Two-way shapememory alloy spring driven negative sucker

Abstract

The invention relates to a negative pressure suction cup driven by a dual stroke shape memory alloy spring in the special type robot technical field, comprising an internal cylinder, an external cylinder, a dual stroke SMA spring, an internal cylinder spring fixed leaf, a movable sealing ring, an external cylinder spring fixed bar and an elastic base. The external cylinder and the elastic base are bonded together; the external cylinder spring fixed bar is clamped between the external cylinder and the elastic base; the lower end of the dual stroke SMA spring is clamped between the external cylinder and the elastic base by the external spring fixed bar, so as to fix the lower end of the dual stroke SMA spring; the upper end of the dual SMA spring is clamped on the internal cylinder spring fixed leaf which is fixed at the upper end of the internal cylinder; the internal cylinder and the external are sealed by the movable sealing ring. 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 [0001] The invention relates to an adsorption device in the technical field of robots, in particular to a negative pressure suction cup driven by a two-way shape memory alloy spring. Background technique [0002] Shape memory alloy (SMA) is an alloy material that can completely eliminate its plastic deformation at a lower temperature through a certain thermal effect and return to its original shape before deformation. It can be deformed by current heating, and it has the advantages of large power-to-weight ratio, low driving voltage, and large deformation. The shape memory effect of SMA can be divided into one-way and two-way. The SMA with one-way memory effect cannot return to the state before heating after being deformed, but must rely on external force to recover, while the two-way SMA can recover freely. In the traditional negative pressure adsorption wall-climbing robot, the adsorption mechanism mainly adopts the drive method based on the air pump to ge...

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Problems solved by technology

[0004] The purpose of the present invention is to address the deficiencies in the prior art, to provide a negative pressure suction cup driven by a two-way shape memory alloy spring, so that it can take advantage of the advantages of SMA driving performance, and solve the problem of negative pressure suction cups in the application of wall-climbing robot adsorption devices. It has the characteristics of small size, reliable adsorption, no noise, no external air source or motor to deform the suction cup, but only relies on SMA deformation to change the volume of the suction cup to generate negative pressure, avoiding the existing negative pressure suction cup adsorption device Difficult to miniaturize, high noise, low power-to-weight ratio, providing a small, efficient and reliable adsorption device for micro wall-climbing robots

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