Miniature creeping vehicle based on shape memory alloy driving

Abstract

A peristaltic miniature vehicle driven by a shape memory alloy belongs to the technical field of robots. It mainly includes: the main body of the mechanism, the control system and the power supply device. The main body of the mechanism mainly includes: the front car body, the shape memory alloy driver, the elastic rod, the rear car body, the front and rear wheel self-locking mechanism, the front and rear wheels, the elastic rod is hinged with the front and rear car bodies, The front body and the front wheels, the front body and the front wheel self-locking mechanism, the rear body and the rear wheels, and the rear body and the rear wheel self-locking mechanism are respectively connected through the wheel shaft, and the shape memory alloy driver is connected to the front body, The rear car body is connected into one body, the shape memory alloy driver and the elastic rod form a parallel mechanism, and the connecting position of the elastic rod on the front and rear car bodies is above the connecting position of the shape memory alloy driver and the front and rear car bodies. The invention obviously increases the forward moment of the miniature vehicle, can move in the irregular curved pipeline, and provides a cheap and convenient solution for the inspection and maintenance of the miniature pipelines in the fields of nuclear power plants, space shuttles and the like.

Description

technical field [0001] The invention relates to a peristaltic microcar for pipeline inspection and maintenance, in particular to a peristaltic microcar driven by a shape memory alloy, which belongs to the technical field of robots. Background technique [0002] There are a large number of tiny pipes with an inner diameter of 1 inch and 2 inches in complex systems such as nuclear power plants and space shuttles. In order to effectively detect and maintain these pipes, it is urgent to develop micro-miniature robots suitable for tiny pipes. [0003] According to the retrieval of the prior art, it is found that the patent applied by Shanghai Jiaotong University is called: In-tube robot cube-shaped peristaltic walking mechanism, application (patent) No. 99113962.3, which discloses a cube-shaped tube-shaped omnidirectional peristaltic robot walking mechanism. The walking mechanism is in the shape of a cube, and is formed by connecting 12 shape memory alloy linear actuators of the...

AI Technical Summary

Problems solved by technology

This patent uses 12 sets of shape memory alloy spring linear drives to form a cube-shaped structure, resulting in complex control timing, the movement of each set of drives interferes with each other, consumes a lot of power, and the maximum walking speed can only reach 10 mm / min

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