A robot with memory alloy suspension cable, control method and device
A technology of memory alloys and robots, which is applied in the direction of program control manipulators, manipulators, manufacturing tools, etc., and can solve problems such as oil leakage and pollution of electrical components
Active Publication Date: 2019-02-26
YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST
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Problems solved by technology
[0005] The object of the present invention is to provide a robot with a memory alloy suspension cable, a control method and a device, so as to solve the problem that the existing suspension cable is often accompanied by oil leakage in the process of grabbing electrical components, and the leakage The problem of oil contaminating electrical components
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[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0034] The embodiment of the present invention shows a robot with a memory alloy suspension cable, such as figure 1 As shown, the robot includes: a mechanical arm 2, a control platform 1, a wheel 11 and a suspension cable device 3; wherein the suspension cable device 3 includes: a controller 31, a displacement sensor 33 and at least two memory alloy grippers 32; The four vertices of the bottom of the control platform 1 are respectively provided with the wheels 1...
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The embodiment of the invention discloses a robot with a memory alloy hoisting rope, and a control method and device thereof. The robot comprises a mechanical arm, a control platform, wheels and a hoisting rope device. The hoisting rope device comprises a controller, a displacement sensor and at least two memory alloy grippers. According to the robot disclosed by the embodiment of the invention, when the displacement sensor detects that the distance between the memory alloy grippers and target equipment reaches the preset distance, the control platform of the robot controls the mechanical arm to stop moving and controls an electric heating device in the controller to heat the memory alloy grippers, so that the memory alloy grippers are deformed and straightened, the distance between every two adjacent memory alloy grippers is decreased, and thus the object gripping, sleeving and other actions are achieved. The robot is simple in structure and convenient to operate, the object gripping, sleeving and other actions are achieved through the memory function of memory alloy, and due to the fact that no hydraulic drive device is adopted, the problem that oil is leaked and contaminates electrical apparatus elements is avoided.
Description
technical field [0001] The invention relates to the field of micro-robots, in particular to a robot with a memory alloy suspension cable, a control method and a device. Background technique [0002] Memory alloy is an alloy with memory function, which is divided into one-way memory alloy, two-way memory alloy and full-process memory alloy. Shape memory alloy has a shape memory effect. Take a spring made of memory alloy as an example. Put this spring in hot water, the length of the spring will elongate immediately, and then put it in cold water, it will immediately return to its original shape. In addition, shape memory alloys are widely used in power systems due to their unique and excellent properties. [0003] In the power system, during the repair and maintenance of GIS equipment, the phenomenon of electrical components falling occurs from time to time. In actual production, the dropped electrical components are picked up by a suspension cable. The suspension cable incl...
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IPC IPC(8): B25J9/10B25J5/00B25J9/16B25J13/08B25J15/12
CPCB25J5/007B25J9/1085B25J9/161B25J13/086B25J15/12
Inventor 刘荣海耿磊昭杨迎春吴章勤唐法庆郑欣于虹
Owner YUNNAN POWER GRID CO LTD ELECTRIC POWER RES INST