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Clamping device based on shape memory alloy wires and control method of clamping device

A memory alloy wire and gripper technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problems of poor expandability of flexible grippers, and achieve the effect of low difficulty in operation control and strong expandability

Inactive Publication Date: 2018-06-15
BEIJING INST OF REMOTE SENSING EQUIP
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a gripper based on shape memory alloy wire and its control method, so as to solve the problem of poor scalability of existing flexible grippers

Method used

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  • Clamping device based on shape memory alloy wires and control method of clamping device
  • Clamping device based on shape memory alloy wires and control method of clamping device

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0018] A clamper based on shape memory alloy wire, comprising: a connecting piece 2 and a clamping arm 1 .

[0019] The holding arm 1 is composed of a PCB board and a shape memory alloy wire. There are two PCB boards in total, and there are multiple sections of shape memory alloy wires arranged in parallel in the same plane between the two PCB boards. The entire PCB board and the shape memory alloy wire are wrapped by a soft material with curing function. There are multiple holding arms 1 and one end is all connected to the connecting piece 2 . The shape-memory alloy wires between the two PCB boards have multiple layers, and the multi-layer shape-memory alloy wires are arranged in parallel. The shape memory alloy wire between the two PCB boards is formed by winding a shape memory alloy wire back and forth between the two PCB boards. The soft material with curing function is thermosetting glue or thermosetting resin. A plurality of holding arms 1 are arranged radially and sy...

Embodiment 2

[0021] The specific steps of a control method based on a shape memory alloy wire holder are as follows:

[0022] The shape-memory alloy wires of multiple clamping arms 1 are all connected to the single-chip microcomputer, and the single-chip microcomputer performs independent heating control on each clamping arm 1 by adjusting the waveform of the voltage according to the timing parameters corresponding to different motion modes, so that the clamping arm 1 completes gripping or Slack movement.

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Abstract

The invention discloses a clamping device based on shape memory alloy wires and a control method of the clamping device. The clamping device comprises a connecting piece (2) and clamping arms (1). Clamping arms (1) are composed of PCBs and the shape memory alloy wires. Totally two PCBs are arranged, and the multiple sections of shape memory alloy wires which are arranged in parallel in a coplane manner are arranged between the two PCBs. The multiple clamping arms (1) are arranged, and one ends of the clamping arms (1) are connected with the connecting piece (2). The shape memory alloy wires ofthe multiple clamping arms (1) are connected with a single-chip microcomputer, the single-chip microcomputer conducts independent heating control on each clamping arm (1) through adjustment on the voltage waveform according to timing sequence parameters corresponding to different modes, and the clamping arms (1) finish the tight holding or loosening action. According to the clamping device and the control method thereof, grabbing, holding, stacking and other actions can be finished, operation control difficulty is low, and expandability is high.

Description

technical field [0001] The invention relates to a gripper and a control method thereof, in particular to a gripper based on a shape memory alloy wire and a control method thereof. Background technique [0002] In the face of applications where the size and shape of the clamped objects are different, the existing rigid clamper has a complex structure, a large mass and needs to be customized according to the size and weight of the clamped object, which not only increases the space occupancy rate , and the clamping system is relatively large. In this case, due to the use of corrosion-resistant and soft materials as the body, the flexible gripper has a small mass and is extremely low in sensitivity to changes in temperature, climate and environmental pressure. Among flexible grippers with well-defined functions, most of the driving methods are tendon-like unit driving, pressure driving unit driving, and electroactive polymer driving, but the existing flexible grippers have poor...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10
CPCB25J9/1085
Inventor 段卓
Owner BEIJING INST OF REMOTE SENSING EQUIP
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