Closed chain rolling robot driven by shape memory alloy

A technology of memory alloy and memory alloy wire, which is applied in manipulators, motor vehicles, manufacturing tools, etc., can solve problems such as inability to complete detection tasks, oversized robot body, slow movement speed, etc., and achieve simplified design and processing procedures, physical The effect of softness and fast movement speed

Active Publication Date: 2021-12-03
CHINA UNIV OF PETROLEUM (BEIJING)
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  • Abstract
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Problems solved by technology

The robot is an open-chain structure composed of two bodies, and the robot's obstacle-crossing function can only be

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  • Closed chain rolling robot driven by shape memory alloy
  • Closed chain rolling robot driven by shape memory alloy
  • Closed chain rolling robot driven by shape memory alloy

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Embodiment Construction

[0039] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings.

[0040] The specific implementations of the present invention described here are only for the purpose of explaining the present invention, and should not be construed as limiting the present invention in any way. Under the teaching of the present invention, the skilled person can conceive any possible modification based on the present invention, and these should be regarded as belonging to the scope of the present invention. It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or there may also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or interv...

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Abstract

The invention relates to a closed chain rolling robot driven by the shape memory alloy, the robot comprises a plurality of connecting rod structure modules, and the connecting rod structure modules are connected end to end to form a closed chain structure; a shape memory alloy wire is connected between every two adjacent connecting rod structure modules, each shape memory alloy wire can be electrified to contract to drive the corresponding connecting rod structure module to swing, and each connecting rod structure module can reset to drive the corresponding shape memory alloy wire to restore; and the shape memory alloy wire is used for driving the closed chain structure to roll over. According to the invention, the memory effect characteristic of SMA is fully utilized, the driving of each connecting rod structure module is realized, the size is smaller, the body is softer, the obstacle crossing ability is better, the structure is simpler, and the operation is more stable.

Description

technical field [0001] The invention relates to the technical field of intelligent mobile robots, in particular to a closed-chain rolling robot driven by a shape memory alloy. Background technique [0002] Mobile robot technology is an emerging product integrating machinery, computer, communication, sensor, biology, bionics and other disciplines, and is an important member of the intelligent robot family. Mobile robots can be divided into wheeled, tracked, legged and spherical robots according to different motion forms. Different motion forms endow it with different performance and application occasions. However, the power of the traditional drive method is relatively low. In recent years, scholars have been studying how to apply smart material drives to various drives. The shape memory alloy driver utilizes its own shape memory effect and has the advantages of high deformation and high functional density, so it is widely used in various engineering fields. [0003] There ...

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Application Information

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IPC IPC(8): B62D57/02B25J5/00
CPCB62D57/02B25J5/005
Inventor 贾晓丽米柏川王康黄书童原春钰张岩波刘书海肖华平
Owner CHINA UNIV OF PETROLEUM (BEIJING)
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