CN110434879B - Intelligent bionic separation and pickup device, manufacturing method and separation and pickup method - Google Patents
Intelligent bionic separation and pickup device, manufacturing method and separation and pickup method Download PDFInfo
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- CN110434879B CN110434879B CN201910680429.2A CN201910680429A CN110434879B CN 110434879 B CN110434879 B CN 110434879B CN 201910680429 A CN201910680429 A CN 201910680429A CN 110434879 B CN110434879 B CN 110434879B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
- B22F10/20—Direct sintering or melting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B22—CASTING; POWDER METALLURGY
- B22F—WORKING METALLIC POWDER; MANUFACTURE OF ARTICLES FROM METALLIC POWDER; MAKING METALLIC POWDER; APPARATUS OR DEVICES SPECIALLY ADAPTED FOR METALLIC POWDER
- B22F10/00—Additive manufacturing of workpieces or articles from metallic powder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P10/00—Technologies related to metal processing
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Abstract
The invention belongs to the field of separation and pickup devices, and particularly discloses an intelligent bionic separation and pickup device, a manufacturing method and a separation and pickup method, wherein the device is integrally formed by shape memory alloy materials and comprises a mouth tube main body, a water circulation flow channel, a pair of mouth tube upper jaws and a plurality of tongue-shaped seta, the mouth tube main body is a circular tube with two thick ends and a thin middle part, the water circulation flow channel is an annular channel in the inner wall of the mouth tube main body, the pair of mouth tube upper jaws are positioned at one end of the mouth tube main body and are symmetrically distributed, and the tongue-shaped seta are positioned at two sides of the inner wall of the mouth tube main body; when the temperature is lower than the complete austenitizing temperature of the shape memory alloy, the upper jaw of the oral tube is opened, and the lingulate seta face one side; when the temperature is higher than the complete martensite temperature of the shape memory alloy, the upper jaw of the oral tube is closed, the oral tube main body is twisted, and the lingulate setae extend towards the other side; through deformation cooperation work of each position under the different temperatures, realize the separation and pick up, simple structure, intellectuality has good maneuverability and practicality.
Description
Technical Field
The invention belongs to the field of separation and pickup devices, and particularly relates to an intelligent bionic separation and pickup device, a manufacturing method and a separation and pickup method.
Background
The separation and pickup device has penetrated the aspects of national production and life, and has the irreplaceable effect in industries which have severe environments such as mining industry, agriculture and the like and need a large amount of human input; however, the conventional large mechanical separation and pickup device needs the coordination and linkage of all mechanical parts, has a complex structure and a single function, has higher requirements on working conditions, environmental temperature and operating personnel, and can not meet the increasing intelligent requirements of industrial activities along with the continuous improvement of the requirements of people on production efficiency and working safety.
Different organisms have different activity configuration characteristics in order to adapt to respective living environments, which is the result of the gradual adaptation of the organisms to the living environments in the process of long-term evolution. The adult bamboo weevil takes bamboo shoots as food, the food is taken by means of the opening and closing-rotating motion of the upper jaw of the adult bamboo weevil to clamp the food tightly, then the food is extruded or torn by the twisting motion of the head pipe, and finally the food juice and the scraps are taken by the tufted tongue, so that the adult bamboo weevil is a high-efficiency practical food taking mode which is suitable for the evolution of a complex natural environment and provides a reliable bionic basis for an intelligent separation and pickup device.
Disclosure of Invention
Aiming at the defects or improvement requirements of the prior art, the invention provides an intelligent bionic separation and pickup device, a manufacturing method and a separation and pickup method, and aims to realize separation and pickup by mutually matching deformation of all parts at different temperatures through an integrally formed separation and pickup device made of a shape memory alloy material and a bionic bamboo weevil adult mouth tube, so that the device is simple in structure, intelligent, synergistic and efficient in separation and pickup processes, and has good operability and practicability.
In order to achieve the above object, according to a first aspect of the present invention, an intelligent bionic separation and pickup device is provided, which is integrally formed by a shape memory alloy material, and comprises a mouth pipe main body, a water circulation flow channel, a pair of mouth pipe upper jaws and a plurality of tongue-shaped setae, wherein the mouth pipe main body is a circular pipe with two thick ends and a thin middle part; the water circulation flow channel is an annular channel positioned in the inner wall of the mouth tube main body; the pair of mouth tube upper jaws are positioned at one end of the mouth tube main body and are symmetrically distributed; the tongue-shaped bristles are positioned on two sides of the inner wall of the oral tube main body;
the separating and picking device presents different states at different temperatures: when the temperature is lower than the temperature of complete austenitizing of the shape memory alloy, the device is in a relaxed state, namely a pair of mouth tube upper jaws are opened, and a plurality of lingulate setae face to one side; when the temperature is higher than the temperature of the shape memory alloy for complete martensite, the device is in a pickup state, namely a pair of mouth tube upper jaws are closed, the mouth tube main body is twisted, and the tongue-shaped setae are stretched and face the other side.
More preferably, the shape memory alloy is one of a nickel-titanium alloy, a copper-based shape memory alloy, an iron-manganese-based shape memory alloy, and a polymer shape memory alloy.
As a further preferred, the mouth tube palate is crescent-shaped.
According to a second aspect of the present invention, there is provided a method for manufacturing the above intelligent bionic separation pick-up device, comprising the following steps: under the temperature environment higher than the complete martensite of the shape memory alloy, adopting the shape memory alloy material to integrally form the device in a pickup state through 3D printing; under the temperature environment lower than the complete austenitizing temperature of the shape memory alloy, the device is in a relaxed state under the action of external load, so that the state memory of the device under different temperature conditions is completed.
According to a third aspect of the present invention, there is provided an intelligent bionic separation and pickup method, comprising the steps of:
s1, injecting high-temperature water with the temperature higher than the complete martensite temperature of the shape memory alloy into the water circulation flow channel, converting the device from a relaxed state to a pickup state, enabling the object to be separated to be clamped by the upper jaw of the mouth pipe and enter the mouth pipe main body from one end of the upper jaw of the mouth pipe, further enabling the object to be separated to be clamped off under the twisting action of the mouth pipe main body and move towards the other end of the mouth pipe main body under the combined action of the mouth pipe main body and the tongue-shaped bristles;
s2, injecting low-temperature water with the temperature lower than the complete austenitizing temperature of the shape memory alloy into the water circulation flow channel, and returning the device from the pickup state to the release state;
s3 repeats S1 and S2 until the object pinched off is pushed out from the other end of the spout body, completing the object separating pickup.
Further preferably, the temperature of the high-temperature water is 80 ℃ to 100 ℃.
As further preferred, the temperature of the low-temperature water is 0 ℃ to 10 ℃.
Generally, compared with the prior art, the above technical solution conceived by the present invention mainly has the following technical advantages:
1. the bionic bamboo elephant mouth tube separating and picking device disclosed by the invention is used for separating and picking, and controllable twist-off clamping and loosening and picking of the bionic bamboo elephant mouth tube are realized by mutual cooperation of deformation of all parts at different temperatures, so that the bionic bamboo elephant mouth tube separating and picking device is simple in structure, intelligent, synergistic and efficient in separating and picking processes, and has good operability and practicability.
2. The device is manufactured and worked based on the memory performance of the shape memory alloy, has no complex linkage and cooperation of mechanical mechanisms, and has good two-way memory effect and corrosion resistance.
3. The separation and pickup of the device are controlled by the water temperature in the water circulation flow passage in the device, and the device is simple to control, clean and environment-friendly.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent bionic separation pick-up device according to the invention;
FIG. 2 is a schematic diagram showing the opening/closing-rotating motion of the upper jaw of the oral tube and the twisting motion process of the main body of the oral tube under different temperature states, wherein (a) is a low temperature state, (b) and (c) are states in which the temperature changes from low temperature to high temperature, and (d) is a high temperature state;
FIG. 3 is a schematic view showing the analysis of the force vectors of the upper jaw of the oral tube for holding an object at different temperatures according to the present invention, wherein (a) is in a low temperature open state, (b) is in a closed state, and (c) is in a high temperature closed state;
FIG. 4 is a schematic view showing the stretching and deformation process of the tongue-shaped bristle under different temperature conditions in the present invention, wherein (a) is a low temperature condition, (b) is a changing process, and (c) is a high temperature condition.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein: 1-water circulation flow channel, 2-mouth pipe palate, 3-tongue setae and 4-mouth pipe main body.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, an intelligent bionic separation and pickup device provided by an embodiment of the present invention has a structure similar to a bamboo elephant mouth tube, and is integrally formed by a shape memory alloy material through a 4D printing technology (i.e., a shape memory characteristic is added on the basis of 3D printing), and includes a mouth tube main body 4, a water circulation flow channel 1, a pair of mouth tube upper jaws 2, and a plurality of tongue-shaped bristles 3, wherein the mouth tube main body 4 is a circular tube with two thick ends and a thin middle part; the water circulation flow channel 1 is an annular channel positioned in the inner wall of the mouth tube main body 4; the oral tube upper jaw 2 is in a half-moon tooth shape, and the pair of oral tube upper jaws 2 are positioned at one end of the oral tube main body 4 and are symmetrically distributed; the tongue-shaped bristles 3 are positioned on two sides of the inner wall of the mouth pipe main body 4;
the separating and picking device presents different states at different temperatures: when the temperature is lower than the temperature of complete austenitizing the shape memory alloy, the device is in a relaxed state, namely a pair of mouth tube upper jaws 2 are opened, and a plurality of lingulate setae 3 face to one side; when the temperature is higher than the temperature of complete martensite of the shape memory alloy, the device is in a pickup state, namely, the pair of mouth tube upper jaws 2 are folded upwards to deform, the mouth tube main body 4 is twisted to deform, and the tongue-shaped setae 3 are stretched to deform and face the other side.
The preparation of the separation and pickup device specifically comprises the following steps: under the temperature environment higher than the complete martensite of the shape memory alloy, adopting a device which is formed by integrally forming the shape memory alloy material through 3D printing and is in a pickup state, and enabling the shape memory alloy to memorize the pickup state; under the temperature environment lower than the complete austenitizing temperature of the shape memory alloy, the device is in a relaxed state under the action of external load, so that the shape memory alloy is memorized in the relaxed state, and the state memory of the device under different temperature conditions is completed.
Preferably, the shape memory alloy is one of a nickel-titanium alloy, a copper-based shape memory alloy, an iron-manganese-based shape memory alloy, and a polymer shape memory alloy, and more preferably, a nickel-titanium alloy.
When the separation and pickup device is used for separating and picking up an object to be separated, the separation and pickup device comprises the following steps:
s1, the device is initially in a relaxed state, high-temperature water with the temperature higher than the complete martensite temperature of the shape memory alloy is injected into the water circulation flow channel 1, the shape memory alloy generates martensite phase transformation, the device is converted from the relaxed state into a pickup state, as shown in figures 2 to 4, an object to be separated is clamped by the mouth pipe upper jaw 2 and enters the inlet pipe main body 4 from one end of the mouth pipe upper jaw 2, the object to be separated is clamped and broken under the twisting action of the mouth pipe main body 4 and is extruded to the other end by the mouth pipe main body 4, and at the same time, the tongue-shaped bristles 3 are stretched, deformed and changed in direction, so that the clamped and broken object is assisted to move towards the other end, and the clamped and broken object is prevented from flowing;
s2, injecting low-temperature water with the temperature lower than the complete austenitizing temperature of the shape memory alloy into the water circulation flow channel 1, wherein the shape memory alloy generates austenite phase change, and the device returns to a relaxed state from a pick-up state;
s3 repeats S1 and S2 until the object pinched off is pushed out from the other end of the spout body 4, completing the object separating pickup.
Specifically, the temperature of the high-temperature water is 80-100 ℃, and the temperature of the low-temperature water is 0-10 ℃.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. An intelligent bionic separation and pickup device is characterized in that the device is integrally formed by shape memory alloy materials and comprises a mouth tube main body (4), a water circulation flow channel (1), a pair of mouth tube upper jaws (2) and a plurality of tongue-shaped setae (3), wherein the mouth tube main body (4) is a circular tube with two thick ends and a thin middle part; the water circulation flow channel (1) is an annular channel positioned in the inner wall of the mouth tube main body (4); the pair of mouth tube upper jaws (2) are positioned at one end of the mouth tube main body (4) and are symmetrically distributed; the tongue-shaped bristles (3) are positioned on two sides of the inner wall of the mouth tube main body (4);
the separating and picking device presents different states at different temperatures: when the temperature is lower than the temperature of complete austenitizing the shape memory alloy, the device is in a relaxed state, namely a pair of mouth tube upper jaws (2) are opened, and a plurality of tongue-shaped bristles (3) face to one side; when the temperature is higher than the temperature of the shape memory alloy for complete martensite, the device is in a pickup state, namely a pair of mouth tube upper jaws (2) are closed, a mouth tube main body (4) is twisted, and a plurality of tongue-shaped bristles (3) are stretched and face the other side.
2. The intelligent biomimetic detachment pick-up device of claim 1, wherein the shape memory alloy is one of a nickel-titanium alloy, a copper-based shape memory alloy, and an iron-manganese-based shape memory alloy.
3. The intelligent biomimetic detachment pick-up device according to claim 1, wherein the oral tube maxilla (2) is half-moon-shaped.
4. A method for manufacturing an intelligent bionic separation pick-up device according to any one of claims 1 to 3, characterized by comprising the following steps: under the temperature environment higher than the complete martensite of the shape memory alloy, adopting the shape memory alloy material to integrally form the device in a pickup state through 3D printing; under the temperature environment lower than the complete austenitizing temperature of the shape memory alloy, the device is in a relaxed state under the action of external load, so that the state memory of the device under different temperature conditions is completed.
5. An intelligent bionic separation and pickup method, which is realized by the device according to any one of claims 1-3, and is characterized by comprising the following steps:
s1, high-temperature water with the temperature higher than the complete martensite temperature of the shape memory alloy is injected into the water circulation flow channel (1), the device is switched from a relaxed state to a pickup state, an object to be separated is clamped by the mouth tube upper jaw (2) and enters the mouth tube main body (4) from one end of the mouth tube upper jaw (2), and then the object to be separated is clamped off under the twisting action of the mouth tube main body (4) and moves to the other end of the mouth tube main body (4) under the combined action of the mouth tube main body (4) and the tongue-shaped bristles (3);
s2, injecting low-temperature water with the temperature lower than the complete austenitizing temperature of the shape memory alloy into the water circulation flow channel (1), and returning the device from the pick-up state to the release state;
s3 repeats S1 and S2 until the object to be pinched off is pushed out from the other end of the mouth tube body (4), completing the object separation and pickup.
6. The intelligent bionic separation and pickup method according to claim 5, wherein the temperature of the high-temperature water is 80 ℃ to 100 ℃.
7. The intelligent bionic separation and pickup method according to claim 5, wherein the temperature of the low-temperature water is 0 ℃ to 10 ℃.
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| CN112093291B (en) * | 2020-09-04 | 2022-07-26 | 中山大学 | Multi-viscosity adaptive bionic fluid transfer device |
| CN115055337B (en) * | 2022-07-04 | 2023-09-19 | 智慧星空(上海)工程技术有限公司 | Bionic dispensing valve and dispensing method |
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| EP2989345B1 (en) * | 2013-04-24 | 2019-04-10 | Marquette University | Variable stiffness actuator with large range of stiffness |
| US9424722B2 (en) * | 2014-05-14 | 2016-08-23 | Unlimited Liability, LLC | Smart memory material lock devices |
| CN107225566A (en) * | 2017-06-16 | 2017-10-03 | 广东工业大学 | The software module of two-way shape memory alloy driving |
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