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Snake-shaped robot

A snake-like robot and snake tail technology, applied in the field of robotics, can solve the problems of restricting heat transfer and heat dissipation of shape memory alloys, and the limitation of utilization surface

Inactive Publication Date: 2002-10-09
LIAONING TECHNICAL UNIVERSITY
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Problems solved by technology

[0002] Japan's TOHOLU University uses micro-manufacturing technology to drive shape-memory alloys. It is a miniature snake-like robot that is suitable for the human intestinal tract or blood vessel environment. However, the human body environment severely restricts the heat transfer and heat dissipation of shape-memory alloys, which limits the use area.

Method used

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Embodiment Construction

[0010] figure 1 Among them, a snake-shaped robot is mainly composed of a snake head 1, a snake tail 2, several joint ends 3, 4, 5, 6, ordinary steel wire springs 7, shape memory alloy (SMA) springs 8, 9, 10, 11 and feet 12. Component composition. The joint end 3 and the joint end 4 are connected by ordinary steel wire spring 7 and four shape memory alloy (SMA) springs 8, 9, 10, 11 fixed on the joint end 3, 4, and the other joints are deduced by analogy, namely Can form a snake robot. The joint ends are made of insulating material, and each joint end is equipped with a mechanism that can control the extension and retraction of the foot 12 (see details). figure 2 ). This control mechanism is composed of shape memory alloy (SMA) spring 13, connecting rod 14, 15, 16, spring leaf 17 and slideway 18 installed at the joint end, and foot 12. According to the characteristics of the crawling ground, rubber pads or metal tines. Its working principle is: the shape memory alloy (SMA)...

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Abstract

A snake-shaped robot for finding failure in long pipeline and searching people or object in accident is composed of snake head, snake tail and several segments which has the drive unit consisting of ordinary steel wire spring and shape memorizing alloy (SMA) spring, telescopic legs, and heating or cooling unit.

Description

technical field [0001] The invention relates to a robot, in particular to a snake-like robot with telescopic movement using a shape memory alloy (SMA) spring and a common steel wire spring as a driving device. Background technique [0002] Japan's TOHOLU University uses micro-manufacturing technology to drive shape-memory alloys. It is a miniature snake-like robot that is suitable for the human intestinal tract or blood vessel environment. However, the human body environment severely restricts the heat transfer and heat dissipation of shape-memory alloys, which limits the application area. Another kind of miniature multi-joint electromagnetic peristaltic robot is composed of several drive units, elastic sealing film, rear cabin, and front cabin. The drive units of each section are connected by universal joints. It realizes the robot system by means of the friction force of the interface. The overall driving movement can only move forward and backward, and cannot climb trees ...

Claims

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Application Information

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IPC IPC(8): B25J11/00
Inventor 解中宁赵丽娟隋新袁月峰韩侠鲍玉新潘宏歌
Owner LIAONING TECHNICAL UNIVERSITY
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