KR101633185B1 - SPHERICAL TRAVELLING DEVICE USING SHAPE MEMORY AllOY WIRES - Google Patents

Abstract

The present invention relates to a spherical moving apparatus using a shape memory alloy wire, and a spherical outer housing (10) for this purpose, an inner housing (20) embedded in the outer housing (10) by a gyroscope, A reactive shell 30 disposed around the outer housing 10 and having a variable surface shape; elastic means 50 connecting the reactive shell 30 and the outer housing 10; And a control module 40 embedded in the inner housing 20 to control the reactive enclosure 30. The reactive enclosure 30 includes a plurality of substrates 31 and a plurality of substrates 31, A plurality of metal balls 22 are fixed to the outer circumferential surface of the inner housing 20 so as to be in close contact with the outer housing 10, And a secondary battery 21 which functions as a secondary battery, Control 32 to be depressed the substrate 31 by the shrinkage and is characterized in that is configured to be run by the center of gravity of the inner housing (20).

Description

TECHNICAL FIELD [0001] The present invention relates to a spherical moving device using a shape memory alloy wire,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a spherical moving device using a shape memory alloy wire, and more particularly, to a spherical moving device using a shape memory alloy wire, in which a shape memory alloy wire is applied without a driving means such as a separate actuator or a motor To a spherical moving device using a shape memory alloy wire.

Generally, a humanoid robot moves to an upright state, so it is slow in moving speed, it can fall easily due to an obstacle, and movement in a narrow space is very limited.

In contrast, spherical robots, which have become increasingly popular nowadays, have a spherical body, which can solve most of the limitations of movement compared to humanoid robots. Therefore, it is being attempted to apply spherical robots to various fields such as polar, submarine and planetary navigation, educational and social safety fields.

As a spherical robot, "a spherical robot using thrust (patent No. 1432046)" and a spherical mobile robot (patent registration No. 1057689) are registered.

However, the spherical robot and the spherical mobile robot using the conventional thrust have a problem in that the structure is very complicated and difficult to manufacture, and that a large number of motors are mounted, the weight is heavy, and the energy consumption is large.

In addition, since there is no buffering effect due to an external impact, there is a problem that it easily breaks down.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and it is a first object of the present invention to provide a shape memory alloy wire which can be automatically traveled by shape deformation of a reactive sheath applied with no driving means such as an actuator or a motor And to provide a spherical moving device using a shape memory alloy wire.

A second object of the present invention is to provide a fuel cell system and a fuel cell system that can prevent damage to components by buffering the reactive shell when an external impact is applied thereto and can easily travel at a minimum energy with a simple structure and a light weight, And to provide a spherical moving device using a shape memory alloy wire.

According to a first aspect of the present invention, there is provided a spherical moving device using a shape memory alloy wire. To this end, a spherical outer housing (10) (10), a reactive shell (30) disposed around the outer housing (10) and having a variable surface shape, and an outer shell And a control module (40) embedded in the inner housing (20) to control the reactive enclosure (30), wherein the reactive enclosure (30) Is composed of a plurality of substrates 31 and a plurality of shape memory alloy wires 32 interconnecting the plurality of substrates 31. The inner housing 20 has an outer peripheral surface on the outer housing 10 A plurality of metal balls 22 to which a plurality of metal balls 22 are closely attached are fixed, The shape memory alloy wire 32 of the reactive sheath 30 can be collapsed by the shrinkage of the shape memory alloy wire 32 to be driven by the center of gravity of the inner housing 20 .

A second invention according to the second invention is characterized in that in the first invention, the control module (40) comprises a control section (42) mounted on the main board (41), a memory (43), a GPS (44), a radio communication section And a distributor (46).

The third invention is characterized in that, in the first invention, the shape memory alloy wire (32) is connected to the substrate (31) by being shrunk and expanded so as to be mixed.

A fourth aspect of the present invention is the fourth aspect according to the first aspect of the present invention, wherein in the first invention, the plurality of metal spheres (22) are disposed in the upper half and lower half bases, respectively, with reference to a vertical axis connecting the center of the inner housing (20) And a plurality of first conductive plates 23 electrically connected to the respective metal balls 22 are formed on the lower spherical surface of the inner housing 20 in the range of 30 to 60 degrees, And is connected to the board (41).

The fifth aspect of the present invention is the air conditioner according to the first aspect of the present invention, wherein the outer housing (10) further includes a second energizing plate (11) corresponding to the plurality of substrates (31) , And the elastic means (50) is formed by connecting the plurality of substrates and the second conductive plate (11) to each other.

A sixth aspect of the present invention is the substrate processing apparatus according to the fifth aspect of the present invention wherein the plurality of substrates 31 and the second conductive plate 11 are formed so that the fitting protrusion R is further formed to fix the elastic means 50 .

According to the spherical moving device using the shape memory alloy wire according to the present invention, since there is no driving means such as an actuator or a motor, the structure is simple and the weight is light, so that the effect of driving the maximum distance with minimum energy have.

In addition, when an external shock is applied, the reactive shell can buffer the components to prevent damage to the components.

In addition, even when the shape of the reactive shell due to a large impact is deformed, the shape can be easily restored by the shape memory alloy wire.

1 is a perspective view of a spherical moving device using a shape memory alloy wire according to the present invention,
Fig. 2 is a sectional view of Fig. 1,
FIG. 3 is a perspective view and a cross-sectional view of the inner housing taken in FIG. 2,
FIG. 4 is a perspective view and a cross-sectional view of the outer housing taken in FIG. 2,
5 is a block diagram of a spherical moving device using a shape memory alloy wire according to the present invention,
6 is a conceptual diagram according to a partial development view of a spherical type mobile device using a shape memory alloy wire according to the present invention.

While the present invention has been described in connection with certain exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and similarities. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

In the following description of the present invention, detailed description of known related arts will be omitted when it is determined that the gist of the present invention may be unnecessarily obscured.

Also, in this specification, when an element is referred to as being "coupled "," connected ", or "connected" with another element, the element is directly connected to the other element, Or may be directly bonded, but it should be understood that, unless otherwise specifically contradictory, there may be intervening, interlinked, or connected via another element in the middle.

Hereinafter, a spherical moving device using a shape memory alloy wire will be described in detail with reference to accompanying drawings.

FIG. 1 is a perspective view of a spherical moving device using a shape memory alloy wire according to the present invention, FIG. 2 is a sectional view of FIG. 1, FIG. 3 is a perspective view and a sectional view of an inner housing extracted in FIG. 2 is a perspective view and a cross-sectional view of the outer housing taken from Fig. 2, and Fig. 5 is a block diagram of a spherical moving device using the shape memory alloy wire according to the present invention.

As shown in FIGS. 1 to 5, according to the present invention, a shape memory alloy wire is used as a shape memory alloy wire which can be automatically traveled by shape deformation of a reactive sheath to which a shape memory alloy wire is applied without a separate driving means such as an actuator or a motor And a body-movement device (100).

The spherical moving device 100 using the shape memory alloy wire is largely composed of four parts which are the outer housing 10, the inner housing 20, the reactive sheath 30 and the control module 40 .

The inner housing 20 has a spherical shape of the outer housing 10 and is built in a gyroscope.

Even if the outer housing 10 is rotated, the inner housing 20 does not change its direction but can always point in a certain direction.

To this end, the inner housing 20 has a plurality of metal spheres 22 fixed on its outer circumferential surface by rolling on the inner surface of the outer housing 10, and a secondary battery 21 serving as a weight Respectively.

That is, the inner housing 20 is fixed in a certain direction by the metal sphere 22 without changing its axial direction inside the outer housing 10, 21).

At this time, the secondary battery 21 can greatly increase the weight of the secondary battery 21 by making the periphery of the secondary battery 21 very strong through a metal such as lead having a heavy specific gravity.

In addition, the lower portion of the inner housing 20 to which the secondary battery 21 is fixed can be configured to be detachable so that the secondary battery 21 and the control module 40 can be replaced.

In addition, the outer housing 10 may also be half-split and screwed together to house the inner housing 20 therein.

In addition, a control module 40 for controlling the reactive shell 30 is installed in the inner housing 20.

The control module 40 includes a main board 41 fixed to the upper portion of the secondary battery 21, a controller 42 mounted on the main board 41, a memory 43, a GPS 44 ), A wireless communication unit 45, and a power distributor 46.

The control unit 42 controls the reactive sheath 30 and the wireless communication unit 45 manually controls the position of the mobile device 100 and the control unit 42. The memory 43 stores map information, And the power distributor 46 functions to distribute power of the secondary battery 21 to the first energizing plate 23. [

The control unit 42 may be manually controlled according to the manual input value of the user through the wireless communication unit 45 and may be controlled according to the position value of the GPS 44 and the instruction word and map information input to the memory 43 The reactive shell 30 can be automatically controlled.

On the other hand, the reactive shell 30 is disposed around the entire outer housing 10 so that its surface shape can be varied.

At this time, the reactive shell 30 is fixed to the outer housing 10 via the elastic means 50.

The elastic means 50 is constituted by a coil spring and functions to supply power to the reactive sheath 30 and to offset an external shock transmitted to the outer housing 10.

The reactive sheath 30 comprises a plurality of substrates 31 and a plurality of shape memory alloy wires 32 connecting the plurality of substrates 31 to one another.

At this time, a synthetic resin plate (not shown) is further coupled to the surfaces of the plurality of substrates 31 to increase frictional force and prevent the substrate 31 from being damaged

In addition, the shape memory alloy wire 32 is connected to the adjacent substrate 31 on the oblique surfaces of the plurality of substrates 31.

The plurality of substrates 31 are connected to the elastic means 50. When the power supply is supplied through the elastic means 50, the plurality of the substrates 31 are depressed by the contraction of the shape memory alloy wires 32 connected to the substrate 31, When the power supply is interrupted, the shape memory alloy wire 32 can be restored to the original state.

Accordingly, the reactive sheath 30 is constructed such that the substrate 31 can be depressed by shrinkage of the shape memory alloy wire 32 and can be driven by the center-of-gravity deviation of the inner housing 20.

In addition, the inner housing 20 and the outer housing 10 are made of a non-ferrous metal or a synthetic resin, and more preferably made of a synthetic resin having a light weight.

The plurality of metal spheres 22 of the plurality of metal spheres 22 housed in the inner housing 20 are connected to the center of the inner housing 20 and the vertical axis Is disposed on the spherical surface of the inner housing 20 in the range of 30 DEG to 60 DEG in each of the upper half and lower half, and is preferably disposed at 45 DEG.

The inner housing 20 includes a plurality of first conductive plates 23 coupled to the plurality of metal spheres 22 disposed at a 45 ° bottom point.

A plurality of the first conductive plates 23 are disposed on the lower 45 ° spherical surface of the inner housing 20.

Each of the first conductive plates 23 is electrically connected to the main board 41 so that power can be separately supplied through the power distributor 46 mounted on the main board 41.

Each of the first conductive plates 23 may be formed in the shape of a ball socket to fix the metal sphere 22 thereto.

In addition, the outer housing 10 further includes a second conductive plate 11 corresponding to the plurality of the substrates 31, which is further coupled to the entire spherical surface.

The elastic means 50 is fixed to the substrate 31 of the reactive shell 30 and the fitting protrusions R protruding from the respective second electric conductive plates 11 of the outer housing 10 .

Accordingly, the reactive shell 30 and the outer housing 10 are configured to rotate together with the elastic means 50, and the inner housing 20 built in the outer housing 10 does not rotate.

As described above, the inner housing 20 is configured such that its position does not change inside the outer housing 10 due to the rotation of the metal shell 22 and the weight of the secondary battery 21.

The power source of the secondary battery 21 is connected to the first power supply plate 23 disposed at the lower portion of the inner housing 20 through the main board 41 and the first power supply plate 23 connected to the first power supply plate 23 And is transmitted to the sphere 22.

The power is applied to the second conductive plate 11 contacting the metal sphere 22 to which the power is applied in the rotation of the outer housing 10. The applied power is transmitted to the second conductive plate 11 through the elastic means (50) to the substrate (31) of the reactive shell (30).

When power is applied to the substrate 31, the shape memory alloy wire 32 connected to the substrate 31 is contracted and the substrate 31 is depressed and the moving device 100 moves in the direction in which the substrate 31 is depressed .

At this time, the control unit 42 can be directly controlled by the user through the wireless communication unit 45, and can also be controlled according to the position information of the GPS 44, the map information of the memory 43, By selecting the first energizing plate 23 and selectively supplying power, the mobile device 100 can be driven in a desired direction.

Hereinafter, the operation of the spherical moving device using the shape memory alloy wire according to the present invention will be described.

6 is a conceptual diagram according to a partial development view of a spherical type mobile device using a shape memory alloy wire according to the present invention.

The center of the partially developed view of the reactive envelope 30 shown in Fig. 6 (1) The substrate is a portion contacting the ground, and (2) (3) (5) (6) is a substrate disposed around the substrate.

At this time, the substrate is transported through the elastic means 50 to the secondary battery 21 through the second energizing plate 11 and the first energizing plate 23 fixing the metal ball 22 and the metal ball 22 Can be selectively supplied.

In addition, the substrate is assumed to be replaced with another substrate when the reactive shell 30 is rotated.

If the substrate is advanced to the substrate, the control unit 42 supplies power to the first conductive plate 23 through the power distributor 46, which is electrically connected to the substrate.

Then, the shape memory alloy wire 32 connected to the substrate 6 is contracted to collapse the substrate 6, and the substrate is pinched in the direction of the center of the inner housing 20, ).

Conversely, when the substrate is moved to the substrate, power can be supplied to the substrate through the power distributor (46).

Through the above-described series of processes, the mobile device 100 can be driven in various directions by supplying electric power to the substrate.

On the other hand, the shape memory alloy wire 32 may be connected to the substrate 31 by being shrunk and expanded.

This configuration can be configured such that when the moving device 100 is advanced in the direction of the substrate, the substrate is recessed and the substrate is protruded so that the moving device 100 can be more actively advanced (not shown).

Although the present invention has been described in connection with the preferred embodiments mentioned above, various other modifications and variations will be possible without departing from the spirit and scope of the invention. It is, therefore, to be understood that the appended claims are intended to cover such modifications and changes as fall within the true scope of the invention.

10: outer housing 11: second energizing plate
20: inner housing 21: secondary battery 22: metal sphere
23: first energizing plate
30: reactive shell 31: substrate 311: synthetic resin plate
32: shape memory alloy wire
40: control module 41: main board 42:
43: memory 44: GPS
45: wireless communication unit 46: power distributor
50: elastic means
R: Insert projection
100: spherical moving device using shape memory alloy wire

Claims (6)

A spherical outer housing 10;
An inner housing (20) housed in the outer housing (10) in a gyroscope manner;
A reactive shell 30 disposed around the outer housing 10 and having a variable surface shape;
An elastic means (50) connecting the reactive shell (30) and the outer housing (10) to each other;
And a control module (40) embedded in the inner housing (20) to control the reactive sheath (30)
The reactive sheath 30 is composed of a plurality of substrates 31 and a plurality of shape memory alloy wires 32 interconnecting the plurality of substrates 31,
The inner housing 20 has a plurality of metal balls 22 fixed to the outer housing 10 in close contact with the outer housing 10 and a secondary battery 21 functioning as a weight,
Is configured to be able to travel by the center of gravity of the inner housing (20) so that the substrate (31) can sink by the contraction of the shape memory alloy wire (32) of the reactive shell (30) A spherical moving device using an alloy wire.
The method according to claim 1,
The control module 40 is constituted by a control section 42 mounted on the main board 41, a memory 43, a GPS 44, a radio communication section 45 and a power distributor 46 Like shape moving alloy using shape memory alloy wire.
The method according to claim 1,
Wherein the shape memory alloy wire (32) is connected to the substrate (31) by being shrunk and expanded so as to be mixed.
3. The method of claim 2,
The plurality of metal spheres 22 are arranged in the inner housing 20 in the range of 30 ° to 60 ° with respect to the center of the inner housing 20 and the vertical axis connecting the center from the secondary battery 21, 20,
Wherein the inner housing (20) has a plurality of first energizing plates (23) electrically connected to the respective metal spheres (22) on the lower spherical surface, and is independently connected to the main board (41) A spherical moving device using wire.
The method according to claim 1,
The elastic housing 50 is coupled to a second conductive plate 11 corresponding to the plurality of boards 31. The elastic housing 50 is formed of a coil spring, And a plurality of substrates and a second conductive plate (11) are connected to each other.
6. The method of claim 5,
Characterized in that the plurality of boards (31) and the second energizing plate (11) are formed so that a plurality of fitting protrusions (R) are formed to fix the elastic means (50) Spherical moving device.

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