The invention discloses an underwater robot based on shape memory alloy wire driving. The underwater robot is provided with a machine frame, an underwater camera is fixed to a top cover on the machine frame, an electric controller is arranged on the machine frame and located below the top cover, a balance weight adjusting block is arranged on the machine frame, leg connecting frames are fixed to the four corners of the machine frame respectively, and thighs are hinged to the leg connecting frames; shanks are hinged to the other ends of the thighs; a plurality of fins are hinged between the two shank arms; ratchet wheels and torsion springs are fixed on the shanks and the thighs; a shape memory alloy wire electrically connected with the electrical controller is arranged, one end of the shape memory alloy wire is fixed on the rack, the other end of the shape memory alloy wire is connected with a pull rope, the pull rope is hung on the ratchet wheel, a rope clamp is fixed on the pull rope close to the ratchet wheel, the other end of the pull rope is connected with a tension spring, and the other end of the tension spring is fixed on the rack. The underwater robot is advantaged in that underwater diving action of the robot is achieved through self weight, the shape memory alloy wire serves as a driving device to achieve floating and moving of the robot, the structure is simple and reliable, and therefore the underwater robot is small in overall size, low in production cost, low in operation noise and convenient to conduct underwater detection operation.
一种基于形状记忆合金丝驱动的水下机器人,有一个机架,在机架上面的顶盖上固定有水下摄像机,在机架上处于顶盖的下面装置电气控制器,在机架上装有配重调节块,在机架的四角上分别固定有腿部连接架,腿部连接架铰接大腿,大腿的另一端铰接有小腿;两小腿臂之间的铰接若干可鳍片,小腿和大腿上固定有棘轮和扭簧;有与电气控制器电连接的形状记忆合金丝,形状记忆合金丝一端固定在机架上、另一端连接拉绳,拉绳挂在棘轮上,拉绳上靠近棘轮的位置上固定有绳卡,拉绳的另一端连接有拉簧,拉簧的另一端固定在机架上。本发明以自重实现机器人的水中下潜动作,以形状记忆合金丝作为驱动装置实现机器人的上浮和移动,结构简单而可靠,从而使水下机器人整体体积小,生产成本低,运行噪音小,方便水下探测作业。
Underwater robot based on shape memory alloy wire driving
基于形状记忆合金丝驱动的水下机器人
2021-04-13
Patent
Electronic Resource
Chinese
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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