CN110434879A - A kind of intelligent bionic separation pick device, manufacturing method and separation pick-up method - Google Patents
A kind of intelligent bionic separation pick device, manufacturing method and separation pick-up method Download PDFInfo
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- CN110434879A CN110434879A CN201910680429.2A CN201910680429A CN110434879A CN 110434879 A CN110434879 A CN 110434879A CN 201910680429 A CN201910680429 A CN 201910680429A CN 110434879 A CN110434879 A CN 110434879A
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- temperature
- main body
- mouth pipe
- pipe main
- pick
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Classifications
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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
-
- 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
-
- 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
-
- 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
- Y02P10/25—Process efficiency
Abstract
The invention belongs to separate pick device field, and specifically disclose a kind of intelligent bionic separation pick device, manufacturing method and separation pick-up method, it is integrally formed by shape memory alloy material, including mouth pipe main body, water circulatory flow, a counterpart pipe maxilla and multiple ligule bristles, mouth pipe main body is the round tube that both ends are thick, centre is thin, water circulatory flow is the annular channel in mouth pipe main body inner wall, one counterpart pipe maxilla is located at described mouth pipe main body one end, it is symmetric, multiple ligule bristles are located at mouth pipe main body inner wall two sides；When temperature is lower than marmem complete austenitizing temperature, mouth pipe maxilla opens, and ligule bristle is towards side；When temperature is higher than the complete formation of martensite temperature of marmem, mouth pipe maxilla closure, mouth pipe main body twists, ligule bristle stretching, extension and towards the other side；By deformation cooperating in position each under different temperatures, realize that separation is picked up, structure is simple, intelligent, has good operability and practicability.
Description
Technical field
The invention belongs to separate pick device field, more particularly, to a kind of intelligent bionic separation pick device, manufacture
Method and separation pick-up method.
Background technique
Separation pick device has penetrated into the every aspect of national product life, in bad environments such as mining industry, agriculturals,
The industry for needing a large amount of human inputs is even more to have irreplaceable effect；However, traditional big machinery separates pick device
Each component of machine cooperation linkage is needed, structure is complicated, has a single function, and has to operating condition, environment temperature and operator
Higher requirement, requirement with people to production efficiency, work safety are continuously improved, and traditional separation pick device is not
It is able to satisfy the growing intelligent needs of industrial activity.
For different biologies in order to adapt to respective living environment with different active tectonics features, this is biology long-term
The result of living environment is gradually adapted to during evolution.Bamboo curculionid adult is food with bamboo shoots, and feeding " is opened by its maxilla
Conjunction-rotation " movement clamps food, then by head tube twist motion by food extrusion or tear fracture, hairy finally by fasciation
Tongue sucks food juice and clast, is the foraging pattern for adapting to the highly effective that complicated natural environment is evolved, and is intelligence
Energyization separation pick device provides reliable bionical basis.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, it is separated the present invention provides a kind of intelligent bionic and picks up dress
It sets, manufacturing method and separation pick-up method, is filled it is intended that being picked up by the integrally formed separation of shape memory alloy material
It sets, bionical bamboo curculionid carries out separation pickup at insect population pipe, by position each under different temperatures deformation mutual cooperation, structure is simple,
Intelligent, separation pick process collaboration efficiently, has good operability and practicability.
To achieve the above object, first aspect according to the invention proposes a kind of intelligent bionic separation pick device,
It is integrally formed by shape memory alloy material, including mouth pipe main body, water circulatory flow, a counterpart pipe maxilla and multiple ligules be rigid
Hair, wherein the mouth pipe main body is the round tube that both ends are thick, centre is thin；The water circulatory flow is in the mouth pipe main body
Annular channel in wall；A pair of mouth pipe maxilla is located at described mouth pipe main body one end, and is symmetric；Multiple ligules
Bristle is located at the mouth pipe main body inner wall two sides；
Different conditions are presented in the separation pick device at different temperatures: when temperature is lower than the complete Ovshinsky of marmem
When the temperature of body, device is in relaxation state, i.e. a counterpart pipe maxilla opens, and multiple ligule bristles are towards side；Work as temperature
Higher than the complete formation of martensite of marmem temperature when, device be in pick-up situation, i.e. a counterpart pipe maxilla closure, mouth pipe master
Body twists, multiple ligule bristles stretching, extension and towards the other side.
As it is further preferred that the marmem is Nitinol, copper-based shape memory alloy, ferrimanganic base shape
One of shape memory alloys, polymer shape memory alloy.
As it is further preferred that the mouth pipe maxilla is half moon.
The second aspect according to the invention provides a kind of manufacturing method of above-mentioned intelligent bionic separation pick device,
Include the following steps: under the temperature environment for being higher than the complete formation of martensite of marmem, using shape memory alloy material
It is in the device of pick-up situation by 3D printing integral forming；In the temperature environment for being lower than marmem complete austenitizing
Under, make device in relaxation state by external load effect, thus state memorization of the finishing device in condition of different temperatures.
In terms of third according to the invention, a kind of intelligent bionic separation pick-up method is provided, is included the following steps:
S1 to water circulatory flow injection temperature be higher than the complete formation of martensite temperature of marmem high-temperature water, device by
Relaxation state switchs to pick-up situation, clamps object to be separated by mouth pipe maxilla and from there is mouthful pipe maxilla one end inlet port pipe master
Body, so object to be separated under the twisting action of mouth pipe main body by pinch off, and in the common work of mouth pipe main body and ligule bristle
With lower to the movement of the mouth pipe main body other end；
S2 to water circulatory flow injection temperature be lower than marmem complete austenitizing temperature water at low temperature, device by
Pick-up situation is returned to relaxation state；
S3 repeats S1 and S2, until being released by the object of pinch off from the mouth pipe main body other end, completes object separation and picks up.
As it is further preferred that the temperature of the high-temperature water is 80 DEG C -100 DEG C.
As it is further preferred that the temperature of the water at low temperature is 0 DEG C -10 DEG C.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit:
1. the bionical bamboo curculionid mouthful pipe of apparatus of the present invention carries out separation pickup, pass through deformation phase interworking in position each under different temperatures
Work is closed, realizes that bionical separation pick device controllably twists off clamping and loosens pickup, structure is simple, intelligent, separation was picked up
Cheng Xietong is efficient, has good operability and practicability.
2. the manufacture and work of apparatus of the present invention are completed based on memory performance possessed by marmem, without cumbersome
Mechanical mechanism is linked, and has good double-pass memory effect and corrosion resistance.
It is controlled 3. the separation of apparatus of the present invention is picked up by the water temperature in device in water circulatory flow, controls simple and wiper ring
It protects.
Detailed description of the invention
Fig. 1 is intelligent bionic separation pick device structural schematic diagram of the present invention；
Fig. 2 is that intelligent bionic separation pick device mouth pipe maxilla " folding-rotation " under different temperature condition of the present invention is transported
Dynamic and mouth pipe main body twist motion process schematic, wherein (a) is low-temperature condition, and (b) and (c) is low temperature into high temperature variation
State, (d) be the condition of high temperature；
Fig. 3 is the stress vector analysis schematic diagram that mouth pipe maxilla clamps object under different temperature condition in the present invention,
In, (a) is low temperature opening state, (c) is high temperature closed state (b) during to collapse；
Fig. 4 is ligule bristle extensional deformation process schematic under different temperature condition in the present invention, wherein (a) is low
Temperature state is (b) in change procedure, (c) is the condition of high temperature.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 1- water recycle stream
Road, 2- mouthfuls of pipe maxillas, 3- ligule bristle, 4- mouthfuls of pipe main bodys.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of intelligent bionic provided in an embodiment of the present invention separates pick device, structure is similar to bamboo curculionid
Mouth pipe, by 4D printing technique (increasing shape memory characteristic on the basis of 3D printing), by shape memory alloy material
It is integrally formed, including mouth pipe main body 4, water circulatory flow 1, a counterpart pipe maxilla 2 and multiple ligule bristles 3, wherein the mouth pipe
Main body 4 is the round tube that both ends are thick, centre is thin；The water circulatory flow 1 is that the ring-type in 4 inner wall of mouth pipe main body is logical
Road；Mouth pipe maxilla 2 is half moon, and a counterpart pipe maxilla 2 is located at described 4 one end of mouth pipe main body, and is symmetric；Multiple institutes
It states ligule bristle 3 and is located at the 4 inner wall two sides of mouth pipe main body；
Different conditions are presented in the separation pick device at different temperatures: when temperature is lower than the complete Ovshinsky of marmem
When the temperature of body, device is in relaxation state, i.e. a counterpart pipe maxilla 2 opens, and multiple ligule bristles 3 are towards side；Work as temperature
When degree is higher than the temperature of the complete formation of martensite of marmem, device is in pick-up situation, i.e. a counterpart pipe maxilla 2 occurs upwards
Deformation is collapsed, mouth pipe main body 4 twists deformation, and multiple ligule bristles 3 occur stretching, extension deformation and towards the other side.
Above-mentioned separation pick device is prepared to specifically comprise the following steps: be higher than the complete formation of martensite of marmem
Under temperature environment, remember shape in the device of pick-up situation by 3D printing integral forming using shape memory alloy material
Recall alloy memory pick-up situation；Under the temperature environment lower than marmem complete austenitizing, made by external load
With making device be in relaxation state, marmem is set to remember relaxation state, thus shape of the finishing device in condition of different temperatures
State memory.
Preferably, marmem is Nitinol, copper-based shape memory alloy, ferrimanganic base marmem, height
One of molecular shape memorial alloy, further preferably Nitinol.
Above-mentioned separation pick device treat separating objects carry out separation pick up when, include the following steps:
S1 device is initially relaxation state, injects temperature to water circulatory flow 1 and is higher than the complete martensite of marmem
Change the high-temperature water of temperature, martensitic traoformation occurs for marmem, and device switchs to pick-up situation by relaxation state, extremely such as Fig. 2
Shown in Fig. 4, clamp object to be separated by mouth pipe maxilla 2 and from there is 2 one end inlet port pipe main body 4 of mouthful pipe maxilla, so to point
From object by pinch off under the twisting action of mouth pipe main body 4, and squeezed by mouth pipe main body 4 to the other end, while ligule bristle 3 is sent out
Raw extensional deformation and direction change, and auxiliary is mobile to the other end by the object of pinch off, and prevent from being flow backwards by the object of pinch off；
S2 injects the water at low temperature that temperature is lower than marmem complete austenitizing temperature, shape to water circulatory flow 1
Austenite phase transformation occurs for memorial alloy, and device is returned to relaxation state by pick-up situation；
S3 repeats S1 and S2, until being released by the object of pinch off from 4 other end of mouth pipe main body, completes object separation and picks up
It takes.
Specifically, the temperature of the high-temperature water is 80 DEG C -100 DEG C, the temperature of the water at low temperature is 0 DEG C -10 DEG C.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of intelligent bionic separates pick device, which is characterized in that it is integrally formed by shape memory alloy material, including mouth pipe
Main body (4), water circulatory flow (1), a counterpart pipe maxilla (2) and multiple ligule bristles (3), wherein the mouth pipe main body (4) is
The round tube that both ends are thick, centre is thin；The water circulatory flow (1) is the annular channel in mouth pipe main body (4) inner wall；One
Described mouth pipe main body (4) one end is located to the mouth pipe maxilla (2), and is symmetric；Multiple ligule bristles (3) are located at
Mouth pipe main body (4) the inner wall two sides；
Different conditions are presented in the separation pick device at different temperatures: when temperature is lower than marmem complete austenitizing
Temperature when, device is in relaxation state, i.e. a counterpart pipe maxilla (2) opens, and multiple ligule bristles (3) are towards side；When
When temperature is higher than the temperature of the complete formation of martensite of marmem, device is in pick-up situation, i.e. a counterpart pipe maxilla (2) closes
It closes, mouth pipe main body (4) twists, and multiple ligule bristles (3) stretching, extension and towards the other side.
2. intelligent bionic as described in claim 1 separates pick device, which is characterized in that the marmem is NiTi
One of alloy, copper-based shape memory alloy, ferrimanganic base marmem, polymer shape memory alloy.
3. intelligent bionic as described in claim 1 separates pick device, which is characterized in that the mouth pipe maxilla (2) is half a month
Thread form.
4. a kind of manufacturing method of intelligent bionic separation pick device as described in any one of claims 1-3, which is characterized in that
Include the following steps: under the temperature environment for being higher than the complete formation of martensite of marmem, using shape memory alloy material
It is in the device of pick-up situation by 3D printing integral forming；In the temperature environment for being lower than marmem complete austenitizing
Under, make device in relaxation state by external load effect, thus state memorization of the finishing device in condition of different temperatures.
5. a kind of intelligent bionic separates pick-up method, device as described in any one of claims 1-3 is used to realize, feature
It is, includes the following steps:
S1 to water circulatory flow (1) injection temperature be higher than the complete formation of martensite temperature of marmem high-temperature water, device by
Relaxation state switchs to pick-up situation, clamps object to be separated by mouth pipe maxilla (2) and from there is mouthful pipe maxilla (2) one end inlet port
Pipe main body (4), so object to be separated under the twisting action of mouth pipe main body (4) by pinch off, and in mouth pipe main body (4) and ligule
It is mobile to mouth pipe main body (4) other end under the collective effect of bristle (3)；
S2 to water circulatory flow (1) injection temperature be lower than marmem complete austenitizing temperature water at low temperature, device by
Pick-up situation is returned to relaxation state；
S3 repeats S1 and S2, until being released by the object of pinch off from mouth pipe main body (4) other end, completes object separation and picks up.
6. intelligent bionic as claimed in claim 5 separates pick-up method, which is characterized in that the temperature of the high-temperature water is 80
℃-100℃。
7. intelligent bionic as claimed in claim 5 separates pick-up method, which is characterized in that the temperature of the water at low temperature is 0 DEG C-
10℃。
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910680429.2A CN110434879B (en) | 2019-07-26 | 2019-07-26 | Intelligent bionic separation and pickup device, manufacturing method and separation and pickup method |
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| CN201910680429.2A CN110434879B (en) | 2019-07-26 | 2019-07-26 | Intelligent bionic separation and pickup device, manufacturing method and separation and pickup method |
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| CN110434879A true CN110434879A (en) | 2019-11-12 |
| CN110434879B CN110434879B (en) | 2020-10-30 |
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Cited By (2)
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| CN112093291A (en) * | 2020-09-04 | 2020-12-18 | 中山大学 | Multi-viscosity adaptive bionic fluid transfer device |
| CN115055337A (en) * | 2022-07-04 | 2022-09-16 | 智慧星空(上海)工程技术有限公司 | Bionic dispensing valve and dispensing method |
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| CN110434879B (en) | 2020-10-30 |
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