A liquid metal continuous robotic arm structure

Abstract

The present invention relates to the technical field of manufacturing liquid metal mechanical structures, and discloses a liquid metal continuum mechanical arm structure, comprising: a heat pipe; an outer pipe, the outer pipe is sleeved on the periphery of the heat pipe, and an annular space is constructed between the heat pipe and the outer pipe; a sealing end plate, the sealing end plate is respectively arranged at both ends of the annular space, so as to construct an annular chamber capable of accommodating liquid metal, wherein the first end of the heat pipe extends out of the sealing end plate located on its corresponding side; and a heat exchange structure, the heat exchange structure is arranged on the periphery of the first end of the heat pipe, and can heat and cool the heat pipe. The liquid metal continuum mechanical arm structure has the advantages of simple control, uniform heating and short cooling time.

Description

Technical Field

[0001] The invention relates to the technical field of liquid metal mechanical structure manufacturing, and in particular to a liquid metal continuum mechanical arm structure. Background Art

[0002] The research on continuum robots has just started. Some of them rely on the elasticity of the material itself to deform, but the deformation range of this kind of deformation relying on the material itself is relatively limited, and some structures will seriously damage their strength. In addition, the structure and control methods of continuum robots controlled by multi-joint structures, voltage and air compression are relatively complex and not economical. Summary of the invention

[0003] 1. Technical issues to be resolved

[0004] The purpose of the present invention is to provide a liquid metal continuum robot arm structure to solve the technical problems in the prior art that the continuum robot cannot achieve shape change well at room temperature and cannot meet the strength requirements.

[0005] (II) Technical solution

[0006] In order to solve the above technical problems, the present invention provides a liquid metal continuum robotic arm structure, comprising: a heat pipe; an outer tube, the outer tube is sleeved on the periphery of the heat pipe, and an annular space is constructed between the heat pipe and the outer tube; a sealing end plate, the sealing end plates are respectively arranged at both ends of the annular space, so as to construct an annular chamber capable of accommodating liquid metal, wherein the first end of the heat pipe extends out of the sealing end plate located on its corresponding side; and a heat exchange structure, the heat exchange structure is arranged on the periphery of the first end of the heat pipe and can heat and cool the heat pipe.

[0007] The heat exchange structure is a heat exchange coil, which is sleeved on the periphery of the first end of the heat pipe, has an inlet and an outlet, and a flowing heat exchange medium is installed inside the heat exchange coil.

[0008] Wherein, the heat exchange structure is constructed as a semiconductor refrigeration sheet wrapped around the periphery of the first end of the heat pipe.

[0009] Wherein, a multi-turn spring resistance wire is provided on the outer periphery of the heat pipe to assist in heating the heat pipe.

[0010] Wherein, a plurality of heat exchange fins are sleeved in an interval manner from top to bottom on the periphery of the heat pipe, wherein one heat exchange fin is arranged between two adjacent circles of the spring resistance wire.

[0011] Wherein, the heat pipe is configured as a copper pipe.

[0012] Wherein, the outer tube is constructed as a silicone tube, a thermoplastic rubber tube or a soft polyvinyl chloride tube.

[0013] Wherein, first sensors capable of monitoring the temperature of the heat exchange medium are respectively installed at the inlet and the outlet.

[0014] Wherein, a second sensor capable of monitoring the temperature of the liquid metal is installed at the top of the heat pipe.

[0015] Wherein, regulating valves capable of controlling the flow of the heat exchange medium are provided at the inlet and the outlet.

[0016] (III) Beneficial effects

[0017] The liquid metal continuum mechanical arm structure provided by the present invention has the following advantages compared with the prior art:

[0018] The heat pipe is a heat transfer element that makes full use of the principle of heat conduction and the rapid heat transfer properties of phase change media. The heat of the heat-generating object (heat exchange medium) is quickly transferred to the liquid metal through the heat pipe. The thermal conductivity of the heat pipe exceeds that of any known metal. At the same time, the temperature uniformity of each area of ​​the heat pipe can be guaranteed, and there will be no situation where the temperature is high or low in some areas. The heat pipe is a good uniform temperature and heat conduction structure. Because of the phase change inside it, its thermal conductivity is several times more than that of metal. On the one hand, the heat pipe serves as the temperature control system of the present invention. On the other hand, when the liquid metal is in a fluid state, it also has a certain supporting capacity, that is, it can play a certain structural support role and maintain the liquid metal arm within a controllable shape change range. Liquid metal is a metal material that has both metal properties and fluid variable properties. Liquid metal has the characteristics of metal in a fixed state. It is extremely light but extremely strong and hard. It is a subversive material that surpasses traditional light alloys such as aluminum, magnesium and titanium. It can become liquid at a certain temperature, thus having the variable properties of a fluid. It is an amorphous, flowable liquid metal. Liquid metal has good biocompatibility, and gallium alloys are not easy to react with body fluids and surrounding organ tissues. It can be used to connect and repair damaged nerves. It can also be used for scalpels, artificial bones, electromagnetic stimulation biosensor materials in the body, and artificial teeth. In the present invention, liquid metal materials are used as the mechanical arm materials of continuum robots, and shape changes are achieved through a temperature variable system. It can be seen that the present application controls the temperature of the liquid metal by using a heat pipe, so that the temperature of the liquid metal in the annular chamber is balanced and consistent, and the liquid metal can be quickly cooled, so that it is easy to operate and can meet the rigidity requirements of the soft mechanical arm structure at room temperature. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of an overall structure embodiment 1 of a liquid metal continuum mechanical arm structure according to an embodiment of the present application;

[0020] Figure 2 This is a schematic diagram of the overall structural embodiment 2 of the liquid metal continuum robotic arm structure of an embodiment of the present application.

[0021] In the figure, 1: heat pipe; 11: first end; 2: outer tube; 3: annular space; 4: sealing end plate; 5: annular chamber; 6: heat exchange structure; 61: heat exchange coil; 611: inlet; 612: outlet; 62: semiconductor refrigeration sheet; 7: spring resistance wire; 8: heat exchange fin; 9: first sensor; 10: second sensor; 20: regulating valve. DETAILED DESCRIPTION

[0022] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Embodiment 1:

[0025] like Figure 1 and Figure 2 As shown in the figure, the liquid metal continuum mechanical arm structure is schematically shown to include a heat pipe 1, an outer pipe 2, an annular space 3, a sealing end plate 4, an annular chamber 5 and a heat exchange structure 6.

[0026] In the embodiment of the present application, the outer tube 2 is sleeved on the periphery of the heat pipe 1, and an annular space 3 is constructed between the heat pipe 1 and the outer tube 2. It should be noted that the heat pipe 1 is equivalent to a heat exchange component capable of heat transfer and temperature reduction.

[0027] The sealing end plates 4 are respectively arranged at both ends of the annular space 3, so as to construct an annular chamber 5 capable of accommodating liquid metal, wherein the first end of the heat pipe 1 extends out of the sealing end plate 4 located on the corresponding side thereof. It should be noted that the arrangement of the sealing end plate 4 can enable the annular space 3 to form an annular chamber 5. To ensure that the annular chamber 5 does not leak, sealing components such as sealing rings or sealing strips can be added between the sealing end plate 4 and the upper port of the heat pipe 1 and the upper port of the outer tube 2.

[0028] The heat exchange structure 6 is disposed at the first end 11 ( Figure 1 The heat pipe 1 is a heat transfer element that makes full use of the heat conduction principle and the rapid heat transfer properties of the phase change medium to quickly transfer the heat of the heating object (heat exchange medium) to the liquid metal through the heat pipe 1. The thermal conductivity of the heat pipe 1 exceeds that of any known metal. At the same time, the temperature uniformity of each area of ​​the heat pipe 1 can be guaranteed, and there will be no situation where the temperature in some areas is high or low. The heat pipe 1 is a good uniform temperature and heat conduction structure. Because of the phase change inside it, its thermal conductivity is several times that of the metal. On the one hand, the heat pipe 1 serves as the temperature control system of the present invention. On the other hand, when the liquid metal is in a fluid state, it also has a certain supporting capacity, that is, it can play a certain structural support role to maintain the liquid metal arm within a controllable shape change range. Liquid metal is a metal material that has both metal properties and fluid variable properties. Liquid metal has the characteristics of metal in a fixed state. It is extremely light but extremely strong and hard. It is a disruptive material that surpasses traditional light alloys such as aluminum, magnesium and titanium. It can become liquid at a certain temperature, thus having the variable properties of a fluid. It is an amorphous, flowable liquid metal. Liquid metal has good biocompatibility. Gallium alloys are not easy to react with body fluids and surrounding organ tissues. It can be used to connect and repair damaged nerves. It can also be used for scalpels, artificial bones, electromagnetic stimulation biosensor materials in vivo, and artificial teeth. Liquid metal materials are used as mechanical arm materials for continuum robots in the present invention, and shape changes are achieved through a temperature variable system. It can be seen that the present application uses a heat pipe 1 to control the temperature of the liquid metal, so that the temperature of the liquid metal in the annular chamber 5 is balanced and consistent, and the liquid metal can be quickly cooled, so that it is easy to operate and can meet the rigidity requirements of the soft mechanical arm structure at room temperature.

[0029] In one embodiment, the heat exchange medium may be water, medical alcohol, physiological saline or a coolant permitted for use in surgery.

[0030] like Figure 1As shown, in order to further optimize the heat exchange structure 6 in the above technical solution, on the basis of the above technical solution, the heat exchange structure 6 is constructed as a heat exchange coil 61, which is sleeved on the periphery of the first end 11 of the heat pipe 1, and the heat exchange coil 61 is configured with an inlet 611 and an outlet 612, and a flowing heat exchange medium is installed inside the heat exchange coil 61. Specifically, when it is necessary to heat the liquid metal, it is only necessary to introduce a heat exchange medium (heating) with a suitable temperature into the heat exchange coil 61, and the heat of the heat exchange medium will be quickly transferred to the liquid metal through the heat pipe 1, thereby achieving the purpose of heating the liquid metal, so that the liquid metal can maintain a controllable shape range and change under the support and heating of the heat pipe 1.

[0031] Similarly, if the liquid metal reaches the specified shape, it is only necessary to introduce a heat exchange medium with a suitable temperature into the heat exchange coil 61 (cooling). The heat of the heat exchange medium will be quickly transferred to the liquid metal through the heat pipe 1, thereby achieving the purpose of cooling the liquid metal. When the temperature of the liquid metal drops below the solidification temperature, the robotic arm hardens and restores the metal stiffness.

[0032] Embodiment 2:

[0033] This embodiment is basically the same as Embodiment 1. For the sake of brevity, in the description of this embodiment, the same technical features as those of Embodiment 1 are not described again, and only the differences between this embodiment and Embodiment 1 are described:

[0034] like Figure 2 As shown, in another preferred embodiment of the present application, the heat exchange structure 6 is configured to wrap around the first end 11 ( Figure 1 The semiconductor cooling sheet 62 is arranged on the periphery of the first end 11 of the heat pipe 1 (as shown in the figure). Specifically, the number of the semiconductor cooling sheet 62 can be multiple, and the multiple semiconductor cooling sheets 62 are connected in sequence to form a similar ring structure and are sleeved on the periphery of the first end 11 of the heat pipe 1. Among them, the Peltier effect of semiconductor materials is utilized (the Peltier effect refers to that when a current passes through a loop composed of different conductors, in addition to generating irreversible Joule heat, heat absorption and heat release phenomena will occur at the joints of different conductors depending on the direction of the current). When direct current passes through a galvanic couple formed by two different semiconductor materials in series, heat can be absorbed and released at both ends of the galvanic couple respectively, and the purpose of cooling can be achieved. It is a refrigeration technology that produces negative thermal resistance, which is characterized by no moving parts and relatively high reliability.

[0035] like Figure 1 and Figure 2As shown, in a preferred technical solution of the present application, a multi-turn spring resistance wire 7 is provided on the periphery of the heat pipe 1 to assist in heating the heat pipe 1. Specifically, the provision of the spring resistance wire 7 can assist in rapid heating of the liquid metal, so that it can melt quickly. At the same time, during the melting process, the spring resistance wire 7 can also play a certain supporting role.

[0036] like Figure 1 and Figure 2 As shown, the figure also schematically shows that a plurality of heat exchange fins 8 are spaced from top to bottom on the periphery of the heat pipe 1, wherein one heat exchange fin 8 is provided between two adjacent coils of the spring resistance wire 7. Specifically, the arrangement of the heat exchange fins 8 can also further assist in heating the liquid metal through the heat pipe 1 under the auxiliary heating effect of the spring resistance wire 7, thereby greatly shortening the heating time of the liquid metal and improving the heating efficiency.

[0037] In a specific embodiment, the heat pipe 1 is constructed as a copper pipe. Specifically, the heat pipe 1 is a good temperature-averaging and heat-conducting structure, and its thermal conductivity is several times higher than that of metal due to the phase change inside it. At the same time, for liquefied liquid metal, by constructing the heat pipe 1 as a copper pipe, the copper pipe has a certain support capacity for the liquid metal, which can keep the liquid metal arm within a controllable shape range for change.

[0038] It should be noted that the heat pipe 1 can be made of common heat pipe materials such as copper pipes. A layer of the spring resistance wire 7 described above is wound around the periphery of the heat pipe 1 to enhance heat exchange and accelerate the shape recovery of the heat pipe 1 after bending. The heat pipe 1 occupies the middle part of the outer pipe 2. The length of the heat pipe 1 protrudes a section from the length of the outer pipe 2. It should be noted that the length of the heat pipe 1 beyond the bottom end of the outer pipe 2 (the arm body of the mechanical arm) is considered by the comprehensive arm body length and the heat exchange capacity of the heat pipe 1.

[0039] In a preferred embodiment, the outer tube 2 is constructed as a silicone tube, a thermoplastic rubber tube or a soft polyvinyl chloride tube. Specifically, the outer tube 2 can be made of a material with good thermal insulation performance (silicone, thermoplastic rubber and polyvinyl chloride) to avoid the liquid metal from exchanging heat with the outside world, which may affect the deformation range of the liquid metal. The wall thickness and tube diameter of the outer tube 2 can be calculated according to the optimal wall thickness calculation formula to obtain the wall thickness and diameter ratio. The liquid metal filling amount can be determined according to the size and tube diameter of the internal heat pipe 1 and the load of the mechanical arm. A certain filling space is reserved according to the volume formula to adapt to the volume difference caused by the change of the liquid metal solid and liquid. The diameter of the heat pipe 1 can be determined according to factors such as the heat exchange amount of the liquid metal, the load of the mechanical arm and the diameter of the outer tube 2.

[0040] It should be noted that the “optimal wall thickness calculation formula” is well known to those skilled in the art and will not be described in detail here to save space.

[0041] like Figure 1 As shown, in a preferred technical solution of the present application, a first sensor 9 capable of monitoring the temperature of the heat exchange medium is installed at the inlet 61 and the outlet 62. Specifically, the setting of the first sensor 9 can flexibly control the temperature of the heat exchange medium, so that the heat pipe 1 can be heated and cooled in a short time.

[0042] like Figure 1 As shown, in another preferred technical solution of the present application, a second sensor 10 capable of monitoring the temperature of the liquid metal is installed at the top end of the heat pipe 1 .

[0043] In one embodiment, a regulating valve 20 capable of controlling the flow of the heat exchange medium is provided at the position of the inlet 61 and the outlet 62. Specifically, the setting of the regulating valve 20 is used to control the flow of the heat exchange medium, and further, plays a role in controlling the melting and cooling time of the liquid metal.

[0044] It should be noted that a single liquid metal continuum robotic arm structure can be superimposed to construct a new robot structure, and the stiffness of each part can be flexibly adjusted.

[0045] In summary, the heat pipe 1 is a heat transfer element that makes full use of the principle of heat conduction and the rapid heat transfer properties of phase change media. The heat of the heat-generating object (heat exchange medium) is quickly transferred to the liquid metal through the heat pipe 1. The thermal conductivity of the heat pipe 1 exceeds the thermal conductivity of any known metal. At the same time, the temperature uniformity of each area of ​​the heat pipe 1 can be guaranteed, and there will be no situation where the temperature is high or low in some areas. The heat pipe 1 is a good uniform temperature and heat conduction structure. Because of the phase change inside it, its thermal conductivity is several times more than that of metal. On the one hand, the heat pipe 1 serves as the temperature control system of the present invention. On the other hand, when the liquid metal is in a fluid state, it also has a certain supporting capacity, that is, it can play a certain structural support role and maintain the liquid metal arm within a controllable shape change range. Liquid metal is a metal material that has both metal properties and fluid variable properties. Liquid metal has the characteristics of metal in a fixed state. It is extremely light but extremely strong and hard. It is a subversive material that surpasses traditional light alloys such as aluminum, magnesium and titanium. It can become liquid at a certain temperature, thus having the variable properties of a fluid, and is an amorphous, flowable liquid metal. Liquid metal has good biocompatibility, and gallium alloys are not easy to react with body fluids and surrounding organ tissues, so it can be used to connect and repair damaged nerves. It can also be used for scalpels, artificial bones, electromagnetic stimulation biosensor materials in vivo, and artificial teeth, etc. Liquid metal materials are used as the mechanical arm materials of continuum robots in the present invention, and shape changes are achieved through a temperature variable system. It can be seen that the present application controls the temperature of the liquid metal by using a heat pipe 1, so that the temperature of the liquid metal in the annular chamber 5 is balanced and consistent, and the liquid metal can be quickly cooled, so that it is easy to operate and can meet the rigidity requirements of the soft mechanical arm structure at room temperature.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A liquid metal continuum robotic arm structure, characterized in that: include: Heat pipes; An outer tube, wherein the outer tube is sleeved on the periphery of the heat pipe, and an annular space is constructed between the heat pipe and the outer tube; Sealing end plates, which are respectively arranged at both ends of the annular space to construct an annular chamber capable of accommodating liquid metal, wherein the first end of the heat pipe extends out of the sealing end plate located on the corresponding side thereof; and A heat exchange structure, which is arranged at the periphery of the first end of the heat pipe and can heat and cool the heat pipe; the heat exchange structure is constructed as a heat exchange coil, which is sleeved at the periphery of the first end of the heat pipe, the heat exchange coil is configured with an inlet and an outlet, and a flowing heat exchange medium is installed inside the heat exchange coil; wherein, When the liquid metal needs to be heated, the heat exchange medium with a suitable temperature is introduced into the heat exchange coil, and the heat of the heat exchange medium is quickly transferred to the liquid metal through the heat pipe, thereby achieving the purpose of heating the liquid metal, so that the liquid metal can maintain a controllable shape range under the support and heating action of the heat pipe to change the shape of the robot arm; When the liquid metal reaches a specified shape, the heat exchange medium with a suitable temperature is introduced into the heat exchange coil, and the heat of the heat exchange medium is quickly transferred to the liquid metal through the heat pipe, thereby achieving the purpose of cooling the liquid metal. When the temperature of the liquid metal drops below the solidification temperature, the mechanical arm hardens and restores the metal stiffness; A plurality of coils of spring resistance wires are provided on the periphery of the heat pipe to assist in heating the heat pipe; a plurality of heat exchange fins are provided on the periphery of the heat pipe in an interval manner from top to bottom, wherein one heat exchange fin is provided between two adjacent coils of the spring resistance wires; First sensors capable of monitoring the temperature of the heat exchange medium are respectively installed at the inlet and the outlet.

2. The liquid metal continuum mechanical arm structure according to claim 1, characterized in that: The heat pipe is configured as a copper pipe.

3. The liquid metal continuum mechanical arm structure according to claim 1, characterized in that: The outer tube is constructed of a silicone tube, a thermoplastic rubber tube or a soft polyvinyl chloride tube.

4. The liquid metal continuum mechanical arm structure according to claim 1, characterized in that: A second sensor capable of monitoring the temperature of the liquid metal is installed at the top of the heat pipe.

5. The liquid metal continuum mechanical arm structure according to claim 1, characterized in that: Regulating valves capable of controlling the flow of the heat exchange medium are provided at the inlet and the outlet.

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