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A 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 poor versatility, inapplicability of liquid or granular materials, etc., and achieve the effect of easy maintenance and replacement, simple structure and air path, and large grasping range

Active Publication Date: 2022-07-15
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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  • A pneumatic bionic tongue based on shape memory alloy
  • A pneumatic bionic tongue based on shape memory alloy
  • A pneumatic bionic tongue based on shape memory alloy

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specific Embodiment approach

[0023] The preferred specific embodiment of the pneumatic bionic tongue based on shape memory alloy 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 gas driver is composed of a plurality of bellows, the bellows is the main part of the tongue body part, the tongue The body part also includes a silicone jacket, which can achieve a wide range of expansion and contraction with the bellows. The shape memory alloy actuator is composed of multiple sets of shape memory alloy wires arranged horizontally, vertically, and vertically. The tongue tip portion includes elastic thin plates, positioning sheets, and silica gel substrates in addition to the shape memory alloys, mainly to achieve two-dimensional plane curling. The bionic tongue also includes components such as a micro air pump, a solenoid valve, an electrical converter, a flow meter, a single-chip...

specific Embodiment

[0032] like figure 1 As shown, the pneumatic bionic tongue of the present invention is mainly composed of a tongue tip part, a tongue body part and a driving part, and specifically includes: tongue tip part 1, tongue body part 2, tongue base 3, gas driver 4, silicone jacket 5, transition joint 6. Silica gel base 7, shape memory alloy driver 8, the tip of the tongue 1 is integrally cast with silica gel, and the shape memory alloy driver 8 arranged in a vertical cross is embedded in the silica gel base 7. The position of the shape memory alloy arrangement is as follows: figure 2 As shown, three sets of transverse shape memory alloy wires 9 and one set of longitudinal shape memory alloy wires 12 are tensioned and positioned by transverse positioning sheets 10 and longitudinal positioning sheets 13, respectively. When a 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 shape memory alloy, which comprises 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 main part of the body part, the tongue body part also includes a silicone jacket, which can achieve a wide range of expansion and contraction. The tip of the tongue is made of shape memory alloy wire and silica gel, which can achieve two-dimensional flat curling. The invention integrates the advantages of large pneumatic expansion range, fast response of shape memory alloy, and small grasping damage of soft materials, and organically integrates pneumatic and shape memory alloy driving together, and realizes a large grasping range, which is suitable for liquid, Universal grip for a wide variety of objects ranging from granular solids to smooth soft bodies. The invention has simple structure and air path, transforms the two-dimensional curling of the tongue tip into the shrinkage control of the shape memory alloy wire in the cross direction, and adopts a modular design as a whole to facilitate maintenance and replacement.

Description

technical field [0001] The invention relates to the fields of bionics and soft robots, in particular to a pneumatic bionic tongue based on shape memory alloys. Background technique [0002] Bionics is an interdisciplinary subject that combines 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 the subject is also greatly increased. The flexible gripper can better grasp, classify and transport due to its small grasping damage and good adaptability. Pneumatic and shape memory alloy drives are two common driving methods for flexible grippers. Pneumatic has the characteristics of large deformation range and good reciprocity. Shape memory alloy is a kind of intelligent material mainly composed of nickel-titanium alloy. Thermoelasticity and martensitic transformation and its inversion have shape memory effect. It has th...

Claims

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Application Information

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Patent Type & Authority Patents(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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