Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker

The technology of memory alloy wire and negative pressure suction cup is applied in the field of robots, which can solve problems such as unfavorable miniaturization of adsorption devices, and achieve the effects of improving wall adaptability and low cost.

Inactive Publication Date: 2008-05-14
SHANGHAI JIAO TONG UNIV
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Problems solved by technology

Although this patent adopts a multi-chamber structure, it needs an external gas

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  • Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker

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Embodiment Construction

[0017] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings: this embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following the described embodiment.

[0018] As shown in FIGS. 1-3 , this embodiment includes a shape memory alloy wire driver 1 , an elastic base material 2 , an elastic body ring 3 , a rigid body support layer 4 , and a multi-cavity elastic body base 5 . The shape memory alloy wire actuator 1 is embedded in the elastic matrix material 2, the elastic body ring 3 is glued to the elastic matrix material 2 on one side, and the rigid body support layer 4 is glued to the other side, and the rigid body support layer 4 The other side is glued to the multi-cavity elastic body base 5, one end of the multi-cavity ...

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Abstract

The invention relates to a micro multi-chamber negative pressure suction cup driven by an embedded type shape memory alloy wire driver in the special robot technical field, comprising an embedded type shape memory alloy wire driver, an elastic basic body material, an elastic body round ring, a rigid body supporting layer and a multi-chamber elastomer base which are sequentially bonded together to form a multi-layer structure. When the embedded type shape memory alloy wire driver is electrified and heated, the elastic basic body material is driven to deform, leading the volume of the air in the chamber formed by the elastic basic body material, the rigid body supporting layer and the elastomer round ring to become large and form negative pressure; because a diffusion port on the rigid body supporting layer is communicated with the small chamber on the multi-chamber elastomer base, the small chamber of the multi-chambe elastomer base also generates negative pressure. The invention avoids the shortages of the existing negative pressure suction cup of not being easy to be microminiaturized, large noise and low power ratio and provides the adsorption device with minitype, high-efficiency, reliability and excellent wall surface adaptability for micro wall-climbing robots.

Description

technical field [0001] The invention relates to an adsorption device in the technical field of robots, in particular to a tiny multi-cavity negative pressure suction cup driven by an embedded shape memory alloy wire driver. Background technique [0002] After the shape memory alloy (SMA) undergoes plastic deformation, it can return to the shape before the deformation after being heated above a certain temperature. This characteristic of the shape memory alloy is used to make an SMA driver, which has a large power-to-weight ratio and a high driving voltage. The advantages of low and large deformation. The common ones are SMA wire drivers, spring drivers and film drivers, etc., which are widely used in micro-robots. In the traditional negative pressure adsorption wall-climbing robot, the adsorption mechanism mainly adopts the drive method based on the air pump to generate negative pressure on the suction cup. In recent years, research has begun to use the motor rotation to ge...

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Application Information

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IPC IPC(8): F16B47/00
Inventor 胡冰山董智张博付庄赵言正
Owner SHANGHAI JIAO TONG UNIV
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