Miniature creeping vehicle based on shape memory alloy driving

A technology of memory alloy and memory alloy spring, which is applied in the field of robots and can solve the problems of complex control sequence and large power consumption

Inactive Publication Date: 2003-06-04
SHANGHAI JIAO TONG UNIV
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  • Abstract
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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

Method used

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  • Miniature creeping vehicle based on shape memory alloy driving
  • Miniature creeping vehicle based on shape memory alloy driving
  • Miniature creeping vehicle based on shape memory alloy driving

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Embodiment Construction

[0023] like figure 1 , figure 2 , image 3 and Figure 4 As shown, the present invention mainly includes: a mechanism body 1, a control system 2 and a power supply device 3, two output leads 4 of the control system 2 are connected to the mechanism body 1, four input leads 23 are connected to the power supply device 3, and the mechanism body 1 Mainly includes: front car body 5, shape memory alloy driver 6, elastic rod 7, rear car body 8, front wheel self-locking mechanism 9, rear wheel self-locking mechanism 10, front wheel 11 and rear wheel 12. The connection method is : The elastic rod 7 is hinged with the front car body 5 and the rear car body 8, the front car body 5 and the front wheel 11, the front car body 5 and the front wheel self-locking mechanism 9, the rear car body 8 and the rear wheel 12, and the rear car body 8 It is connected with the rear wheel self-locking mechanism 10 through the axles respectively. The shape memory alloy driver 6 is connected with the fro...

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Abstract

The present invention relates to robot technology. The miniature creeping vehicle includes main mechanism, control system and power supply. The main mechanism includes front vehicle body, shape memory alloy driver, elastic rod, back vehicle body, wheel self-locking mechanism and front and back wheels. The shape memory alloy driver is connected to the front vehicle body and the back vehicle body via guide pulley and constitutes parallel mechanism with the elastic rod. The present invention has great pace length, can move inside an irregular curved pipe and provides cheap and convenient solution for the inspection and maintenance of miniature pipeline in nuclear power station, space shuttle, etc.

Description

technical field [0001] The invention relates to a peristaltic micro-vehicle for pipeline inspection and maintenance, in particular to a peristaltic mini-vehicle driven by a shape memory alloy, which belongs to the field of robotics technology. Background technique [0002] In complex systems such as nuclear power plants and space shuttles, there are a large number of micro-miniature tubes with an inner diameter of 1 inch and 2 inches. In order to effectively detect and maintain these pipes, it is urgent to develop micro-miniature robots suitable for micro-sized pipes. Compared with other new-type actuators, the shape memory alloy actuator has a higher power-to-weight ratio than any other commonly used actuators after the weight is less than 100 grams, so it is widely used as a micro-miniature robot actuator. According to the search of the prior art, it is found that the patent "Parallel Offset Shape Memory Alloy Creeping Mechanism" applied by Shanghai Jiaotong University, th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J5/00B25J7/00
Inventor 姚沁金晟孙志强马培荪
Owner SHANGHAI JIAO TONG UNIV
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