Shape memory alloy wire driven pectoral wave pushing bionic underwater robot

A memory alloy wire and underwater robot technology, applied in the field of robots, can solve the problems of small output force, complex structure, high noise, etc., and achieve the effects of small quality, high swimming efficiency, and simple sealing

Inactive Publication Date: 2007-01-31
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0010] Aiming at the existing problems of large mass, large volume, high noise, complex structure, small output force and slow speed in existing

Method used

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  • Shape memory alloy wire driven pectoral wave pushing bionic underwater robot
  • Shape memory alloy wire driven pectoral wave pushing bionic underwater robot
  • Shape memory alloy wire driven pectoral wave pushing bionic underwater robot

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specific Embodiment approach 1

[0019]Shape memory alloy belongs to a kind of intelligent material, which is a new type of functional material with shape memory effect, which can sense temperature and displacement, and convert thermal energy into mechanical energy. Since the discovery of the shape memory effect (SME, Shape Memory Effect) in the nearly equiatomic ratio TiNi alloy in the early 1960s, dozens of shape memory alloys have been discovered so far, among which TiNi and Cu-Zn-Al alloys have been Entering the industrial stage, Cu-Al-Ni and Fe-Mn-Si alloys have entered the market introduction stage. The shape memory effect means that some alloys that exhibit martensitic transformation are deformed when they are in a low-temperature phase, and when heated to a critical temperature (reverse transformation point), martensite (Martensite) transforms into austenite (Austenite) through reverse transformation. , the phenomenon of returning to its original shape. The shape memory effect can be divided into one...

specific Embodiment approach 2

[0030] Embodiment 2: The difference between this embodiment and Embodiment 1 is that, referring to FIG. 30 , an external joint 10 is connected to the other end of the pectoral fin undulation joint 3 connected to the body 1 , and the structure of the external joint 10 is consistent with the pectoral fin undulation The joints 3 are the same, the distal end of each pectoral fin undulating joint 3 can only be connected to one external joint 10, and can also be connected to multiple external joints in sequence, so as to realize the needs of high-speed movement, between the pectoral fin undulating joint 3 and the external joint 10 and along the The multiple external joints of the secondary connection are all connected through the base body 9 . The shape memory alloy wires 6 on the pectoral fin undulation joint 3 and the shape memory alloy wires on each external joint 10 are respectively connected to their respective wires to realize separate control, so that different bending amplitu...

specific Embodiment approach 3

[0038] Specific Embodiment Three: This embodiment is a bionic underwater robot propelled by four single-segment pectoral fin fluctuations. The so-called single-segment pectoral fin fluctuation joint means that the other end of the pectoral fin fluctuation joint of the robot is no longer connected to an external joint. Its outline Such as Figure 11As shown in the figure, four single-segment pectoral fin undulating joints and one rudder flexible joint are used, which imitate the action of the eastern crab ray to achieve motion. Figure 32 , Figure 33 An exploded view of the structure for the thruster arrangement of the biomimetic robot, where Figure 32 is a schematic diagram of the parallel connection method between shape memory alloy wires, Figure 33 It is a schematic diagram of the series connection method between shape memory alloy wires. The underwater robot adopts the cable-free control method, and the sequence of its pectoral fin joint movement is as follows: Figu...

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Abstract

The present invention relates to a marmem wire driven pectoral fin wave propulsion bionic underwater robot. It includes self-body and pectoral fin. The described pectoral fin includes at least four pectoral fin wave joints connected with self-body, between every adjacent two pectoral fin wave joints a fin film is connected. The described pectoral fin wave joint is formed from elastic body, marmem wire, skin and matrix. Said invention is simple in structure and is high in working efficiency.

Description

technical field [0001] The present invention relates to a robot. Background technique [0002] Existing underwater robots generally use propellers to provide power, and use multiple propellers or the mode of propeller plus rudder to realize turning. The propeller is generally driven by an electric motor or a hydraulic system plus a transmission mechanism. Its volume and weight are large, and its structure is complex, which increases the complexity of the underwater robot. And because the propeller rotates at a certain speed and stirs the seawater, there is a danger of being entangled by seaweed and the like in sea areas with a lot of seaweed. [0003] In view of some of the above problems of underwater robots, researchers began to look to nature for excellent underwater propulsion methods. Fish have high swimming efficiency and flexible movements, so they have become the objects of imitation for many scientific researchers. In 1994, after MIT in the United States successf...

Claims

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Application Information

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IPC IPC(8): B63H1/36
Inventor 王振龙杭观荣曹国辉王扬威
Owner HARBIN INST OF TECH
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