CN113983840A

CN113983840A - Transplantable bionic sweat gland with rigidity characteristic and intelligent robot

Info

Publication number: CN113983840A
Application number: CN202111069873.4A
Authority: CN
Inventors: 陈思; 塔辛加沃尔特; 杨传壮; 屈健; 茹伟民; 黄钦; 乔筱祺; 荆腾
Original assignee: Jiangsu University
Current assignee: Jiangsu University
Priority date: 2021-09-13
Filing date: 2021-09-13
Publication date: 2022-01-28
Anticipated expiration: 2041-09-13
Also published as: CN113983840B

Abstract

The invention provides a transplantable bionic sweat gland with rigidity characteristics, which comprises a heat dissipation end cover, an evaporation end shell, a micro heat pipe and a return pipeline, wherein the heat dissipation end cover is arranged on the shell; the radiating end cover is connected with the evaporation end shell; a liquid inlet cavity is formed in the center of the heat dissipation end cover, a plurality of micro heat pipes are distributed in the heat dissipation end cover, and one end of any micro heat pipe is communicated with the liquid inlet cavity; the shell of the evaporation end is of a rigid structure; a heat dissipation pipeline communicated with the liquid inlet cavity is arranged in the evaporation end shell, porous media are filled in the heat dissipation pipeline, and pores formed by the porous media in the heat dissipation pipeline are gradually reduced along the evaporation flow direction; filling evaporating liquid in the gaps of the porous medium; the other end of the micro heat pipe is communicated with the heat dissipation pipeline through a return pipeline. The self-radiating characteristic of the invention can keep the radiating stability, the rigid structure of the invention is convenient for planting, the invention can be implanted into the object needing radiating, and meanwhile, the invention protects the internal radiating structure, thus having stronger stability than the flexible structure.

Description

Transplantable bionic sweat gland with rigidity characteristic and intelligent robot

Technical Field

The invention relates to the field of biological simulation or artificial skin, in particular to a transplantable bionic sweat gland with rigidity characteristic and an intelligent robot.

Background

Artificial skin (Artificial skin) is mainly classified into two major types, one is Synthetic skin (Synthetic skin) and the other is Smart skin (Smart skin). The intelligent skin is an important research field of man-machine interaction and artificial intelligence, and the intelligent skin also plays an important role in the field of medical health.

At present, all components of the flexible sensor except the electrodes are made of flexible materials, and due to the complexity of the skin, a small local area can always have multiple functions, especially the function of realizing feeling, and the feeling of being cold, hot, soft and hard, so in recent years, the bionic idea of electronic skin is to laminate the skin and install different types of sensors on each layer of the skin. The prior art discloses a multiple-layer electronic skin, a first layer of skin is composed of a first hydrogel and a plurality of first sensors, a second layer of skin is similar to the first layer of skin in a structure mode, and the outer portion of a first flexible hemispherical convex pressing plate and the outer portion of a second flexible hemispherical convex pressing plate in the second layer of skin are arranged oppositely. The upper and lower skin layers are in contact with each other through the flexible hemispherical convex pressing plate, the contact area is small, and when the flexible hemispherical convex pressing plate is stimulated by the outside, the sensitivity of the electronic skin provided by the scheme can be quickly responded. However, the performance and service life of electronic components and devices are affected by high temperature environment, and the conventional convection heat exchange method and forced air cooling method relying on single-phase fluid have difficulty in meeting the heat dissipation requirements of many electronic devices.

Lee and the like utilize the bionic sweat glands made of the nano clay and the temperature-sensitive hydrogel, so that the function of cooling by water evaporation at high temperature is realized, and the function of preventing water evaporation at low temperature is also realized. However, the bionic sweat gland with the micro-surface structure still has defects in stability, implantation and especially heat transmission efficiency.

Rob Shepherd of cornell university and its research team developed a robot palm of special material that could control the temperature inside the machine in a "sweat secreting" manner. However, the bionic sweat gland with sweat as a heat dissipation mode has some defects, and in the process of finishing heat exchange after sweat is discharged, the outer shell can become wet and smooth, the friction force of the artificial sweat gland is reduced, the artificial sweat gland is not beneficial to grasping, objects in hands can slip off, and although the texture of the upper layer can be changed, the expression becomes wrinkled. In addition, the robot needs to supply water periodically to replenish the evaporated water. Therefore, the water yield is uncontrollable due to the change of the opening size caused by different temperatures in the heat dissipation mode of simply discharging water to discharge sweat, so the stability of heat dissipation is uncontrollable. The water supply is discharged once, the water discharged in the using process can not be collected for recycling, and the surface state of the external palm can be changed, so that the surface becomes wet and smooth, and the grasping process is not facilitated.

Researchers at kyoto university in japan adopted a bionic sweat gland approach in the cooling approach of the Kengoro robot to develop a more efficient coolant delivery system. The Kengoro is internally provided with an aluminum frame, and gaps and channels similar to sponges are distributed on the frame. These channels can deliver water to the whole body of the robot and achieve heat exchange by evaporation, and cooling systems based on aluminium frames sweat like humans. Tests have shown that this sweating technique is 2 times more effective than the traditional cooling method. The micro-surface structure is a rigid structure, is arranged in the robot, is not beneficial to mounting skin covering on the whole body of the robot and evaporating liquid to disperse to air, and also can not be collected for recycling.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides the transplantable bionic sweat gland with the rigidity characteristic and the intelligent robot, the self spontaneous heat dissipation characteristic can keep the heat dissipation stability, the rigid structure of the robot is convenient to plant, the robot can be implanted into an object needing heat dissipation, the internal heat dissipation structure is protected, and the stability of the robot is stronger than that of a flexible structure.

The present invention achieves the above-described object by the following technical means.

An implantable bionic sweat gland with rigidity characteristic comprises a heat dissipation end cover, an evaporation end shell, a micro heat pipe and a return pipeline;

the radiating end cover is connected with the evaporation end shell; a liquid inlet cavity is formed in the center of the heat dissipation end cover, a plurality of micro heat pipes are distributed in the heat dissipation end cover, and one end of any micro heat pipe is communicated with the liquid inlet cavity; the shell of the evaporation end is of a rigid structure;

a heat dissipation pipeline communicated with the liquid inlet cavity is arranged in the evaporation end shell, porous media are filled in the heat dissipation pipeline, and pores formed by the porous media in the heat dissipation pipeline are gradually reduced along the evaporation flow direction; filling evaporating liquid in the gaps of the porous medium; the other end of the micro heat pipe is communicated with the heat dissipation pipeline through a return pipeline.

Further, a filter screen is arranged between the heat dissipation pipeline and the liquid inlet cavity.

Furthermore, the outer wall of the evaporation end shell is provided with threads, the top of the heat dissipation end cover is provided with a groove, and the evaporation end shell and the heat dissipation end cover are of an integrated structure and are in a screw type.

Further, the return line is a spiral pipe, one end of the spiral pipe is communicated with the other end of the micro heat pipe, and the other end of the spiral pipe is communicated with the bottom of the heat dissipation pipeline.

Furthermore, the shell of the evaporation end is a spiral coil, a plurality of spiral return pipelines are uniformly distributed in the wall surface of the spiral coil, one end of each spiral return pipeline is communicated with the other end of the micro heat pipe, and the other end of each spiral return pipeline is communicated with the bottom of the heat dissipation pipeline.

Further, the porous medium is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the porous medium forms pores no larger than 40 microns.

Furthermore, the evaporation end shell comprises a conveying pipe and a hollow shell, one end of the conveying pipe is connected with the hollow shell, the other end of the conveying pipe is connected with the radiating end cover, the hollow shell is divided into a first area and a second area through a middle filter screen, the first area is communicated with the conveying pipe, first porous media are filled in the first area and the conveying pipe, second porous media are filled in the second area, backflow pipelines are arranged in the conveying pipe and the hollow shell, and the other end of the micro heat pipe is communicated with the second area through the backflow pipeline.

Further, the first porous medium is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the first porous medium forms pores no larger than 40 microns; the second porous medium is solid particles; the diameter of the solid particles decreases as the diameter of the hollow shell decreases.

Furthermore, the second area is divided into a plurality of concentric sector ring areas which are not communicated with each other, and the sector areas are communicated with the first area at the center of the sector ring areas; the return line communicates with the large end of the sector ring area.

An intelligent robot comprises the implantable bionic sweat gland with the rigidity characteristic, and the evaporation end shell is installed inside the surface of the intelligent robot.

The invention has the beneficial effects that:

1. the implantable bionic sweat gland with the rigidity characteristic and the intelligent robot have the advantages that the bionic sweat gland is rigid and can be directly or by other auxiliary means arranged on the upper surface of the shell of the robot, and the cooling evaporation end at the lower part is fixed in the bionic sweat gland. Compared with the existing sweat gland flexible structure, the device disclosed by the invention has the advantages that the self-radiating characteristic can keep the radiating stability, the self rigid structure is convenient to plant, the device can be implanted into an object needing radiating, and meanwhile, the internal radiating structure is protected, so that the device has stronger stability than the flexible structure.

2. The implantable bionic sweat gland with the rigidity characteristic has the advantages that the heat exchange mode adopts a circulating mode of evaporation and condensation, and the heat dissipation upper end cover positioned on the upper part of the sweat gland device has the effect of enlarging the heat dissipation area. The heat dissipation of the upper end cover is based on the self-evaporation cooling principle of the micro heat pipe, so that condensed liquid circulates in a single direction and then flows back to an evaporation end at the bottom of the device through a thin pipe of the outer shell, and closed circulation is completed. The structure of internal closed circulation can effectual reuse the evaporated liquor, guarantees economy and sustainability, and there is not liquid simultaneously to reveal and lead to being dispelled the surface of heat the object slippery, does not change by the surface physical state of heat dissipation object promptly.

3. According to the implantable bionic sweat gland with the rigidity characteristic, the porous medium is filled, pores formed by the porous medium are gradually reduced along the evaporation flow direction, and the porous medium has wettability and can effectively attract the evaporated liquid, so that the solid-liquid balance is achieved, and the liquidity of the internal liquid is changed. The filling of the porous medium inside can serve to spontaneously transport the absorbed liquid in the direction from the evaporation end to the condensation end. The invention avoids the mode of internal heat dissipation in the use place and really realizes the mode of internal and external heat exchange.

Drawings

FIG. 1 is a schematic diagram of the structure of an implantable bionic sweat gland with rigidity characteristics according to example 1 of the present invention.

FIG. 2 is a schematic diagram of the structure of the implantable bionic sweat gland with rigidity characteristics according to example 2 of the present invention.

Fig. 3 is a sectional view B-B of fig. 2.

FIG. 4 is a schematic diagram of the structure of the implantable bionic sweat gland with rigidity characteristics according to embodiment 3 of the present invention.

Fig. 5 is a sectional view a-a of fig. 4.

In the figure:

1-filtering with a filter screen; 2-a first porous medium; 3-top heat dissipation end cover; 4-a return line; 5-micro heat pipe; 6-a second porous medium; 7-evaporation end housing; 8-conveying pipe; 9-middle filter screen; 10-a liquid inlet cavity; 7-1-a first region; 7-2-second region.

Detailed Description

The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

Fig. 1 is an embodiment 1 of the implantable bionic sweat gland with rigidity characteristics, which comprises a heat dissipation end cover 3, an evaporation end shell 7, a micro heat pipe 5 and a return pipeline 4; the heat dissipation end cover 3 is connected with the evaporation end shell 7; a liquid inlet cavity 10 is formed in the center of the heat dissipation end cover 3, a plurality of micro heat pipes 5 are distributed in the heat dissipation end cover 3, and one end of any micro heat pipe 5 is communicated with the liquid inlet cavity 10; the evaporation end shell 7 is of a rigid structure; a heat dissipation pipeline communicated with the liquid inlet cavity 10 is arranged inside the evaporation end shell 7, the heat dissipation pipeline is filled with a first porous medium 2, and pores formed by the first porous medium 2 in the heat dissipation pipeline are gradually reduced along the evaporation flow direction; the gap of the first porous medium 2 is filled with evaporating liquid; the first porous medium 2 is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the first porous medium 2 forms pores of not more than 40 μm. The other end of the micro heat pipe 5 is communicated with the heat dissipation pipeline through a return pipeline 4. In order to facilitate the installation of the bionic sweat gland on the surface of the intelligent robot, the outer wall of the evaporation end shell 7 is provided with threads, the top of the heat dissipation end cover 3 is provided with a groove, and the evaporation end shell 7 and the heat dissipation end cover 3 are of an integrated structure and are in a screw type. The section of the heat dissipation end cover 3 is fan-shaped. The inside micro heat pipe 5 that contains 6 equipartitions of heat dissipation end cover 3, return line 4 is the spiral pipe, and return line 4 is located the wall of evaporating end shell 7, return line 4 can be understood as the backward flow hole. One end of the spiral pipe is communicated with the other end of the micro heat pipe 5, and the other end of the spiral pipe is communicated with the bottom of the heat dissipation pipeline, so that a backflow effect is achieved, and the evaporated liquid is convenient to recycle. And a filter screen 1 is arranged between the heat dissipation pipeline and the liquid inlet cavity 10 and is used for filtering evaporated liquid.

Fig. 2 and fig. 3 show an implantable bionic sweat gland embodiment 2 with a rigid characteristic according to the present invention, which is different from embodiment 1 in that the heat dissipation end cap 3 and the evaporation end housing 7 are connected by a screw thread, the evaporation end housing 7 is a spiral coil, a plurality of spiral return pipes 4 are uniformly distributed in the wall surface of the spiral coil, one end of each spiral return pipe 4 is communicated with the other end of the micro heat pipe 5, and the other end of each spiral return pipe 4 is communicated with the bottom of the heat dissipation pipe. The tail end of the spiral coil pipe is gradually changed into a sharp structure, so that the spiral coil pipe can better play a role in fixing the surface of a firm object.

Fig. 4 and 5 show an implantable bionic sweat gland embodiment 3 with rigidity characteristics according to the present invention, which comprises a heat dissipation end cap 3, an evaporation end housing 7, a micro heat pipe 5 and a return line 4; the heat dissipation end cover 3 is connected with the evaporation end shell 7; the heat dissipation end cover 3 is of a flat cylindrical structure, a liquid inlet cavity 10 is formed in the center of the heat dissipation end cover 3, a plurality of micro heat pipes 5 are distributed in the heat dissipation end cover 3, and one end of any micro heat pipe 5 is communicated with the liquid inlet cavity 10; the micro heat pipe 5 and the heat dissipation end cover 3 jointly form a condensation end, and the gaseous evaporation liquid enters the micro heat pipe 5 from the liquid inlet cavity 10 to finish the condensation process. The evaporation end shell 7 is of a rigid structure; the evaporation end shell 7 comprises a conveying pipe 8 and a hollow shell, one end of the conveying pipe 8 is in threaded connection with the hollow shell, the other end of the conveying pipe 8 is in threaded connection with the heat dissipation end cover 3, the inner cavity of the conveying pipe 8 and the inner cavity of the hollow shell are heat dissipation pipelines, the hollow shell is divided into a first area 7-1 and a second area 7-2 through a middle filter screen 9, the first area 7-1 is communicated with the conveying pipe 8, the first area 7-1 and the conveying pipe 8 are filled with a first porous medium 2, the second area 7-2 is filled with a second porous medium 6, a backflow pipeline 4 is arranged in the conveying pipe 8 and the hollow shell, and the other end of the micro heat pipe 5 is communicated with the second area 7-2 through the backflow pipeline 4. The middle filter screen 9 is a cylindrical net structure, and the pores of the middle filter screen 9 are smaller than the diameter of the filling particles of the first porous medium and/or the second porous medium and are used for fixing the filling particles. The first porous medium 2 is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the first porous medium 2 forms pores no larger than 40 microns; the second porous medium 2 is a solid particle; the diameter of the solid particles decreases as the diameter of the hollow shell decreases. The porous medium has wettability and can effectively attract the evaporated liquid, thereby achieving solid-liquid balance and changing the fluidity of the internal liquid. The porous medium material can be used for spontaneously transporting absorbed liquid along the direction from the evaporation end to the condensation end, transferring the liquid to the top filter screen 1 and then performing heat exchange in the form of steam.

The second porous medium 2 is ceramic particles, the diameter of the particles close to the wall surface of the hollow shell is larger than that of the particles close to the middle filter screen 9, so that the pore space is reduced, and the difference of the diameters can form a flow gradient to promote heat exchange. A plurality of concentric sector ring areas which are not communicated with each other are divided in the second area 7-2 through a heat insulation plate, and the sector areas are communicated with the first area 7-2 at the center of the sector ring areas; the return line 4 communicates with the large end of the sector ring area. The advantage of the plurality of fan-shaped areas over the use of an integral second area 7-2 is that when the local heat generated by the heat source is locally applied to the evaporation end of the hollow shell, the heat can be more intensively transferred from the second porous medium to the heat transfer area of the first porous medium of the first area 7-1 rather than being diffused to the second porous medium at the periphery, thereby improving the heat transfer efficiency. The return pipeline 4 is communicated with the large end of the fan ring area, and the large end of the fan ring area is close to the wall surface of the hollow shell. The evaporated gas is condensed by the return pipe 4 and then flows back to the second porous medium 6. Each sector ring area is connected to at least one return pipe 4.

An intelligent robot comprises the implantable bionic sweat gland with the rigidity characteristic, and the evaporation end shell 7 is installed inside the surface of the intelligent robot and used for reducing the surface temperature of the robot.

It should be understood that although the present description has been described in terms of various embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and those skilled in the art will recognize that the embodiments described herein may be combined as suitable to form other embodiments, as will be appreciated by those skilled in the art.

The above-listed detailed description is only a specific description of a possible embodiment of the present invention, and they are not intended to limit the scope of the present invention, and equivalent embodiments or modifications made without departing from the technical spirit of the present invention should be included in the scope of the present invention.

Claims

1. An implantable bionic sweat gland with rigidity characteristic is characterized by comprising a heat dissipation end cover (3), an evaporation end shell (7), a micro heat pipe (5) and a return pipeline (4);

the heat dissipation end cover (3) is connected with the evaporation end shell (7); a liquid inlet cavity (10) is formed in the center of the heat dissipation end cover (3), a plurality of micro heat pipes (5) are distributed in the heat dissipation end cover (3), and one end of any micro heat pipe (5) is communicated with the liquid inlet cavity (10); the evaporation end shell (7) is of a rigid structure;

a heat dissipation pipeline communicated with the liquid inlet cavity (10) is arranged inside the evaporation end shell (7), porous media (2 and 6) are filled in the heat dissipation pipeline, and pores formed by the porous media (2 and 6) in the heat dissipation pipeline are gradually reduced along the evaporation flow direction; the gap of the porous media (2 and 6) is filled with evaporating liquid; the other end of the micro heat pipe (5) is communicated with the heat dissipation pipeline through a return pipeline (4).

2. Implantable bionic sweat gland with rigid characteristics according to claim 1, characterized in that a sieve (1) is provided between said heat dissipation duct and the intake chamber (10).

3. The implantable bionic sweat gland with rigidity characteristics according to claim 1, wherein the outer wall of the evaporation end shell (7) is provided with threads, the top of the heat dissipation end cover (3) is provided with a groove, and the evaporation end shell (7) and the heat dissipation end cover (3) are of an integrated structure and are in a screw type.

4. The implantable bionic sweat gland with rigidity characteristics as claimed in claim 3, wherein the return pipeline (4) is a spiral pipe, one end of the spiral pipe is communicated with the other end of the micro heat pipe (5), and the other end of the spiral pipe is communicated with the bottom of the heat dissipation pipeline.

5. The implantable bionic sweat gland with the rigidity characteristic according to claim 1, wherein the evaporation end shell (7) is a spiral coil, a plurality of spiral return pipelines (4) are uniformly distributed in the wall surface of the spiral coil, one end of each spiral return pipeline (4) is communicated with the other end of each micro heat pipe (5), and the other end of each spiral return pipeline (4) is communicated with the bottom of each heat dissipation pipeline.

6. Implantable bionic sweat gland with rigid properties according to any of claims 1 to 5, characterized in that said porous medium (2, 6) is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the porous medium (2, 6) forms pores no larger than 40 microns.

7. Implantable biomimetic sweat gland with rigid properties according to claim 1, the evaporation end shell (7) comprises a conveying pipe (8) and a hollow shell, one end of the conveying pipe (8) is connected with the hollow shell, the other end of the conveying pipe (8) is connected with the heat dissipation end cover (3), the hollow shell is divided into a first area (7-1) and a second area (7-2) by a middle filter screen, the first area (7-1) is communicated with a conveying pipe (8), the first area (7-1) and the conveying pipe (8) are filled with a first porous medium (2), a second porous medium (6) is filled in the second area (7-2), a return pipeline (4) is arranged in the conveying pipe (8) and the hollow shell, the other end of the micro heat pipe (5) is communicated with the second area (7-2) through a return pipeline (4).

8. Implantable biomimetic sweat gland with rigid properties according to claim 7, characterized in that said first porous medium (2) is a hydrogel particle; the diameter of the hydrogel particles gradually decreases along the evaporation flow direction; the first porous medium (2) forms pores no larger than 40 microns; the second porous medium (2) is solid particles; the diameter of the solid particles decreases as the diameter of the hollow shell decreases.

9. Implantable bionic sweat gland with rigid characteristics according to claim 7, characterized in that said second region (7-2) is internally divided into several concentric sector-ring regions not in communication with each other, communicating with the first region (7-2) in its centre; the return pipeline (4) is communicated with the large end of the fan ring area.

10. An intelligent robot, characterized in that, the implantable bionic sweat gland with rigid characteristics of claims 1-5 or 7-9 is included, and the evaporation end shell (7) is installed inside the surface of the intelligent robot.