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A self-propelled liquid metal flexible machine with snake-like motion

A technology of liquid metal and serpentine motion, which is applied in the field of flexible robots, can solve problems such as complex structures, inflexible rigid machines, and inability to adapt to complex environments, and achieve the effects of wide application scenarios, simple design and manufacture, and strong controllability

Active Publication Date: 2021-06-25
TECHNICAL INST OF PHYSICS & CHEMISTRY - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Based on the phenomenon of serpentine motion of liquid metal excited by ions discovered for the first time, the present invention proposes a liquid metal flexible machine capable of serpentine motion, which is fully flexible, self-driven, and simple in structure, and can effectively solve existing rigid machines. Non-flexibility cannot adapt to complex environments, rely on external energy supply and complex structure, and the application prospects are promising

Method used

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  • A self-propelled liquid metal flexible machine with snake-like motion
  • A self-propelled liquid metal flexible machine with snake-like motion

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Such as figure 1 As shown, this embodiment relates to a fully flexible self-driven liquid metal machine imitating serpentine movement, mainly including a flexible liquid metal container 5, a liquid metal 3 placed in the liquid metal container and a mixed solution of acid and salt 6. The liquid metal is immersed in the mixed solution of the acid and salt;

[0035] One or more liquid metal outlets are arranged around the liquid metal container, and the outlet of the liquid metal is blocked by a superelastic film 4, and a superelastic film is provided between the mixed solution of the acid and salt. There are openable and closable flaps a2. The elastic modulus of the material of the flexible liquid metal container 5 is smaller than that of the superelastic film.

Embodiment 2

[0037] Compared with Example 1, the difference is that one or more salt particle storage chambers 1 are arranged around the flexible liquid metal container, and a movable Open and close shutter b 7.

[0038] In this embodiment, polydimethylsiloxane film is selected as the material of the flexible liquid metal container, and its thickness is 1000 micrometers. Polyurethane is selected as the material of the superelastic film, and 10 mL of liquid metal is selected as Ga with a melting point of 15.7 degrees Celsius. 74.5 In 24.5 , its volume is 10Ml, the hydrochloric acid of 6mol / L and the copper sulfate solution that mass concentration is 10% are mixed according to volume ratio 1:3 ratio, the solution after mixing is used as the solution environment of this embodiment, and its volume is 3mL.

[0039] The working principle of the machine described in this embodiment is that the packaged liquid metal flexible machine is placed in the working environment, because of the reaction be...

Embodiment 3

[0041] Compared with Example 2, the main difference of this example is that it is different from the copper salt solution in the previous examples. The solution environment in this example is a mixed solution of silver nitrate and nitric acid. Specifically, the mass concentration of silver nitrate used in this embodiment is 10%, and the molar concentration of nitric acid is 2 mol / L. In order to obtain an acidic silver salt solution with a suitable acidity, the volume ratio of nitric acid and silver nitrate is selected as 1:3.

[0042] The rest of the structures, motion principles and operations are consistent with those in Embodiment 1, and will not be repeated here.

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Abstract

The invention relates to a liquid metal flexible machine capable of self-driving and imitating serpentine motion, comprising a flexible liquid metal container, liquid metal placed in the flexible liquid metal container and acid that provides driving force for the liquid metal to perform serpentine motion A mixed solution with salt, the liquid metal is immersed in the mixed solution of the acid and salt; one or more liquid metal outlets are arranged around the flexible liquid metal container, and the outlet of the liquid metal is determined by the modulus of elasticity A superelastic film smaller than the flexible liquid metal container is used for sealing. An openable and closable baffle is provided between the superelastic film and the mixed solution of the acid and salt. When the baffle is opened, the liquid metal Driven by the mixed solution of acid and salt, the superelastic membrane is pushed to perform serpentine motion. The snake-like motion flexible machine of the present invention does not require external energy supply, has a completely self-driven property, is fully flexible, can adapt to various complex situations, and has a wide range of application scenarios.

Description

technical field [0001] The invention relates to the technical field of flexible robots, in particular to a liquid metal self-driven machine capable of snaking motion. Background technique [0002] With the continuous advancement of science and technology, the robot industry has achieved considerable development. Industrial robots and service robots have been widely used in many fields, greatly improving production efficiency and improving people's lives. In addition, due to their flexibility and mobility, special robots can replace humans to complete repetitive, tedious or dangerous labor, and have been widely used in various fields such as medical treatment, sanitation, ocean exploration, post-disaster rescue, terrain exploration, and battlefield information acquisition. However, due to the complexity of the application site, rigid machines with limited adaptability are encountering more and more challenges and bottlenecks. On the other hand, flexible machines have a rathe...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
CPCB25J9/10
Inventor 陈森刘静
Owner TECHNICAL INST OF PHYSICS & CHEMISTRY - CHINESE ACAD OF SCI