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仿照蚯蚓在孔内蠕动的过程 ,研制了一种在孔内行走的机器人驱动装置 .该装置主要由形状记忆合金 (SMA)胀紧环 ,SMA螺旋弹簧和偏压弹簧等组成 .它可以在孔内象蚯蚓一样实现径向胀紧、纵向收缩、纵向伸长等动作 .SMA元件的动作可以靠通、断电来实现 ,SMA胀紧环通电时与孔壁贴紧 ,断电时松开 ;SMA螺旋弹簧通电时收缩 ,断电时由偏压弹簧使其伸开 .其动作过程由计算机控制和协调 .该驱动装置结构简单 ,体积小、重量轻、柔韧性好、控制方便 .该装置在电火花弯孔加工中得到了实际应用 .本文介绍了该装置的组成、工作原理、设计要点和控制方式 .
According to the process of earthworm peristalsis in the hole, a kind of robot driving device is developed, which is mainly composed of shape memory alloy (SMA) expansion ring, SMA coil spring and bias spring, Like earthworms, like radial expansion, longitudinal contraction, longitudinal elongation and other actions.SMA components can rely on the pass, power outages to achieve, SMA bulging ring energized with the hole wall close, when the power is released; The SMA coil spring is contracted when energized, and is biased by a spring when the power is turned off. The operation process is controlled and coordinated by a computer. The driving device has the advantages of simple structure, small size, light weight, good flexibility and convenient control. EDM curved hole processing has been the practical application.This article describes the device composition, working principle, design points and control methods.