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Pneumatic bionic tongue based on shape memory alloy

A technology of memory alloy and tongue, which is applied in the field of bionics and soft robots, can solve the problems of inapplicability of liquid or granular materials, poor versatility, etc., and achieve the effect of simple structure and air path, easy maintenance and replacement, and large grasping range

Active Publication Date: 2020-08-04
UNIV OF SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Although many representative grippers have emerged, most of the grasping objects at present are mostly solid, not suitable for liquid or granular materials, and the versatility is not strong

Method used

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  • Pneumatic bionic tongue based on shape memory alloy
  • Pneumatic bionic tongue based on shape memory alloy
  • Pneumatic bionic tongue based on shape memory alloy

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specific Embodiment approach

[0023] The preferred embodiment of the shape memory alloy-based pneumatic bionic tongue of the present invention is:

[0024] It includes a driving part, a tongue body part and a tongue tip part. The driving part includes a gas driver and a shape memory alloy driver. The body part also includes a silicone jacket, which can be expanded and contracted in a large range with the bellows. The shape memory alloy driver is composed of multiple groups of shape memory alloy wires vertically arranged horizontally and vertically. The tip of the tongue includes elastic thin plates, positioning thin sheets, and silica gel matrix in addition to shape memory alloys, and mainly realizes curling in a two-dimensional plane. The bionic tongue also includes micro air pumps, solenoid valves, electrical converters, flow meters, single-chip microcomputers, displacement sensors, pneumatic PU tubes and other components for controlling the position and action state of the tongue.

[0025] The tongue b...

specific Embodiment

[0033] Such as figure 1As shown, the pneumatic bionic tongue of the present invention is mainly composed of a tongue tip, a tongue body and a driving part, specifically including: a tongue tip 1, a tongue body 2, a tongue root 3, a gas driver 4, a silicone jacket 5, and a transition joint 6. Silicone substrate 7, shape memory alloy driver 8, the tongue tip part 1 is made of integral casting of silica gel, the shape memory alloy driver 8 vertically crossed is embedded in the silicone substrate 7, the position of the shape memory alloy arrangement is as follows figure 2 As shown, three groups of transverse shape memory alloy wires 9 and one group of longitudinal shape memory alloy wires 12 are tensioned and positioned by the transverse positioning sheet 10 and the longitudinal positioning sheet 13 respectively. When current is applied to the shape memory alloy wires, the elastic Under the restriction of the thin plate 11, the plane where the tip of the tongue is located can onl...

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Abstract

The invention discloses a pneumatic bionic tongue based on a shape memory alloy. The pneumatic bionic tongue comprises a drive part, a tongue body part and a tongue tip part. The drive part comprisesa gas driver and a shape memory alloy driver. The gas driver is composed of multiple corrugated pipes. The corrugated pipes are main parts of the tongue body part. The tongue body part further comprises a silica gel outer cover, and wide-range stretch-out and draw-back can be achieved. The tongue tip part is composed of shape memory alloy wires and silica gel, and curling in the two-dimensional plane can be achieved. The pneumatic bionic tongue integrates the advantages that the pneumatic stretch-out and draw-back range is wide, the shape memory alloy is rapid in response and the soft materialgrabbing injuries are small, pneumatic drive and shape memory alloy drive are organically fused together, and a universal grabbing manner which is wide in grabbing range and suitable for various objects, such as liquid, particle solid and smooth soft bodies, at the same time is achieved. The pneumatic bionic tongue is simple in structure and gas way, two-dimensional curling of a tongue tip is converted into shape memory alloy wire shrinkage control in the cross direction, modular design is adopted for the whole pneumatic bionic tongue, and maintenance and replacement are facilitated.

Description

technical field [0001] The invention relates to the fields of bionics and soft robots, in particular to a pneumatic bionic tongue based on a shape memory alloy. Background technique [0002] Bionics is an interdisciplinary subject combining biology and other technologies. Robot grippers have been widely used in industrial automation. At present, robot grippers are gradually transitioning from rigid grippers to flexible grippers. The adaptability of objects has also increased substantially. Flexible grippers can achieve better grasping, sorting and transportation due to their small gripping damage and good self-adaptability. Pneumatic and shape memory alloy driving are two common driving methods in flexible grippers. Pneumatic has the characteristics of large deformation range and good reciprocation. Shape memory alloy is a kind of smart material mainly based on nickel-titanium alloy. Thermoelasticity and martensitic phase transformation and its inversion have shape memory ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J9/10B25J9/14B25J15/00
CPCB25J9/1085B25J9/14B25J9/0012B25J15/00B25J15/0019
Inventor 张世武巩宁金虎
Owner UNIV OF SCI & TECH OF CHINA
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