Creep walking mechanism inside pipeline
A traveling mechanism and pipeline technology, applied in the fields of mechatronics, electrical technology and bionics, can solve the problems of high power-to-weight ratio, difficult miniaturization of volume, low power-to-weight ratio, etc. compact effect
Inactive Publication Date: 2007-11-21
SHANGHAI JIAO TONG UNIV
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Problems solved by technology
The shape memory alloy driver has a high power-to-weight ratio, but consumes a lot of energy, and a large stroke will inevitably lead to a lower driving frequency
The electromagnetic drive mechanism is simple and easy to control, but the heat is severe and the power-to-weight ratio is difficult to improve
The driving force of the motor is large and the control is convenient, but it is difficult to miniaturize the volume and the power-to-weight ratio is low
Piezoelectric drive has the advantages of small size, high rigidity, high bit accuracy, low heat generation, and easy control, but the drive displacement is too small
Method used
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[0023] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings.
[0024] General structure of the present invention is shown in Figure 1. The robot consists of a motor 2 connected to three motion units 3 in sequence. Between the motor 2 and the motion unit 3, the three motion units are sealed and connected with each other using a corrugated rubber tube 4, and the third motion unit is sealed and fixed with the tail end cover 5. .
[0025] The tail end cap 5 is a transitional device, which can be replaced by an instrument compartment according to work needs, carrying operating tools such as cameras, micro-clamps, and spraying devices. The entire robot is provided with energy and signal sources by the cable 1. Motor 2 can adopt the miniature motor that can buy on the market directly as driving device, and its outer film is used for preventing the infiltration of extraneous liquid. The rubber bellows 4 is co...
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The invention is concerned with a wriggling walking framework in pipeline, relating to a motor connecting some moving units in turn and rubber ripple pipe. The moving unit is made of thread bar, supporting tray, controllable nut, rolling bearing, and so on. All the rolling components of wriggling walking framework relates to thread bar and output axis of motor, all thread bars connect with each other through inner universal joint and roll together. The fixed components relates to shell of motor, controllable nut, slide pole, supporting tray, rubber ripple pipe and end cover of tail connecting with outer universal joint directly or indirectly. When the thread bar moves, the controllable nut revolving on it products line movement on slide pole along the axis. The controllable nut is controlled by shape memory alloy to joggle and get rid of joggle forwardly. Match with the positive and negative running of motor, the movement of motor with single driving source changes into the wriggling of robot. It takes mixed drive of single motor and memory alloy with large ratio of power and weight.
Description
technical field [0001] The invention relates to a peristaltic walking mechanism in a pipeline, in particular to a micro-robot system driven by a single motor combined with a shape memory alloy, and belongs to the fields of mechanical, electrical technology and bionics. Background technique [0002] Small pipeline inspection is one of the problems that people urgently need to solve. In the nuclear industry, the number of pipes is large, the diameter is small, and there is a risk of radiation, so it is difficult to manually inspect. In clinical medicine, the traditional endoscope used for human digestive tract examination is invasive and difficult for doctors to operate. In recent years, the development of micro-electromechanical technology has provided conditions for these fields to seek new technical solutions, among which the research and development of micro-robots has attracted much attention. [0003] At present, the micro-pipeline robots that have been successfully de...
Claims
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Inventor 颜国正王坤东
Owner SHANGHAI JIAO TONG UNIV