摘要
微型管道机器人是通过利用形状记忆合金(Shape Memory Alloy,简称SMA)制成的压缩弹簧在加热和冷却过程中释放的能量而行进的。主要由形状记忆合金弹簧,磨擦弹簧片,Maxon伺服直流电机等构成。该机器人可以蠕动的方式通过直径为(50～80)mm的各种材料的管道,并可顺利通过曲率半径为管道直径1.2倍的弯道,包括U型、T型等管道。其主要特点是结构紧凑、重量轻、制造加工容易,能在恶劣环境中工作,可用于在灾害事故中寻找人或物,或在细长管道中查找故障,而且可将机器人做成系列产品。
Micro in-pipe robot is driven by energy which transformed by compression spring using SMA actuator when heating or cooling. The robot is composed of SMA spring,friction spring strips and Maxon serve DC electromotar. It can pass （50-80）mm （ dia. ） pipe by worming mechanism as well as ＂U＂ and ＂T＂ form pipe that curvature is 1.2 times bigger than pipe diameter. In addition,compact structure, light weight and simple machining craft are salient properties. The robot can work in bad environment,may be used in calamity accident to seek a person or things,seek faults in slender pipeline,which can easily being a series.
出处
《机械设计与制造》
北大核心
2009年第4期172-174,共3页
Machinery Design & Manufacture
