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Absorption micro creeping robot based on shape memory alloy (SMA) driving

A memory alloy, adsorption-type technology, applied in the field of adsorption-type micro-crawling robots, can solve the problems of low positioning accuracy of motion interference and friction principle, and the movement step distance cannot be precisely controlled, etc., and achieves low positioning noise, high speed, and accurate positioning. Effect

Inactive Publication Date: 2013-01-02
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems that the existing micro-robots cannot accurately control the motion step distance, and the drive coupling of multiple sets of SMA drivers leads to low accuracy of motion interference and friction principle positioning, the present invention further proposes a shape memory alloy driven adsorption peristaltic robot

Method used

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  • Absorption micro creeping robot based on shape memory alloy (SMA) driving
  • Absorption micro creeping robot based on shape memory alloy (SMA) driving
  • Absorption micro creeping robot based on shape memory alloy (SMA) driving

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specific Embodiment approach 1

[0007] Specific implementation mode one: as Figure 1-7 As shown, an adsorption micro-peristaltic robot driven by a shape memory alloy in this embodiment includes two adsorption devices 1, two SMA elastic drive arms 2 and two baffles 3, and the two SMA elastic drive arms 2 are parallel to each other. Setting, two SMA elastic driving arms are connected with two baffles 3 to form a four-frame body, one end of each SMA elastic driving arm 2 is respectively hinged to the edge of a baffle 3, and the outer side of each baffle 3 is respectively connected to an adsorption device 1 connection, each SMA elastic driving arm 2 includes an SMA wire 2-1, a strain gauge 2-2 and an elastic hinge 2-3, and the SMA wire 2-1 is installed on the outer surface of the elastic hinge 2-3, and the The strain gauge 2-2 is installed in the middle of the inner surface of the elastic hinge 2-3, and each end of the elastic hinge 2-3 is hinged to the edge of a baffle plate 3 respectively. In this embodiment...

specific Embodiment approach 2

[0008] Specific implementation mode two: as Figure 1-7 As shown, the SMA elastic driving arm 2 of a shape memory alloy-driven adsorption micro-peristaltic robot in this embodiment includes a first thin copper tube 2-4, a second thin copper tube 2-5 and a third thin copper tube 2-6, the SMA wire 2-1 is U-shaped, and the open end of the SMA wire 2-1 is fixed on the elastic hinge 2-3 through the first thin copper tube 2-4 and the third thin copper tube 2-6 On the outer side of one end, the non-open end of the SMA wire 2-1 is fixed on the outer side of the other end of the elastic hinge 2-3 through the second thin copper tube 2-5. This embodiment ensures that the SMA wire provides sufficient pulling force. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0009] Specific implementation mode three: as Figure 1-7 As shown, each adsorption device 1 of a shape memory alloy-driven adsorption micro-peristaltic robot in this embodiment includes two claw assemblies 1-1 and an electromagnet 1-2, and two claw assemblies 1-1 They are parallel and fixedly installed on the outer surface of the baffle plate 3 from top to bottom, and the electromagnet 1-2 is inserted into the claw assembly 1-1. This embodiment ensures that the electromagnet 1-2 will not fall off during the movement of the robot. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention relates to a micro creeping robot, in particular to an absorption micro creeping robot based on shape memory alloy (SMA) driving. By the absorption micro creeping robot, the problems of inaccurate control of movement step distance during movement of the conventional micro robot, movement interference caused by driving and coupling of a plurality of groups of SMA drivers and lower positioning accuracy according to a friction theory can be solved. The absorption micro creeping robot based on SMA driving comprises two absorption devices, two SMA elastic driving arms and two baffle plates, wherein one end of each SMA elastic driving arm is hinged with the rim of one baffle plate; the outer side of each baffle plate is connected with one absorption device; each SMA elastic driving arm comprises an SMA wire, a straining foil and an elastic hinge; the SMA wires are arranged on the outer side surfaces of the elastic hinges; and the straining foils are arranged in the middle of the inner side surfaces of the elastic hinges. The absorption micro creeping robot based on SMA driving is applied to aspects of maintenance, flaw detection and the like of micro pipelines, wall surfaces and the like in nuclear energy, spaceflight and the like.

Description

technical field [0001] The invention relates to a micro peristaltic robot, in particular to an adsorption micro peristaltic robot driven by a shape memory alloy. Background technique [0002] Since the 1990s, unstructured environment robots have emerged from purely automated machinery and entered the fields of high-precision equipment such as aerospace, and the unstructured environment has particularities such as complex structure, small internal space, and difficulties in overhaul and maintenance. Higher requirements are put forward for the robot system. As a kind of unstructured environmental robot, micro-robots are committed to solving problems in the millimeter-scale space such as information collection, information processing, own action decision-making and surrounding environment adaptation. Through their autonomous movement and Coordinated actions, timely detection of faults to solve and deal with problems, can be applied to the maintenance and flaw detection of nucle...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
Inventor 王玉魁宋超男王振龙
Owner HARBIN INST OF TECH