Robot frogman, shape memory alloy wire driving assembly and manufacturing method of shape memory alloy wire driving assembly

Abstract

The invention relates to a robot frogman, a shape memory alloy wire driving assembly and a manufacturing method of the shape memory alloy wire driving assembly, and belongs to the technical field of robots. The shape memory alloy wire driving assembly comprises a flexible pipe shell, memory alloy wires and a temperature monitoring sensor, the memory alloy wires and the temperature monitoring sensor are sleeved with the flexible pipe shell, and a data line of the temperature monitoring sensor penetrates through a pipe opening of a flexible casing pipe to output a temperature monitoring signal; the two ends of the memory alloy wires extend out of the flexible pipe shell and are used for being connected with external components; the space among the flexible pipe shell and the shape memory alloy wires is filled with a gelatinous mixture, and the gelatinous mixture is formed by mixing of silicone oil and silicone grease in the ratio of 3.5:1-4.5:1. On the basis of the gelatinous mixture formed by mixing, not only can the seawater corrosion resistance of the shape memory alloy wires be effectively ensured, but also the underwater service life of the mixture is prolonged under low resistance due to the fluidity and the viscosity coefficient of the physical and chemical mixture existing in the proportion, and the mixture can be widely applied in the technical fields of robots, deep sea exploration and the like.

Description

technical field [0001] The present invention relates to the technical field of robots; in particular, it relates to a robot frogman, a shape memory alloy wire drive assembly that can be used to construct the claw assembly of the robot frogman, and a manufacturing method suitable for the shape memory alloy wire drive assembly . Background technique [0002] In recent years, with the construction of major marine equipment such as marine pipelines and submarine tunnels, the development and utilization of seabed resources has achieved rapid development. In order to reduce risks, equipment such as submarine robots is often used to replace divers for operations. For example, the applicant applied and the publication number is CN108181896A The subsea operation robot disclosed in the patent literature of the 2010 patent document, the subsea operation robot can well complete the cleaning and detection of underwater pipelines, but for some other subsea operation tasks, it still needs ...

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Problems solved by technology

[0004]However, in the above technical solution, the heat shrinkable tube is used to cooperate with the air to achieve sealing, but it is found that it is not easy to seal during use, mainly because the memory alloy wire is in the During the working process, it will move in a large displacement, which greatly increases the sealing structure and cost; in addition, by setting an air gap, it will be difficult to use seawater to cool down the temperature of the memory alloy wire, so that it is impossible to use seawater to cool naturally to achieve higher speed of movement

In addition, in the actual process of the above memory alloy wire drive assembly, there is a contradiction between its response speed and energy consumption, that is, the memory alloy wire can obtain a better cooling effect in water, which helps it obtain a higher movement speed, But too fast cooling will lead to serious energy waste in the heating process, and heat preservation treatment can reduce energy waste, but it will also reduce the cooling speed again

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