CN103089793B - Based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring - Google Patents
Based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring Download PDFInfo
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- CN103089793B CN103089793B CN201310034084.6A CN201310034084A CN103089793B CN 103089793 B CN103089793 B CN 103089793B CN 201310034084 A CN201310034084 A CN 201310034084A CN 103089793 B CN103089793 B CN 103089793B
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Abstract
Based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring, belong to climbing robot adsorbent equipment technical field.Can according to the feature of the adsorption force on the stressing conditions of health control pin freely according to biologies such as octopuses, the invention discloses a kind of bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring, comprise cylindrical connecting member, supported spring, guide rod, slide rheostat, power supply, pedestal, bionical negative pressure sucker, switch, first order shape memory alloy spring, second level shape memory alloy spring; Adsorbent equipment can change adsorption force within the specific limits step by step according to external forces change.Bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring of the present invention is energy-conservation, and noise free, reliability is high.
Description
Technical field
The invention belongs to climbing robot adsorbent equipment technical field, what relate to is a kind of bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring.
Background technique
At present, adsorbent equipment many employings sucker group formula structure of climbing robot, single sucker many employings traditional vacuum sucker in sucker group, the program can produce larger negative pressure, but extremely consume energy, not easily miniaturization, and the biology such as octopus invests wall or disengaging wall only need waste minimum energy, and the adsorption force that wall scroll touches wrist can change along with the change of external forces, the present invention imitates octopus and touches the attached wall principle of wrist, inquire into the design method of bionical adsorbent equipment, realize the self adaption adsorbent equipment that adsorption force is variable.
Two-way shape memory alloy can be returned to the state before not heating after heating deforms, there is the bionical negative pressure sucker of Shape-based interpolation memory alloy, but these suckers all adopt single-stage marmem at present, it is single that single length change causes sucker cavity volume to change, adsorption force is immutable, the shape memory alloy spring of two sections of double-pass memory effects is connected by the present invention, form multilevel shape memory alloy spring, its length is changed step by step along with temperature variation within the specific limits, on this basis, design a kind of device utilizing guide rod to promote slide rheostat adjustment electric current, based on bionics principle, imitate the wall adsorption mechanism characteristic that octopus touches wrist, marmem is adopted to carry out bionical negative pressure sucker group structural design, wall adsorption mechanism design for climbing robot provides a kind of novel mechanism design method, promote the intellectuality of climbing robot and practical.
Through finding the literature search of prior art, Chinese utility model patent ZL200710170762.6 devises the negative pressure sucker that a kind of two-way shape memory alloy spring drives, the air cavity in inner casing and outer shell is made to form negative pressure by the effect of two-way shape memory alloy spring, due to employing is single-stage shape memory alloy spring, and its adsorption force can not change.The sucker group of the employing proposed in " AModular Biped Wall-Climbing Robot With High Mobility and ManipulatingFunction " (a kind of modularization biped robot possessing high degree of flexibility and operability) literary composition that Yisheng Guan etc. delivers on the IEEE/ASMETRANSACTIONS ON MECHATRONICS (international electromechanical integration report) of 2012 three vacuum chuck compositions is as the attached foot of climbing robot single suction, and its deficiency is that the adsorption force of sucker group all directions vacuum chuck can not change the change of sucker group active force along with leg joint.
Summary of the invention
The object of the invention is for the deficiencies in the prior art, design the bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring, the drive performance step by step of multilevel shape memory alloy spring and slide rheostat is utilized to regulate electric current, the adsorption force of bionical negative pressure sucker can be regulated within the specific limits step by step, thus solve the deficiency existed in the application of existing adsorbing mechanism.
The present invention includes cylindrical connecting member, supported spring, guide rod, slide rheostat, power supply, pedestal, bionical negative pressure sucker, switch, first order shape memory alloy spring, second level shape memory alloy spring, it is characterized in that: described cylindrical connecting member can connect robot leg, bottom is arranged in the ball pair of base central, upper end is uniformly distributed welding three supported springs, the supported spring the other end is welded on equally distributed three supporting posts, installation three ball pairs are uniformly distributed immediately below cylindrical connecting member and supported spring joint, ball pair connects three guide rods, the ball that the guide rod the other end is fastened on slide rheostat adjustable skid upper end is secondary, described slide rheostat is uniformly distributed and is arranged on pedestal, when cylindrical connecting member moves, drive guide rod push-and-pull slide rheostat adjustable skid, thus change slide rheostat resistance, described bionical negative pressure sucker adopts the multilevel shape memory alloy spring be composed in series by the shape memory alloy spring that two sections of phase transition temperatures are different, three bionical negative pressure suckers are uniformly distributed and are arranged on pedestal, described power supply, switch is arranged on pedestal, with slide rheostat, bionical negative pressure sucker composition current loop.Adsorbent equipment contact wall, during the change of cylindrical connecting member a direction active force, guide rod push-and-pull slide block changes the size of current on the multilevel shape memory alloy spring of each bionical negative pressure sucker, thus control biomimetics negative pressure sucker changes its adsorption force step by step.
The present invention has following beneficial effect compared to prior art:
(1) controlled the adsorption force of each sucker of sucker group by multilevel shape memory alloy spring, sucker suction power is changed within the specific limits step by step, effectively improve climbing robot resistance to capsizing;
(2) this sucker group utilizes mechanical structure to substitute the control system of the complexity based on power position control principle, and cost is low, and volume is little, and noise free is energy-conservation.
Accompanying drawing explanation
Fig. 1 is general structure schematic diagram of the present invention;
Fig. 2 is plan view of the present invention;
Sucker group structural representation when Fig. 3 is cylindrical connecting member of the present invention generation skew.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
The object of the invention is for the deficiencies in the prior art, design the bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring.
As shown in Figure 1, the present embodiment comprises cylindrical connecting member 1, supported spring 2, guide rod 3, slide rheostat 4, power supply 5, pedestal 6, bionical negative pressure sucker 7, switch 8, first order shape memory alloy spring 9a, second level shape memory alloy spring 9b.
Diameter is selected to be 20mm in the present embodiment, height is the cylindrical connecting member 1 of 70mm, robot leg can be connected, bottom is arranged in the ball pair of pedestal 6 central authorities, pedestal 6 diameter is 180mm, cylindrical connecting member 1 is uniformly distributed welding three supported springs 2 apart from upper end-hole 10mm place, the welding of supported spring 2 the other end on the support columns, supporting post is uniformly distributed and is arranged on pedestal 6, and supported spring 2 is parallel with pedestal 6, immediately below cylindrical connecting member 1 and supported spring joint, ball pair is installed at 20mm place, the secondary ball pair connected by guide rod 3 on the adjustable skid of slide rheostat 4 of ball, described slide rheostat 4 is fixedly mounted on pedestal 6, when described cylindrical connecting member 1 moves, drive guide rod 3 promotes the adjustable skid on slide rheostat 4, thus change the resistance of slide rheostat 4, described bionical negative pressure sucker 7 adopts by first order shape memory alloy spring 9a, the multilevel shape memory alloy spring that second level shape memory alloy spring 9b is composed in series, and the phase transition temperature of first order shape memory alloy spring 9a is lower than second level shape memory alloy spring 9b, three bionical negative pressure suckers 7 are uniformly distributed and are arranged on pedestal 6, described power supply 5, switch 8 is arranged on pedestal, with slide rheostat 4, bionical negative pressure sucker 7 forms current loop.
Adsorbent equipment contact wall, switch 8 closes, when there is not skew in cylindrical connecting member 1, the adjustable skid of slide rheostat 4 is positioned at the centre of slide rheostat 4, now current loop produces stabling current, first order shape memory alloy spring 9a is heated and reaches phase transition temperature elongation, drives axis of guide stretching sucker inner chamber elastomer sheet, is adsorbed on wall after forming negative cavity, when the stressed increasing of cylindrical connecting member 1 a direction or when reducing, cylindrical connecting member 1 offsets, adjustable skid on guide rod 3 push-and-pull slide rheostat 4, diminished by slide rheostat 4 resistance of drawing, the ER effect flowing through the multilevel shape memory alloy spring of corresponding bionical negative pressure sucker 7 inside is large, when the second level, shape memory alloy spring 9b reaches phase transition temperature, second level shape memory alloy spring 9b extends, drive axis of guide stretching sucker inner chamber elastomer sheet further, bionical negative pressure sucker 7 negative cavity volume becomes large, adsorption force becomes large, become large by slide rheostat 4 resistance pushed away, the electric current flowing through the multilevel shape memory alloy spring of corresponding bionical negative pressure sucker 7 inside diminishes, when first order shape memory alloy spring 9a reaches below phase transition temperature, bionical negative pressure sucker 7 negative cavity diminishes, adsorption force diminishes.
Except above-described embodiment, the bionical self adaption adsorbent equipment based on multilevel shape memory alloy spring of the present invention can also make and further improve and change, and does not exceed scope of the present invention.Such as, the number of sucker can increase to 4 or 6; Shape memory alloy spring can increase to three sections or more section series connection etc.
Claims (1)
1. based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring, the present invention includes cylindrical connecting member (1), supported spring (2), guide rod (3), slide rheostat (4), power supply (5), pedestal (6), bionical negative pressure sucker (7), switch (8), first order shape memory alloy spring (9a), second level shape memory alloy spring (9b), it is characterized in that: described cylindrical connecting member (1) can connect robot leg, bottom is arranged in the ball pair of pedestal (6) central authorities, cylindrical connecting member (1) upper end is uniformly distributed welding three supported springs (2), supported spring (2) the other end is welded on equally distributed three supporting posts, supported spring (2) is parallel with pedestal (6), installation three ball pairs are uniformly distributed immediately below cylindrical connecting member (1) and supported spring (2) joint, ball pair connects three guide rods (3), the ball that guide rod (3) is fastened on the adjustable skid upper end on slide rheostat (4) is secondary, described slide rheostat (4) is uniformly distributed and is arranged on pedestal (6), when described cylindrical connecting member (1) is mobile, the adjustable skid of guide rod (3) push-and-pull slide rheostat (4) can be driven, first form class shape memory alloys spring (9a), second level shape memory alloy spring (9b) is composed in series multilevel shape memory alloy spring and is arranged on the axis of guide of bionical negative pressure sucker (7), bionical negative pressure sucker (7) is uniformly distributed and is arranged on pedestal (6), described power supply (5), switch (8) is arranged on pedestal (6), with slide rheostat (4), bionical negative pressure sucker (7) composition current loop.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310034084.6A CN103089793B (en) | 2013-01-25 | 2013-01-25 | Based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring |
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| CN201310034084.6A CN103089793B (en) | 2013-01-25 | 2013-01-25 | Based on the bionical self adaption adsorbent equipment of multilevel shape memory alloy spring |
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| CN103089793A CN103089793A (en) | 2013-05-08 |
| CN103089793B true CN103089793B (en) | 2015-10-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107487391B (en) * | 2017-08-23 | 2023-09-15 | 河北工业大学 | Suction-adjustable crawler-type wall climbing robot |
| CN108714908A (en) * | 2018-05-20 | 2018-10-30 | 佛山市高芯科技服务有限公司 | A kind of automobile triangular window glass production feeding robot |
| CN111610061A (en) * | 2020-05-27 | 2020-09-01 | 西昌市蓝鼎环保科技有限公司 | Quantitative sewage collection device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101178091A (en) * | 2007-11-22 | 2008-05-14 | 上海交通大学 | Two-way shapememory alloy spring driven negative sucker |
| CN201973073U (en) * | 2011-01-15 | 2011-09-14 | 中国计量学院 | Fast response type shape memory alloy spring suction disc device with nested structure |
| CN203130756U (en) * | 2013-01-25 | 2013-08-14 | 中国计量学院 | Bionic self-adaptation absorption device based on multistage shape memory alloy spring |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020175250A1 (en) * | 2001-05-23 | 2002-11-28 | Bing-Tson Lian | Fixation seat capable of being attached firmly to wall |
| JP4816331B2 (en) * | 2006-08-28 | 2011-11-16 | ソニー株式会社 | Suction cup device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101178091A (en) * | 2007-11-22 | 2008-05-14 | 上海交通大学 | Two-way shapememory alloy spring driven negative sucker |
| CN201973073U (en) * | 2011-01-15 | 2011-09-14 | 中国计量学院 | Fast response type shape memory alloy spring suction disc device with nested structure |
| CN203130756U (en) * | 2013-01-25 | 2013-08-14 | 中国计量学院 | Bionic self-adaptation absorption device based on multistage shape memory alloy spring |
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