CN209294646U - A kind of pipe robot based on marmem joule thermal drivers - Google Patents
A kind of pipe robot based on marmem joule thermal drivers Download PDFInfo
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- CN209294646U CN209294646U CN201822023875.XU CN201822023875U CN209294646U CN 209294646 U CN209294646 U CN 209294646U CN 201822023875 U CN201822023875 U CN 201822023875U CN 209294646 U CN209294646 U CN 209294646U
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- Prior art keywords
- marmem
- spur gear
- copper sheet
- thermal drivers
- piston
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Abstract
The utility model discloses a kind of pipe robots based on marmem joule thermal drivers, belong to pipe handling equipment technical field.Including the driving mechanism being fixed on chassis, the driving mechanism connection gear transmission mechanism, the gear drive connects driving wheel, is additionally provided with driven pulley mechanism on the chassis.The beneficial effects of the utility model are: the output displacement of SMA spring is amplified using Spur Gear Driving mechanism；It is driven by the Joule heat of electric energy production, to the leakproofness of piston, heat insulation property requirement is lower, and the transformation efficiency of energy is higher.Mechanical energy is converted electrical energy into, to drive robot to advance；The robot of the utility model is strong to the adaptive faculty of environment, and at low cost, pollution-free, work efficiency is high.
Description
Technical field
The utility model relates to a kind of pipe robots based on marmem driving, belong to pipe handling equipment skill
Art field.
Background technique
Currently, pipeline industry both domestic and external is not only in large scale but also quickly grows, China's transfering natural gas from the west to the east project pipeline
Construction overall length is up to 12259 kilometers, global more than 200 Wan Gongli of oil and gas pipeline, urban water supply heat supply and drainpipe
Road is even more that can not count.So being the emphasis of research for the safety management of pipeline transportation, line clogging is to influence transportation safety
A major issue.The mode of detect line clogging is more diversified, but can substantially be divided into detection blocking and warp inside pipeline
Pipeline external sensor detects two major classes.It detects and blocks compared to pipeline external sensor, carried out using robot internal direct
Cleaning, more precise and high efficiency, entitled " robot of marmem driving ", Authorization Notice No. CN
The utility model patent of 207213497 U, the robot driven by Marmem heat engine, the vehicle are by pump
Machine is rhythmic to the cooling of SMA spring and heating by hot and cold water, so that SMA spring is shunk the deformation of elongation, to provide drive
Power is energized by thermal energy directly to SMA, and transformation efficiency is low, and to the leakproofness of heat engine, heat insulation property is high, drives effect
It is undesirable, it is not easy to realize volume production.
Utility model content
To solve defect of the existing technology, the purpose of the utility model is to provide a kind of light and flexible, energy to convert
The high pipe robot based on marmem joule thermal drivers of rate.
The technical solution of the utility model is: a kind of pipe robot based on marmem joule thermal drivers, packet
The driving mechanism being fixed on chassis, the driving mechanism connection gear transmission mechanism are included, the gear drive connection is driven
Driving wheel is additionally provided with driven pulley mechanism on the chassis.
The driving mechanism includes being located at the intracorporal SMA spring of piston cylinder, and the SMA both ends of the spring is separately connected anode
Copper sheet and cathode copper sheet, the anode copper sheet are fixed on piston/cylinder end, and cathode copper sheet connects piston, the piston and piston
Inboard wall of cylinder block is slidably connected, and connecting rod one end rotates the piston, the hinged crank of the other end, and the anode copper sheet and cathode copper sheet are equal
Connect heating power supply.
The SMA both ends of the spring is equipped with SMA spring base a and SMA spring base b, there is SMA spring base a and SMA spring base b points
It Lian Jie not cathode copper sheet and positive copper sheet.
The gear drive is Spur Gear Driving mechanism, including, the rotation axis b, the rotation axis b being connect with crank
Both ends are equipped with active spur gear, the transmission spur gear at the both ends active spur gear engagement rotation axis c, and the transmission spur gear is nibbled
The driven spur gear on rotation axis a is closed, the rotation axis a, rotation axis b and rotation axis c run through the first fixing seat and pass through
Flange bearing is rotatablely connected first fixing seat, and for the number of teeth of the active spur gear more than transmission spur gear, the transmission is straight
The number of teeth of gear is more than driven spur gear.
Driving wheel is set to the both ends the rotation axis a by wheel flange.
The driven pulley mechanism includes being set to the driven wheel fixing seat on chassis by backing plate, follower shaft passes through two
The driven wheel flange bearing at end is rotatably connected on driven wheel fixing seat bottom, and driven wheel is located in the middle part of the follower shaft.
The driving mechanism is fixed on bottom plate by the second fixing seat.
It is bonded between the piston, cathode copper sheet and SMA spring base a by colloid, the anode copper sheet and SMA spring
It is bonded between seat b by colloid.
The driving mechanism is two, is symmetrically distributed in the gear drive two sides.
The connection of STM32 single-chip microcontroller controls the heating power supply.
The beneficial effects of the utility model are: the output displacement of SMA spring is amplified using Spur Gear Driving mechanism；Pass through
The Joule heat of electric energy production is driven, and to the leakproofness of piston, heat insulation property requirement is lower, and the transformation efficiency of energy is more
It is high.Mechanical energy is converted electrical energy into, to drive robot to advance；The robot of the utility model is strong to the adaptive faculty of environment, at
This is low, pollution-free, and work efficiency is high.
Detailed description of the invention
Fig. 1 is the bottom view of the utility model；
Fig. 2 is the utility model side view；
Fig. 3 is the utility model axonometric drawing；
Fig. 4 is the cross-sectional view of driving structure；
Fig. 5 is gear drive structure chart；
Fig. 6 is gear train shaft mapping；
Fig. 7 is driven pulley mechanism structure chart.
Appended drawing reference is as follows in figure: 1, chassis, 2, gear drive, 2.1, rotation axis a, 2.2, driven spur gear,
2.3, it is driven spur gear, 2.4, active spur gear, 2.5, flange bearing, the 2.6, first fixing seat, 2.7, rotation axis b, 2.8, turn
Moving axis c, 3, driving mechanism, 3.1, crank, 3.2, connecting rod, 3.3, positive copper sheet, 3.4, piston, 3.5, cathode copper sheet, 3.6, SMA
Spring base a, 3.7, piston/cylinder, 3.8, SMA spring base b, 4, driven pulley mechanism, 4.1, driven wheel, 4.2, driven wheel flange shaft
It holds, 4.3, follower shaft, 4.4, driven wheel fixing seat, 4.5, backing plate, 5, driving wheel, 6, wheel flange, the 7, second fixing seat.
Specific embodiment
1-7 is described further the utility model with reference to the accompanying drawing:
A kind of pipe robot based on marmem joule thermal drivers, including be fixed on by the second fixing seat 7
The One On The Chassis driving mechanism 3, the 3 connection gear transmission mechanism 2 of driving mechanism, driving mechanism 3 are two, are symmetrically distributed in
2 two sides of gear drive, the gear drive 2 connect driving wheel 5, be additionally provided on the chassis 1 two sets it is driven
Mechanism 4 is taken turns, the driven pulley mechanism 4 includes being set to the One On The Chassis driven wheel fixing seat 4.4, driven wheel by backing plate 4.5
Axis 4.3 is rotatably connected on 4.4 bottom of driven wheel fixing seat by the driven wheel flange bearing 4.2 at both ends, and driven wheel 4.1
In 4.3 middle part of follower shaft.The driving mechanism 3 includes the SMA spring in piston/cylinder 3.7, the SMA bullet
Spring both ends are separately connected positive copper sheet 3.3 and cathode copper sheet 3.5, and the anode copper sheet 3.3 is fixed on 3.7 end of piston/cylinder,
Cathode copper sheet 3.5 connects piston 3.4, and the piston 3.4 is slidably connected with 3.7 inner wall of piston/cylinder, and 3.2 one end of connecting rod rotates institute
The hinged crank 3.1 of piston 3.4, the other end is stated, the anode copper sheet 3.3 and cathode copper sheet 3.5 are all connected with heating power supply, STM32
Single-chip microcontroller connection controls the heating power supply.The SMA both ends of the spring is equipped with SMA spring base a3.6 and SMA spring base b3.8, has
SMA spring base a3.6 and SMA spring base b3.8 is separately connected cathode copper sheet 3.5 and positive copper sheet 3.3, and the piston 3.4 is born
It is bonded between pole copper sheet 3.5 and SMA spring base a3.6 by colloid, between the anode copper sheet 3.3 and SMA spring base b3.8
It is bonded by colloid.The gear drive 2 is Spur Gear Driving mechanism, including, the rotation axis being connect with crank 3.1
B2.7, the both ends the rotation axis b2.7 are equipped with active spur gear 2.4,2.4 both ends engagement rotation axis c2.8 of active spur gear
Transmission spur gear 2.3, the driven spur gear 2.2 on the transmission 2.3 engagement rotation axis a2.1 of spur gear, driving wheel 5 passes through
Wheel flange 6 is set to the both ends the rotation axis a2.1, and the rotation axis a2.1, rotation axis b2.7 and rotation axis c2.8 are equal
First fixing seat 2.6, first fixing seat are rotatablely connected through the first fixing seat 2.6 and by flange bearing 2.5
2.6 are bolted on chassis 1.For the number of teeth of the active spur gear 2.4 more than transmission spur gear 2.3, the transmission is straight
The number of teeth of gear 2.3 is more than driven spur gear 2.2, to amplify output displacement.
By the control of single-chip microcontroller, it is powered to the SMA spring between positive copper sheet 3.3 and cathode copper sheet 3.5, makes its production
Green coke is had burning ears, so that undergoing phase transition leads to deformation, entire piston 3.4 is finally pushed to move in piston/cylinder 3.7.It is specific next
It says, to the electric current of Ni-Ti shape memory alloy spring interval load 0.9A or so, controls conduction time, it is made to generate Joule heat,
When Ni-Ti shape memory alloy spring temperature reaches phase transition temperature, undergoing phase transition leads to deformation, and piston 3.4 is pushed to maximum
After stroke, power-off, air-cooled cooling makes it be returned to parent phase, is restored to original shape, then closes again to Ni-Ti shape memory
Golden spring is powered.According to certain above-mentioned movement of period repetitive operation.Ni-Ti shape memory alloy spring shrinks driving back and forth and lives
Plug 3.4 moves back and forth, and then drives the rotation of Spur Gear Driving mechanism by crank 3.1 and connecting rod 3.2, Spur Gear Driving mechanism
Rotation axis a2.1 rotation, drives the driving wheel 5 at both ends to rotate, and drives driven pulley mechanism 4 to rotate, realizes the movement of robot, from
Driving wheel mechanism 4 includes the backing plate 4.5 being fixed under chassis 1, and driving wheel fixing seat 4.4 is bolted on backing plate 4.5, is limited
The driven wheel flange bearing 4.2 of position front axle is fixed in driven wheel fixing seat 4.4 by interference fit, and 4.1 sets of driven wheel exists
It is coaxial with driven wheel flange bearing 4.2 on follower shaft 4.3.Driving method (such as motor driving, servo motor relative to transmission
Driving etc.), SMA driving mechanism is simple, and both can be used as bindiny mechanism can also be used as driving mechanism；Required voltage is low, electric
Flow small, sma actuator can use 2A or 1.5V power supply heat driven below, this is lower than power supply needed for motor driven
More, furthermore control circuit and driving circuit can use the same power supply, can save complicated route.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without deviating from the technical principle of the utility model, several improvements and modifications can also be made, these change
It also should be regarded as the protection scope of the utility model into modification.
Claims (10)
1. a kind of pipe robot based on marmem joule thermal drivers, which is characterized in that including being fixed on chassis (1)
On driving mechanism (3), driving mechanism (3) the connection gear transmission mechanism (2), the gear drive (2) connection drives
Driving wheel (5) is additionally provided with driven pulley mechanism (4) on the chassis (1).
2. the pipe robot according to claim 1 based on marmem joule thermal drivers, which is characterized in that institute
Stating driving mechanism (3) includes, and the SMA spring being located in piston/cylinder (3.7), the SMA both ends of the spring is separately connected positive copper
Piece (3.3) and cathode copper sheet (3.5), the anode copper sheet (3.3) are fixed on piston/cylinder (3.7) end, cathode copper sheet (3.5)
It connects piston (3.4), the piston (3.4) is slidably connected with piston/cylinder (3.7) inner wall, described in the rotation of connecting rod (3.2) one end
Piston (3.4), the hinged crank of the other end (3.1), the anode copper sheet (3.3) and cathode copper sheet (3.5) are all connected with heating power supply.
3. the pipe robot according to claim 2 based on marmem joule thermal drivers, which is characterized in that institute
SMA both ends of the spring is stated equipped with SMA spring base a (3.6) and SMA spring base b (3.8), there is SMA spring base a (3.6) and SMA spring
Seat b (3.8) is separately connected cathode copper sheet (3.5) and positive copper sheet (3.3).
4. the pipe robot according to claim 2 based on marmem joule thermal drivers, which is characterized in that institute
Stating gear drive (2) is Spur Gear Driving mechanism, including, the rotation axis b (2.7) being connect with crank (3.1), the rotation
(2.7) both ends axis b are equipped with active spur gear (2.4), the transmission at active spur gear (2.4) engagement rotation axis c (2.8) both ends
Spur gear (2.3), the driven spur gear (2.2) being driven on spur gear (2.3) engagement rotation axis a (2.1), the rotation axis
A (2.1), rotation axis b (2.7) and rotation axis c (2.8) through the first fixing seat (2.6) and pass through flange bearing (2.5)
It is rotatablely connected first fixing seat (2.6), the number of teeth of the active spur gear (2.4) is described more than transmission spur gear (2.3)
The number of teeth for being driven spur gear (2.3) is more than driven spur gear (2.2).
5. the pipe robot according to claim 4 based on marmem joule thermal drivers, which is characterized in that drive
Driving wheel (5) is set to rotation axis a (2.1) both ends by wheel flange (6).
6. the pipe robot according to claim 1 based on marmem joule thermal drivers, which is characterized in that institute
Stating driven pulley mechanism (4) includes, and is set to the driven wheel fixing seat (4.4) on chassis (1), follower shaft by backing plate (4.5)
(4.3) driven wheel fixing seat (4.4) bottom, driven wheel are rotatably connected on by the driven wheel flange bearing (4.2) at both ends
(4.1) it is located in the middle part of the follower shaft (4.3).
7. the pipe robot according to claim 1 based on marmem joule thermal drivers, which is characterized in that institute
Driving mechanism (3) are stated to be fixed on bottom plate 1 by the second fixing seat (7).
8. the pipe robot according to claim 3 based on marmem joule thermal drivers, which is characterized in that institute
It states and is bonded between piston (3.4), cathode copper sheet (3.5) and SMA spring base a (3.6) by colloid, the anode copper sheet
(3.3) Nian Jie by colloid between SMA spring base b (3.8).
9. the pipe robot according to claim 1 based on marmem joule thermal drivers, which is characterized in that institute
Stating driving mechanism (3) is two, is symmetrically distributed in the gear drive (2) two sides.
10. the pipe robot according to claim 2 based on marmem joule thermal drivers, which is characterized in that
The connection of STM32 single-chip microcontroller controls the heating power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822023875.XU CN209294646U (en) | 2018-12-04 | 2018-12-04 | A kind of pipe robot based on marmem joule thermal drivers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822023875.XU CN209294646U (en) | 2018-12-04 | 2018-12-04 | A kind of pipe robot based on marmem joule thermal drivers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209294646U true CN209294646U (en) | 2019-08-23 |
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ID=67656990
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822023875.XU Expired - Fee Related CN209294646U (en) | 2018-12-04 | 2018-12-04 | A kind of pipe robot based on marmem joule thermal drivers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209294646U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110529348A (en) * | 2019-09-27 | 2019-12-03 | 大连大学 | It is a kind of to realize thermal energy-mechanical energy conversion heat engine device using marmem |
-
2018
- 2018-12-04 CN CN201822023875.XU patent/CN209294646U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110529348A (en) * | 2019-09-27 | 2019-12-03 | 大连大学 | It is a kind of to realize thermal energy-mechanical energy conversion heat engine device using marmem |
| CN110529348B (en) * | 2019-09-27 | 2021-11-26 | 大连大学 | Heat engine device for realizing heat energy-mechanical energy conversion by utilizing shape memory alloy |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190823 Termination date: 20201204 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |