reduce the requirement of design cost and design space, improve the flexibility of robot omnibearing motion, improve robot to the adaptability of environment.
The present invention addresses the above problem the technical scheme that adopts to be: a kind of flexible vertebra with omnibearing angel feedback, and it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate and is fixed on the pedestal etc. at base plate center, vertebra partly comprises flexible vertebral body, vertebra ring, top flange and flange in the bottom etc., one end fixed top flange of flexible vertebral body, other end solid bottom flange, flange in the bottom is fixed on the centre bore of pedestal, and flexible vertebral body excircle is along the evenly fixing some vertebra rings of axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer, a strainer and a SMA silk; Displacement transducer is fixed on the base plate, and its displacement line passes the centre bore that enters pedestal behind the unthreaded hole of pedestal side; Strainer is fixed on the pedestal, SMA silk one end is fixed on the strainer, enters the centre bore of pedestal by the unthreaded hole of pedestal side, twines to pass successively flange in the bottom with displacement line after pressing end screw, after the circumferential apertures of vertebra ring and top flange, be fixed on the top flange.
The invention has the beneficial effects as follows, adopted the driving of marmem alloy SMA silk as vertebra among the present invention, this material can compress and stretch, the deformation amplitude is up to 8%, energising can change its form, and can produce very large restoring force, than traditional driving, this drives volume, and little its special nature makes it possess larger potentiality in the robot field and succinct, along the SMA silk of even circumferential layout so that flexible vertebral body has possessed omnibearing locomitivity, by drawing the displacement line of displacement transducer, can detect in real time and control the angle that flexible vertebral body rotates, in addition, flexible vertebral body has been selected flexible material, and be processed into hollow-core construction, so that under the SMA silk drives, flexible vertebral body can comprehensive compound motion, and makes things convenient for the cabling of SMA silk power supply; Fixedly the strainer of SMA silk not only can be regulated the initial angle of flexible vertebral body, and can change by the tightness of regulating the SMA silk rotational angle range of whole flexible vertebral body.The SMA wire material that the present invention adopts makes robot possess compliance as the driving of robot, and structure is compacter, designs more flexibly, has changed driving Design Mode in the past, is fit to be applied to the robot field.
Description of drawings
Fig. 1 is the stereogram of flexible vertebra of the present invention;
Fig. 2 is the top installation diagram of flexible vertebra of the present invention;
Fig. 3 is the bottom installation diagram of flexible vertebra of the present invention;
Fig. 4 is strainer schematic diagram of the present invention;
Among the figure, flexible vertebral body 1, vertebra ring 2, SMA silk 3, displacement line 4, the screw 5 that bears down on one, the screw 6 that bears down on one, top flange 7, flange in the bottom 8, pedestal 9, screw 10, base plate 11, displacement transducer 12, screw 13, strainer 14, adjusting knob 15, turning cylinder 16, screw 17, pressure end screw 18.
The specific embodiment
Further specify the present invention below in conjunction with accompanying drawing, it is more obvious that purpose of the present invention and effect will become.
As Figure 1-3, a kind of flexible vertebra with omnibearing angel feedback of the present invention, it mainly comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate 11 and is fixed on the pedestal 9 etc. at base plate center, vertebra partly comprises flexible vertebral body 1, vertebra ring 2, top flange 7 and flange in the bottom 8 etc., one end fixed top flange 7 of flexible vertebral body 1, other end solid bottom flange 8, flange in the bottom 8 is fixed on the centre bore of pedestal 9 by screw 10, flexible vertebral body 1 is selected flexible material, and be processed into hollow form, so that under the pulling force effect, can realize omnibearing compound motion, flexible vertebral body 1 excircle evenly is fixed with some vertebra rings 2 along axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer 12, a strainer 14 and a SMA silk 3; Displacement transducer 12 is fixed on the base plate by screw 13, and its displacement line 4 passes the centre bore that enters pedestal 9 behind the unthreaded hole of pedestal 9 sides; Strainer 14 is fixed on the pedestal 11 by screw 17, strainer 14 comprises adjusting knob 15 and turning cylinder 16, by adjusting knob 15, turning cylinder 16 is rotated, SMA silk 3 one ends are fixed on the strainer 14, enter the centre bore of pedestal 9 by the unthreaded hole of pedestal 9 sides, pass successively flange in the bottom 8 with displacement line 4 after twining pressure end screw 18, after the circumferential apertures of vertebra ring 2 and top flange 7, be fixed on the top flange 7 by bear down on one screw 6 and screw 5 respectively, SMA silk 3 is all parallel with the central axis of flexible vertebral body with displacement line 4.
SMA silk 3 among the present invention can be made for this field known memory alloy material of personnel by Nitinol, corronil, albronze, ormolu or other.SMA silk 3 has the one way memory effect, and its phase transition temperature can realize by the synthetic ingredient of adjustable shape memory alloy material according to actual needs.So-called one way memory effect refers to when component temperature is lower than the formulation phase transition temperature, present soft relaxed state, but when component temperature was higher than phase transition temperature, it can recover its original geometry automatically.In the present invention, this original geometry shows as the output that SMA silk 3 shrinks and follow power.

Claims (3)

1. the flexible vertebra with omnibearing angel feedback is characterized in that, comprises vertebra, base and some drive feedback unit; Wherein, base portion comprises base plate (11) and is fixed on the pedestal (9) at base plate center etc., vertebra partly comprises flexible vertebral body (1), vertebra ring (2), top flange (7) and flange in the bottom (8) etc., one end fixed top flange (7) of flexible vertebral body (1), other end solid bottom flange (8), flange in the bottom (8) is fixed on the centre bore of pedestal (9), and flexible vertebral body (1) excircle is along the evenly fixing some vertebra rings (2) of axis direction; The drive feedback unit is arranged on the base along even circumferential, and each drive feedback unit comprises a displacement transducer (12), a strainer (14) and a SMA silk (3); Displacement transducer (12) is fixed on the base plate, and its displacement line (4) passes the centre bore that enters pedestal (9) behind the unthreaded hole of pedestal (9) side; Strainer (14) is fixed on the pedestal (11), SMA silk (3) one ends are fixed on the strainer (14), enter the centre bore of pedestal (9) by the unthreaded hole of pedestal (9) side, pass successively flange in the bottom (8) with displacement line (4) after twining pressure end screw (18), after the circumferential apertures of vertebra ring (2) and top flange (7), be fixed on the top flange (7).
2. described flexible vertebra with omnibearing angel feedback according to claim 1, it is characterized in that, described strainer (14) comprises adjusting knob (15) and turning cylinder (16), by adjusting knob (15), turning cylinder (16) is rotated with SMA silk (3).
3. described flexible vertebra with omnibearing angel feedback according to claim 1, it is characterized in that described flexible vertebral body (1) is selected flexible material, and is processed into hollow form, so that under SMA silk (3) drove, flexible vertebral body (1) can comprehensive compound motion.
CN201210369945.1A 2012-09-27 2012-09-27 Flexible spine with omni-directional angle feedback Active CN102896633B (en)

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Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103144101A (en) * 2013-03-26 2013-06-12 上海大学 Flexible body of bionic robot
CN104398277A (en) * 2014-11-26 2015-03-11 中国人民解放军海军总医院 Wire feeding device for wrist type end effector
CN104760055A (en) * 2015-04-07 2015-07-08 哈尔滨工业大学深圳研究生院 Turtle robot and flexible neck device thereof
CN105415369A (en) * 2015-12-25 2016-03-23 哈尔滨工业大学 Ultra-dexterous mechanical arm driving device based on muscle group principle
CN106217354A (en) * 2016-08-18 2016-12-14 中国科学院合肥物质科学研究院 A kind of anthropomorphic robot multi-segmental bionical multiple degrees of freedom spinal structure
CN106493723A (en) * 2016-12-08 2017-03-15 燕山大学 Based on the air articulated type flexible mechanical arm that rope drives
CN107053155A (en) * 2017-01-20 2017-08-18 北京航空航天大学 A kind of trunk type sequential machine people of marmem driving
CN107225566A (en) * 2017-06-16 2017-10-03 广东工业大学 The software module of two-way shape memory alloy driving
CN107433579A (en) * 2017-06-27 2017-12-05 西北工业大学 A kind of bionical tail apparatus of more piece of SMA drivings
CN107598896A (en) * 2017-10-16 2018-01-19 浙江大学 A kind of anthropomorphic robot spine structure of hard and soft soft coupling
CN110217313A (en) * 2019-06-27 2019-09-10 上海大学 The bionical body of stiffness variable of one species muscle fibre driving
CN110239644A (en) * 2019-06-04 2019-09-17 广东省智能制造研究所 A kind of bionical quadruped robot based on flexible spinal technology
CN111397494A (en) * 2020-03-09 2020-07-10 五邑大学 Soft finger convenient to measure
CN111872977A (en) * 2020-07-31 2020-11-03 北方工业大学 Experimental platform for simulating elephant nose continuous robot

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CN202878315U (en) * 2012-09-27 2013-04-17 浙江大学 Flexible spine provided with omnibearing angle feedback

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US4551061A (en) * 1983-04-18 1985-11-05 Olenick Ralph W Flexible, extensible robot arm
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CN103144101B (en) * 2013-03-26 2015-10-07 上海大学 A kind of flexible body of bio-robot
CN103144101A (en) * 2013-03-26 2013-06-12 上海大学 Flexible body of bionic robot
CN104398277B (en) * 2014-11-26 2017-05-24 中国人民解放军海军总医院 Wire feeding device for wrist type end effector
CN104398277A (en) * 2014-11-26 2015-03-11 中国人民解放军海军总医院 Wire feeding device for wrist type end effector
CN104760055A (en) * 2015-04-07 2015-07-08 哈尔滨工业大学深圳研究生院 Turtle robot and flexible neck device thereof
CN105415369A (en) * 2015-12-25 2016-03-23 哈尔滨工业大学 Ultra-dexterous mechanical arm driving device based on muscle group principle
CN106217354B (en) * 2016-08-18 2018-08-24 中国科学院合肥物质科学研究院 A kind of bionical multiple degrees of freedom spinal structure of anthropomorphic robot multi-segmental
CN106217354A (en) * 2016-08-18 2016-12-14 中国科学院合肥物质科学研究院 A kind of anthropomorphic robot multi-segmental bionical multiple degrees of freedom spinal structure
CN106493723A (en) * 2016-12-08 2017-03-15 燕山大学 Based on the air articulated type flexible mechanical arm that rope drives
CN106493723B (en) * 2016-12-08 2018-09-04 燕山大学 Air articulated type flexible mechanical arm based on rope driving
CN107053155A (en) * 2017-01-20 2017-08-18 北京航空航天大学 A kind of trunk type sequential machine people of marmem driving
CN107225566A (en) * 2017-06-16 2017-10-03 广东工业大学 The software module of two-way shape memory alloy driving
CN107433579A (en) * 2017-06-27 2017-12-05 西北工业大学 A kind of bionical tail apparatus of more piece of SMA drivings
CN107598896A (en) * 2017-10-16 2018-01-19 浙江大学 A kind of anthropomorphic robot spine structure of hard and soft soft coupling
CN107598896B (en) * 2017-10-16 2020-06-16 浙江大学 Rigid-flexible coupling humanoid robot spine structure
CN110239644A (en) * 2019-06-04 2019-09-17 广东省智能制造研究所 A kind of bionical quadruped robot based on flexible spinal technology
CN110217313A (en) * 2019-06-27 2019-09-10 上海大学 The bionical body of stiffness variable of one species muscle fibre driving
CN111397494A (en) * 2020-03-09 2020-07-10 五邑大学 Soft finger convenient to measure
CN111872977A (en) * 2020-07-31 2020-11-03 北方工业大学 Experimental platform for simulating elephant nose continuous robot

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