CN2376363Y - Parallel bias type shape-memory alloy creeping mechanism - Google Patents
Parallel bias type shape-memory alloy creeping mechanism Download PDFInfo
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- CN2376363Y CN2376363Y CN 99226926 CN99226926U CN2376363Y CN 2376363 Y CN2376363 Y CN 2376363Y CN 99226926 CN99226926 CN 99226926 CN 99226926 U CN99226926 U CN 99226926U CN 2376363 Y CN2376363 Y CN 2376363Y
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- helical spring
- sma
- memory alloy
- creeping mechanism
- cylindrical sleeve
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Abstract
The utility model relates to a parallel bias type shape memory alloy creeping mechanism which is used in a miniature built-in robot. SMA spiral springs penetrate into two cylindrical sleeve barrels by utilizing the characteristics of shape memory alloy (SMA), one end of each of the cylindrical sleeve barrels projects to form a step shape, and both ends of each of the SMA spiral springs are clamped by spring clamps. The outer faces of the cylindrical sleeve barrels are sheathed with common spiral springs, and both ends of each of the common spiral springs abut on the step positions of the cylindrical sleeve barrels. The utility model skillfully utilizes the characteristic of shape memory alloy of synthesizing transmission and driving functions into a whole to adopt a built-in parallel structure, so that the whole creeping mechanism has the advantages of compact structure and light weight.
Description
A kind of bias type marmem creeping mechanism in parallel is used for miniature in-pipe robot, belongs to mechanical engineering Robotics field.
The creeping motion type in-pipe robot needs creeping mechanism.In the prior art, creeping mechanism is usually by motor or air cylinder driven, and the creeping mechanism of motor, air cylinder driven need slow down and transmission device, and they have increased the volume and weight of creeping mechanism, brings very big difficulty for the microminaturization of in-pipe robot.
The purpose of this utility model is to design and develop a kind of new creeping mechanism that is used for miniature in-pipe robot, makes it compact conformation, light and handy, the small shape of in-pipe robot is changed into be possible, can be adapted to the application demand of each new technical field.
For realizing such purpose, the utility model has utilized intelligent functional material--the SME of marmem (SMA) and weakness when being in the low-temperature martensite attitude, strong mechanical property during the high temperature austenite attitude, the cylindrical sleeves that adopts a common helical spring, a marmem (SMA) helical spring, two ends to protrude to be step-like and two elasticity clamp to join and form.Concrete structure is as follows: creeping mechanism has two cylindrical sleeves, one end of cylindrical sleeves protrudes and is step-like, respectively there is an elasticity folder at the two ends of creeping mechanism, in two cylindrical sleeves, be installed with a SMA helical spring, SMA clamps with Flexible clamp at helical spring two ends, be with a common helical spring in the outside of cylindrical sleeves, its two ends withstand on the step place of cylindrical sleeves.The elasticity folder is the good conductor of electricity, during work two elasticity folders is linked to each other with the both positive and negative polarity of power supply by lead respectively.Cylindrical sleeves has three effects: the one, prevent that SMA helical spring and common helical spring from electrically contacting, and the 2nd, prevent that common helical spring is compressed the back unstability, the 3rd, guarantee that the wriggling element can bear certain radial load, allows to produce certain flexural deformation.Common helical spring, SMA helical spring and cylindrical sleeves are structurally in parallel, make the more apparent compact conformation of entire mechanism.
For understanding technical solution of the present utility model better, describe in further detail below in conjunction with accompanying drawing.
Accompanying drawing 1 is a structural representation of the present utility model.
Among the figure, respectively there is an elasticity folder 4 at the creeping mechanism two ends, one end of two cylindrical sleeves 2 is step-like for protruding, in two cylindrical sleeves 2, be installed with a SMA helical spring 3, clamp with Flexible clamp 4 at the two ends of SMA helical spring 3, be with a common helical spring 1 in the outside of cylindrical sleeves 2, its two ends withstand on the step place of cylindrical sleeves 2.Two elasticity folders 4 are good conductor of electricity, can connect power supply.
Accompanying drawing 2 be among Fig. 1 A to the view structure schematic diagram.
As seen, SMA helical spring 3 is arranged in cylindrical sleeves 2 among the figure, cylindrical sleeves 2 the end bullet is arranged Property folder 4 is clamped SMA helical spring 3.
Before the energising heating, marmem SMA helical spring 3 is in the martensite attitude, and being stretched by common helical spring 1 produces a stretcher strain, and common helical spring 1 is produced a compression, the deformation force balance of the two by 3 compressions of SMA helical spring.After SMA helical spring 3 energising heating made it to take place reverse transformation and become strong austenite, generate a bigger phase transformation restoring force, this restoring force overcomes common helical spring biasing makes creeping mechanism shrink power output and displacement; Cut off the electricity supply, after stopping heating, SMA helical spring cool to room temperature undergoes phase transition, revert to weak martensite, the phase transformation restoring force disappears, the SMA helical spring is exported a less deformation force, and at this moment common helical spring overcomes the helical spring biasing of SMA makes the creeping mechanism diastole, power output and displacement.Control heat by the control electric current by SMA, and then contraction and diastole and the power output and the output displacement of control creeping mechanism.
The utility model is ingenious to have utilized marmem to integrate transmission, drive the characteristic of function, economization the parts of mechanism; Adopt Coil Spring of Shape Memory Alloys and common helical spring to do respectively initiatively and biasing member, having guaranteed has bigger output displacement; The active member Coil Spring of Shape Memory Alloys is built in the common helical spring, makes whole creeping mechanism compact conformation, light and handy.
In an embodiment of the present utility model, be used to drive the minitype creepage mechanism of creepage robot in a kind of 2 inches pipes, the footpath is 3.8mm in the common helical spring of employing, the silk footpath is 0.4mm, number of active coils 15 circles, material is a common straightcarbon steel; The footpath is 1.5mm in the SMA helical spring that adopts, and the silk footpath is 0.35mm, number of active coils 20 circles, and material is TiNiCu; The creeping mechanism diastole is of a size of φ 5 * 27mm, is of a size of φ 5 * 20mm during contraction, and zero load output displacement down is 7mm.When creeping mechanism was in diastole state, the 29mm of common helical spring during by original state was compressed into 25mm, and the 12mm of SMA helical spring during by original state is stretched to 25mm; When creeping mechanism was in contraction state, the 25mm of common helical spring during by diastole state further was compressed into 18mm, and the 25mm of SMA helical spring during by diastole state is punctured into 18mm.
Claims (1)
1, a kind of bias type marmem creeping mechanism in parallel, respectively there is an elasticity folder 4 at the two ends that it is characterized in that creeping mechanism, two one ends protrude in the cylindrical sleeves 2 that is step-like and are installed with a marmem SMA helical spring 3, clamp with elasticity folder 4 at the two ends of SMA helical spring 3, be with a common helical spring 1 in the outside of cylindrical sleeves 2, its two ends withstand on the step place of cylindrical sleeves 2 respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99226926 CN2376363Y (en) | 1999-06-11 | 1999-06-11 | Parallel bias type shape-memory alloy creeping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99226926 CN2376363Y (en) | 1999-06-11 | 1999-06-11 | Parallel bias type shape-memory alloy creeping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2376363Y true CN2376363Y (en) | 2000-05-03 |
Family
ID=34016542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99226926 Expired - Fee Related CN2376363Y (en) | 1999-06-11 | 1999-06-11 | Parallel bias type shape-memory alloy creeping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2376363Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077484C (en) * | 1999-12-10 | 2002-01-09 | 上海交通大学 | Pneumatic creeping cable robot |
| CN100441467C (en) * | 2006-11-03 | 2008-12-10 | 重庆大学 | Inchworm type creeping robot device |
| CN104175314A (en) * | 2014-08-15 | 2014-12-03 | 北京航空航天大学 | Soft robot based on SMA and SSMA driving |
| CN104833271A (en) * | 2015-05-22 | 2015-08-12 | 北京航空航天大学 | Shape memory alloy driver |
| CN105881493A (en) * | 2016-06-04 | 2016-08-24 | 上海大学 | Ring-foot type micro creeping robot |
| CN108974167A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | A kind of bionical memorial alloy robot and production method of novel spiral |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN110435782A (en) * | 2018-05-03 | 2019-11-12 | 西南科技大学 | A kind of wriggling software bio-robot of list elastomeric bladder control |
-
1999
- 1999-06-11 CN CN 99226926 patent/CN2376363Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1077484C (en) * | 1999-12-10 | 2002-01-09 | 上海交通大学 | Pneumatic creeping cable robot |
| CN100441467C (en) * | 2006-11-03 | 2008-12-10 | 重庆大学 | Inchworm type creeping robot device |
| CN104175314A (en) * | 2014-08-15 | 2014-12-03 | 北京航空航天大学 | Soft robot based on SMA and SSMA driving |
| CN104175314B (en) * | 2014-08-15 | 2016-04-13 | 北京航空航天大学 | Based on the soft robot design that SMA and SSMA drives |
| CN104833271A (en) * | 2015-05-22 | 2015-08-12 | 北京航空航天大学 | Shape memory alloy driver |
| CN105881493A (en) * | 2016-06-04 | 2016-08-24 | 上海大学 | Ring-foot type micro creeping robot |
| CN110435782A (en) * | 2018-05-03 | 2019-11-12 | 西南科技大学 | A kind of wriggling software bio-robot of list elastomeric bladder control |
| CN108974167A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | A kind of bionical memorial alloy robot and production method of novel spiral |
| CN108974167B (en) * | 2018-08-22 | 2023-07-07 | 广州大学 | Novel spiral bionic memory alloy robot and manufacturing method thereof |
| CN109877858A (en) * | 2019-03-11 | 2019-06-14 | 武汉理工大学 | A kind of variation rigidity software manipulator |
| CN109877858B (en) * | 2019-03-11 | 2022-03-11 | 武汉理工大学 | Rigidity-variable soft manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |