CN100516565C - Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker - Google Patents
Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker Download PDFInfo
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- CN100516565C CN100516565C CNB2007101707611A CN200710170761A CN100516565C CN 100516565 C CN100516565 C CN 100516565C CN B2007101707611 A CNB2007101707611 A CN B2007101707611A CN 200710170761 A CN200710170761 A CN 200710170761A CN 100516565 C CN100516565 C CN 100516565C
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Abstract
The invention relates to a micro multi-chamber negative pressure suction cup driven by an embedded type shape memory alloy wire driver in the special robot technical field, comprising an embedded type shape memory alloy wire driver, an elastic basic body material, an elastic body round ring, a rigid body supporting layer and a multi-chamber elastomer base which are sequentially bonded together to form a multi-layer structure. When the embedded type shape memory alloy wire driver is electrified and heated, the elastic basic body material is driven to deform, leading the volume of the air in the chamber formed by the elastic basic body material, the rigid body supporting layer and the elastomer round ring to become large and form negative pressure; because a diffusion port on the rigid body supporting layer is communicated with the small chamber on the multi-chamber elastomer base, the small chamber of the multi-chambe elastomer base also generates negative pressure. The invention avoids the shortages of the existing negative pressure suction cup of not being easy to be microminiaturized, large noise and low power ratio and provides the adsorption device with minitype, high-efficiency, reliability and excellent wall surface adaptability for micro wall-climbing robots.
Description
Technical field
What the present invention relates to is the adsorbent equipment in a kind of Robotics field, the micro multi-cavity negative sucker that particularly a kind of embedded shape-memory alloy wire actuator drives.
Background technique
Plastic deformation after taking place in marmem (SMA), can be returned to the preceding shape of distortion on a certain temperature through being heated to, utilize these characteristics of marmem to make sma actuator, it has the advantage that power to weight ratio is big, driving voltage is low, deformation quantity is big.Common have SMA wire actuator, spring drive and a film driver etc., and they have obtained extensive use in micro robot.Traditional negative pressure adsorption wall-climbing robot, its adsorbing mechanism mainly adopts the driving mode based on air pump to make sucker produce negative pressure, begun to have research use motor to rotate in recent years and produced straight-line displacement, form the sucker cavity volume and change, and then the method for generation negative pressure has replaced air pump to bleed.Said method can both produce bigger negative pressure, but no matter is air pump or the motor that is used to change the sucker cavity volume, all exists power to weight ratio low, and adsorbent equipment is difficult for microminaturization and the shortcoming of noise is arranged.Because the climbing robot operation surface often is not smooth continuous, and groove is also often arranged, existing sucker generally adopts single cavity configuration, loses efficacy in case run into groove to leak gas rapidly.
Find through literature search prior art, China utility model patent ZL01210421.4 has designed a kind of grid structure sucker, it contains sucker and sucker lid, the card of sucker has grid structure, the small sucker of fluted formation in each mesh of grid, each small sucker center have aperture to be communicated with the air inlet/outlet that sucker covers.Though this patent has adopted multi-cavity structure, need external source of the gas, be unfavorable for the microminaturization of adsorbent equipment.
Summary of the invention
The object of the invention is at the deficiencies in the prior art, the micro multi-cavity negative sucker that provides a kind of embedded shape-memory alloy wire actuator to drive, make it utilize the good drive performance of SMA, solve the deficiency that existing negative pressure sucker exists in the climbing robot adsorbent equipment is used, this sucker not only can be used for the climbing robot adsorbing mechanism, also can be applied to the other types negative pressure sucker and use.
The present invention is achieved by the following technical solutions, the present invention includes: shape-memory alloy wire actuator, flexible base material, elastomer annulus, multi-cavity elastomer base and rigid body supporting layer.Shape-memory alloy wire actuator is embedded in the flexible base material, elastomer annulus one side sticks with glue with flexible base material and connects, one side sticks with glue with the rigid body supporting layer and connects in addition, the other one side of rigid body supporting layer sticks with glue with multi-cavity elastomer base and connects, multi-cavity elastomer base one end is bonded on the rigid body supporting layer, and an other end contacts with the face of being adsorbed.
Described shape-memory alloy wire actuator, silk or film.Adopt the SMA silk after heat treatment to make, linear state at normal temperatures, shape-memory alloy wire actuator is curved towards a direction bending after the energising heating.With respect to the SMA spring drive, the shape-memory alloy wire actuator speed of response is fast, and driving current is low.Shape-memory alloy wire actuator directly is embedded to flexible base material inside, after to shape-memory alloy wire actuator energising heating, shape-memory alloy wire actuator is towards the specific direction bending, because SMA silk and flexible base material are combined with each other, the distortion of shape-memory alloy wire actuator will drive the flexible base material distortion.
Described elastomer annulus can adopt silicone rubber material to make, and the elastomer annulus can form one deck air film with rigid body supporting layer and flexible base material, relies on gas volume variation generation negative pressure in this air film.
Described rigid body supporting layer, there are a lot of small diffusing opening passages to connect the air cavity that loculus on the multi-cavity elastomer base and elastomer annulus form above it, in case form negative pressure in the air cavity, can in loculus, set up negative pressure rapidly by these passages, utilize flow resistance to cross the characteristics that the direction of diffusing opening changes simultaneously, can effectively prevent the influence of loculus gas leakage negative pressure in the big chamber with gas stream.
Described multi-cavity elastomer base is made by the elastic material of easily deformable and favorable sealing property, and a lot of circular loculuses are arranged on the multi-cavity elastomer base, is radial arrangement, forms the structure of multi-cavity absorption.
Working principle of the present invention is: when to shape-memory alloy wire actuator energising heating, shape-memory alloy wire actuator deformation band dynamic elasticity body material deforms, the interior gas volume of the cavity that flexible base material and elastomer annulus are constituted becomes the big negative pressure that forms, owing to have on the rigid body supporting layer diffusing opening to be connected, so also produce negative pressure in the loculus on multi-cavity elastomer base with loculus on the multi-cavity elastomer base.After stopping heating, under the effect of the elastic-restoring force of flexible base material, the cavity gas volume is got back to original state, and negative pressure disappears.
Compared with prior art, the present invention's phase transformation restoring force of adopting marmen heating back to produce deforms flexible base material to make the loculus of sucker bottom produce negative pressure.The adsorption force that this negative pressure sucker produces is enough big, and through experimental verification, the negative pressure of its generation can reach more than the 10kPa, but the normal load of load 500g, and its volume very little (diameter 50mm, high not enough 10mm), can be used as microminiature climbing robot adsorbent equipment.The present invention is with respect to existing climbing robot negative-pressure adsorption device, the characteristics that have noise free, need not external source of the gas and motor, cost are low.Owing to adopted the structure of multi-cavity absorption, can effectively improve the wall conformability of sucker simultaneously.
Description of drawings
Fig. 1 is an overall construction drawing of the present invention.
Among Fig. 1, shape-memory alloy wire actuator 1, flexible base material 2, elastomer annulus 3, rigid body supporting layer 4, multi-cavity elastomer base 5.
Fig. 2 is each constituent elements linkage structure schematic representation of the present invention
Among Fig. 2,6 is the cavity that flexible base material 2, elastomer annulus 3 and rigid body supporting layer 4 form, and 7 be that diffusing opening, 8 on the rigid body supporting layer 4 is the loculus on the multi-cavity elastomer base 5.
Fig. 3 is a rigid body supporting layer structural representation of the present invention.
Embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is being to implement under the prerequisite with the technical solution of the present invention, provided detailed mode of execution and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As Figure 1-3, present embodiment comprises shape-memory alloy wire actuator 1, flexible base material 2, elastomer annulus 3, rigid body supporting layer 4, multi-cavity elastomer base 5.Shape-memory alloy wire actuator 1 is embedded in the flexible base material 2, elastomer annulus 3 one sides stick with glue with flexible base material 2 and connect, one side sticks with glue with rigid body supporting layer 4 and connects in addition, the other one side of rigid body supporting layer 4 sticks with glue with multi-cavity elastomer base 5 and connects, multi-cavity elastomer base 5 one ends are bonded on the rigid body supporting layer 4, and an other end contacts with the face of being adsorbed.
Described shape-memory alloy wire actuator 1 adopts the SMA silk after heat treatment to make, linear state at normal temperatures, and shape-memory alloy wire actuator 1 is curved towards a direction bending after the energising heating.
Described shape-memory alloy wire actuator 1 directly is embedded to flexible base material 2 inside, and in this example, shape-memory alloy wire actuator 1 adopts the manufacturing of NiTi alloy, long 40mm, and silk footpath 1.5mm can bend to semicircle after the energising heating.
The shape that described flexible base material 2 adopts silicone rubber to become to need with Mould Machining, silicone rubber material is very soft, is easy to distortion, and Young's modulus is 1.5Mpa.
Described shape-memory alloy wire actuator 1 is imbedded flexible base material 2, flexible base material 2 diameter 50mm, thick 3mm.After the energising heating, the distortion of shape-memory alloy wire actuator is easy to cause the distortion of flexible base material 2.
The one side of described elastomer annulus 3 is bonding with the bottom surface of flexible base material 2, one side is bonding with rigid body supporting layer 4 in addition, flexible base material 2, elastomer annulus 3 and rigid body supporting layer 4 form a big air cavity 6, and a lot of diffusing openings 7 are arranged on the rigid body supporting layer 4.
Described rigid support layer 4 adopts plexiglass processing, effectively weight reduction, its diameter 50mm, thick 3mm.
Described multi-cavity elastomer base 5 adopts silicane rubber plate processing, and a lot of loculuses 8 are arranged on it, is radial arrangement, and the diameter of these loculuses is 8mm, 12 altogether.Wherein each loculus 8 is connected with air cavity 6 by diffusing opening 7, forms the structure of multi-cavity absorption.
When giving shape-memory alloy wire actuator 1 energising heating, deformation takes place towards a direction bending in shape-memory alloy wire actuator 1, thereby drive the volume that the air cavity 6 that deformation makes also takes place flexible base material 2 and become big, produce negative pressure, owing to there is on the rigid body supporting layer 4 diffusing opening to be connected with loculus 8 on the multi-cavity elastomer base 5, so also produce negative pressure in the loculus 8 on multi-cavity elastomer base 5, sucker be adsorbed on be adsorbed on the plane.After stopping heating, shape-memory alloy wire actuator 1 deliquescing, under the effect of the elastic-restoring force of flexible base material 2, the gas volumes in shape-memory alloy wire actuator 1 and the air cavity 6 are got back to original state, negative pressure in the loculus 8 also disappears, and sucker can not be adsorbed on the face of being adsorbed.When leaking gas between adsorption plane and the loculus 8, because the effect of diffusing opening 7, flow resistance was big when air-flow flowed into air cavity 6 from loculus 8, and diffusing opening 7 stops flowing of air-flow, therefore, can effectively keep the size of negative pressure in the air cavity 6.
The advantage applies of present embodiment is aspect several: the one, and adopt heating back sma actuator to make sucker air cavity volume become the big negative pressure that produces, need be at external source of the gas of sucker or motor, because the high power to weight ratio of sma actuator, this sucker volume that makes is little, noise free, adsorption force is big.The diameter 50mm of this sucker, high not enough 10mm, heavy only 80g.The 2nd, because multi-cavity elastomer base adopts elastic material to make, have multi-cavity structure, make when on being adsorbed face, having micro gap, can effectively reduce the influence of gas leakage to negative pressure in the cavity, improve the wall adaptability of sucker reliably.The 3rd, a plurality of small diffusing opening passages are arranged on the rigid body supporting layer, utilize flow resistance to cross the characteristics that the direction of diffusing opening changes with gas stream, can effectively prevent the influence of loculus gas leakage to negative pressure in the big chamber.The present invention is when shape-memory alloy wire actuator electrical current 4A, and the negative pressure of its generation can reach more than the 10kPa, but the normal load of load 500g reaches 50s.
Claims (8)
1, the micro multi-cavity negative sucker that a kind of embedded shape-memory alloy wire actuator drives, it is characterized in that, comprise: shape-memory alloy wire actuator, flexible base material, the elastomer annulus, multi-cavity elastomer base and rigid body supporting layer, shape-memory alloy wire actuator is embedded in the flexible base material, elastomer annulus one side sticks with glue with flexible base material and connects, one side sticks with glue with the rigid body supporting layer and connects in addition, the other one side of rigid body supporting layer sticks with glue with multi-cavity elastomer base and connects, multi-cavity elastomer base one end is bonded on the rigid body supporting layer, and an other end contacts with the face of being adsorbed.
2, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 1 is characterized in that, described flexible base material, elastomer annulus and rigid body supporting layer form a big air cavity.
3, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 1 and 2 is characterized in that, described rigid body supporting layer has a lot of diffusing openings above it.
4, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 1 is characterized in that described multi-cavity elastomer base has a lot of circular loculuses on it, be radial arrangement, forms the structure of multi-cavity absorption.
5, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 4 is characterized in that the diameter of described loculus is 8mm, 12 altogether.
6, the micro multi-cavity negative sucker that drives according to claim 1 or 4 described embedded shape-memory alloy wire actuators, it is characterized in that, described multi-cavity elastomer base, its each loculus is connected with the air cavity that flexible base material, elastomer annulus, rigid body supporting layer form by the diffusing opening of rigid body supporting layer, forms the structure of multi-cavity absorption.
7, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 1 is characterized in that, described shape-memory alloy wire actuator is silk or film.
8, the micro multi-cavity negative sucker of embedded shape-memory alloy wire actuator driving according to claim 1, it is characterized in that, described shape-memory alloy wire actuator, linear state at normal temperatures, shape-memory alloy wire actuator is curved towards a direction bending after the energising heating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101707611A CN100516565C (en) | 2007-11-22 | 2007-11-22 | Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker |
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007101707611A CN100516565C (en) | 2007-11-22 | 2007-11-22 | Embedded shape-memory alloy wire actuator driven micro multi-cavity negative sucker |
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| CN101178090A CN101178090A (en) | 2008-05-14 |
| CN100516565C true CN100516565C (en) | 2009-07-22 |
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Families Citing this family (10)
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| CN108402830B (en) * | 2018-05-21 | 2019-09-24 | 颜禾智能科技(浙江)有限公司 | A kind of Children bowl |
| EP3722625A1 (en) * | 2019-04-08 | 2020-10-14 | Nederlandse Organisatie voor toegepast- natuurwetenschappelijk Onderzoek TNO | Configurable adhesive device and method |
| CN109938920B (en) * | 2019-04-29 | 2024-02-20 | 振德医疗用品股份有限公司 | Micro negative pressure foam dressing and manufacturing method thereof |
| CN111169554B (en) * | 2020-01-10 | 2021-02-26 | 中国科学院合肥物质科学研究院 | Bionic sucker-bristle composite structure for wet and slippery rough wall surface |
| WO2022041037A1 (en) * | 2020-08-27 | 2022-03-03 | 中国科学院深圳先进技术研究院 | Plane sucker, conveying apparatus, and medical robot |
| CN112025674B (en) * | 2020-08-27 | 2021-09-10 | 中国科学院深圳先进技术研究院 | Plane sucking disc, conveying equipment and medical robot |
| CN112873179B (en) * | 2021-01-19 | 2022-08-09 | 鹏城实验室 | Gripper |
| CN114308834A (en) * | 2022-01-05 | 2022-04-12 | 江南造船(集团)有限责任公司 | Sucking disc device for cleaning surface of plate by ultrahigh-pressure water injection and injection equipment |
| CN116117845B (en) * | 2022-11-25 | 2024-04-12 | 中国科学院深圳先进技术研究院 | Resonance impact self-loading sucker |
| CN117901153B (en) * | 2024-01-17 | 2024-09-10 | 浣江实验室 | Temperature control clamp based on shape memory particles and clamping method |
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Granted publication date: 20090722 Termination date: 20111122 |