Bionic explosion ejection grabbing device for 4D printing

Abstract

The invention discloses a 4D printing bionic explosion ejection grabbing device, and belongs to the technical field of additive manufacturing and bionics, the 4D printing bionic explosion ejection grabbing device comprises a launching base, a grabbing bullet, a connecting rope and a launching base driver, a launching base shell is formed by combining a lower hemispherical shell and an upper conical shell, and an ejection outlet is formed in the upper portion of the launching base shell; the emission base comprises an emission base I and an emission base II which are symmetrically connected left and right, the outer sides of the emission base I and the emission base II are connected through an emission base driver, and opening and closing of the emission base can be controlled by electrifying and heating; the emission base I further comprises an extrusion driver, the extrusion driver is formed by integrally and fixedly connecting a telescopic belt and a deformation driving part, and the telescopic belt and the deformation driving part extend after being heated; the deformation driving part is of an inward-protruding bent beam structure and is connected with the lower side of the grabbing projectile. The grabbing projectile is placed in a shell of the launching base, and the bottom of the grabbing projectile is connected with the bottom of the launching base through a connecting rope. The ejection grabbing device is fast in response, easy to operate and small and exquisite in structure.

Description

Technical Field

[0001] The present invention belongs to the field of additive manufacturing and bionic technology, and specifically relates to a 4D printing bionic explosion ejection grabbing device. Background Art

[0002] 4D printing technology adds the dimension of time to 3D printing, and pre-programs the design into the printing materials and printing parameters. Through specific external excitation or stimulation, the formed sample undergoes a change in appearance / physical and chemical properties. In engineering applications, speed and force are important indicators for measuring the overall performance of 4D printed components, and there are extensive practical needs in various fields; for example, the military field requires micro weapons and detectors that can be delivered explosively in a short period of time; the aerospace field requires an execution unit that can achieve high-speed grasping of objects under low gravity conditions; the space field requires a fast-release rope grabber (or robotic arm) for capture, which can cover the key parts of the target object, such as the power supply module, to make it ineffective.

[0003] Nature is the source of various scientific and technological principles and major inventions of mankind. Plants need to compete with other plants for resources to grow. Under certain incentives, the peel can be deformed quickly so that the seeds are projected at a high acceleration to an area far away from the mother plant. For example, mature witch hazel pods can eject seeds at high speed under the action of peel deformation and extrusion. These complex biomaterial structures are difficult to process using traditional manufacturing processes.

[0004] In summary, the present invention adopts 4D printing technology and ensures that the components have strain speed and driving force during the dynamic process of shape / physical and chemical property transformation and deformation, and develops a 4D printed bionic explosion ejection grasping device with multi-stimulus response function. Summary of the invention

[0005] The purpose of the present invention is to solve the above problems. The present invention provides a 4D printed bionic explosion ejection grasping device, which imitates the explosion and ejection of seeds by witch hazel fruits and can realize bionic explosion ejection grasping.

[0006] A 4D printed bionic explosive ejection grabbing device, comprising:

[0007] A launching base, a projectile grabbing base 3, a connecting rope 4 and a launching base driver 5, wherein: the shell of the launching base is composed of a lower hemispherical shell and an upper conical shell, and an ejection outlet 106 is provided on the upper part of the conical shell; the launching base includes a launching base Ⅰ1 and a launching base Ⅱ2 which are symmetrically arranged on the left and right, and the bottoms of the two are axially connected;

[0008] The launch base Ⅰ1 further includes a drive belt placement slot Ⅰ101, a driver matching slot 103, and an extrusion driver 104. The drive belt placement slot Ⅰ101 is located at the center of the outer side of the launch base Ⅰ1 shell, and is a rectangular shallow slot opened along the curvature of the shell; the driver matching slot 103 is symmetrically arranged relative to the drive belt placement slot Ⅰ101, and the extrusion driver 104 is arranged in the driver matching slot 103; the launch base driver 5 is placed in the drive belt placement slot Ⅰ101 outside the launch base Ⅰ1 and the drive belt placement slot Ⅰ101 outside the launch base Ⅱ2, connecting the launch base Ⅰ1 and the launch base Ⅱ2;

[0009] The extrusion driver 104 is composed of a retractable belt 104a and a deformation driver 104b which are fixedly connected in one piece; the retractable belt 104a is a strip structure, and the deformation driver 104b is an inwardly convex curved beam structure; the retractable belt 104a end is fixedly connected to the shallow groove end of the driver matching groove 103, and the deformation driver 104b end is fixedly connected to the through groove end of the driver matching groove 103;

[0010] The grabbing projectile 3 is placed inside the shell of the launching base, and the bottom of the grabbing projectile 3 is connected to the bottom of the launching base through a connecting rope 4. The lower shell of the grabbing projectile 3 is connected to the deformation driving part 104b of the launching base Ⅰ1 and the launching base Ⅱ2.

[0011] The launch base driver 5 on the outside of the launch base housing is made of nickel-titanium memory alloy, which provides a steady-state force for closing between the launch base I1 and the launch base II2 when cooled, and reduces the curvature of the shrinkage deformation when heated, providing an opening and closing force between the launch base I1 and the launch base II2;

[0012] The stretchable belt 104a of the deformation driving part 104b and the deformation driving part 104b are both made of nickel-titanium memory alloy and are both stretched by heating.

[0013] The surfaces of the transmitting base driver 5 , the retractable belt 104 a of the extrusion driver 104 and the deformation driver 104 b are all provided with heating wires, but the heating wires of the extrusion driver 104 and the transmitting base driver 5 are powered by two sets of circuits respectively.

[0014] The shell of the grabbing projectile 3 is an ellipsoidal structure with a concave top, which includes n curved petals 302, a cavity 303 and a support seat 304. The cavity 303 is located at the upper part of the grabbing projectile 3, and n curved petals 302 are evenly arranged on the top to form a thin-walled concave structure. There are n gaps, i.e., through grooves 301, between the n curved petals 302. The support seat 304 is located at the lower part of the shell of the grabbing projectile 3, and n≥3.

[0015] The captured projectile 3 is vertically placed inside the shell of the launching base, the central axes of the two coincide, and the support seat 304 is aligned one by one with the deformation driving part 104a of the extrusion driver 104.

[0016] The connecting rope 4 is an elastic rope, which is arranged between the bottom of the projectile 3 and the inner bottom of the launching base.

[0017] Another object of the present invention is to provide a method for using a 4D printed bionic explosive ejection grabbing device:

[0018] 1) Loading the captured projectile: Power on the heated launch base driver 5 to drive the launch base Ⅰ1 and the launch base Ⅱ2 to open outwards, and put in the captured projectile 3. Power off to cool the launch base driver 5 to drive the launch base Ⅰ1 and the launch base Ⅱ2 to close inwards, and lock the captured projectile 3;

[0019] 2) Squeeze and grab the projectile: Power is turned on to heat the telescopic belt 104a and the deformation driving part 104b of the extrusion driver 104. The two heat up, the telescopic belt 104a stretches, and the deformation driving part 104b bends further inward. At this time, the deformation driving part 104b gradually applies pressure to the support seat 304 to eject and store energy;

[0020] 3) Grab the projectile and eject it: After completing the energy storage, the launching base driver 5 is powered on to heat up and drive the launching base Ⅰ1 and the launching base Ⅱ2 to slowly open outwards. After reaching the critical point, the elastic potential energy stored in the system is released instantly, and the grab projectile 3 is squeezed and ejected.

[0021] 4) Grasping of target object: The grabbing projectile 3 flies at a high speed toward the target object. After its top end hits the target, the target object presses the curved petals 302 inward and enters the cavity 303. Then, the four curved petals 302 are reset to lock the target object.

[0022] The present invention provides a 4D printing bionic explosion ejection grabbing device, which belongs to the field of additive manufacturing technology. It includes: a launching base, a grabbing projectile, a connecting rope and a launching base driver. The launching base shell is composed of a lower hemispherical shell and an upper conical shell, and an ejection outlet is opened on the upper part; the launching base includes a launching base I and a launching base II connected by left and right symmetrical axes, and the outer sides of the two are connected by a launching base driver, which can control the opening and closing of the launching base by powering on and heating; the launching base I also includes an extrusion driver, which is composed of an integral fixed connection of a telescopic belt and a deformation driving part, and both are heated and stretched; the deformation driving part is an inwardly convex curved beam structure, which is connected to the lower side of the grabbing projectile; the grabbing projectile is placed inside the launching base shell, and the bottom of the grabbing projectile is connected to the bottom of the launching base by a connecting rope. In summary, the ejection grabbing device has fast response, simple operation and compact structure.

[0023] In summary, the 4D printing bionic explosion ejection grabbing device provided by the present invention has the following beneficial effects:

[0024] The present invention studies the hamamelis virginiana peel to make it have similar performance, can realize bionic explosive ejection grasping, and the device is sensitive to response and has a fast deformation speed;

[0025] The device of the present invention can be quickly printed and formed as a whole. By pre-setting stress programming for the thermally stimulated response parts during the printing process and arranging the heating wire circuit, the ejection and grabbing drive control of the device is achieved by controlling the power-on heating of different thermally stimulated response parts. It has the characteristics of sophisticated structure and easy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of a 4D printing bionic explosion ejection grabbing device of the present invention;

[0027] Figure 2 It is a schematic diagram of the external and internal specific structure of a launching base I of a 4D printing bionic explosion ejection grabbing device of the present invention;

[0028] Figure 3 This is a schematic diagram of the external structure of a launching base II of a 4D printed bionic explosive ejection grabbing device of the present invention;

[0029] Figure 4 This is a schematic diagram of the specific structure of a 4D printing bionic explosive ejection grabbing device grabbing a projectile according to the present invention;

[0030] Figure 5 It is a schematic diagram of the state of a projectile ejection process of a 4D printed bionic explosion ejection grabbing device of the present invention.

[0031] In the attached figure

[0032] 1. Launch base Ⅰ; 101. Drive belt placement slot Ⅰ; 102. Drive belt placement slot Ⅱ; 103. Driver matching slot; 104. Extrusion driver; 104a. Telescopic belt; 104b. Deformation driving part; 105. Fixed shaft; 106. Ejection outlet;

[0033] 2. Launch base II; 205, fixing hole;

[0034] 3. Grab the projectile; 301. Through slot; 302. Bend flap; 303. Cavity; 304. Support seat;

[0035] 4. Connecting rope;

[0036] 5. Launch base driver. DETAILED DESCRIPTION

[0037] Below in conjunction with the present invention Figure 1-5The present invention is further described in detail with specific embodiments.

[0038] Example 1

[0039] A 4D printed bionic explosive ejection grabbing device, comprising: a launching base, a grabbing projectile 3, a connecting rope 4 and a launching base driver 5, wherein: the shell of the launching base is composed of a lower hemispherical shell and an upper conical shell, and an ejection outlet 106 is opened on the upper part of the conical shell; the launching base comprises a launching base Ⅰ1 and a launching base Ⅱ2 which are arranged symmetrically on the left and right, and the bottoms of the two are axially connected;

[0040] The launch base Ⅰ1 further includes a drive belt placement slot Ⅰ101, two driver matching slots 103, and two extrusion drivers 104. The drive belt placement slot Ⅰ101 is located at the center of the outer side of the launch base Ⅰ1 shell, and is a rectangular shallow slot opened along the curvature of the shell; the two driver matching slots 103 are symmetrically arranged relative to the drive belt placement slot Ⅰ101, and the two extrusion drivers 104 are respectively arranged in the two driver matching slots 103; the launch base driver 5 is placed in the drive belt placement slot Ⅰ101 outside the launch base Ⅰ1 and the drive belt placement slot Ⅰ101 outside the launch base Ⅱ2 in a strip shape, connecting the launch base Ⅰ1 and the launch base Ⅱ2;

[0041] The launch base driver 5 on the outside of the launch base housing is made of nickel-titanium memory alloy, which provides a steady-state force for closing between the launch base Ⅰ1 and the launch base Ⅱ2 when not heated (when cooled), and shrinks and deforms when heated, and the curvature decreases to provide an opening and closing force between the launch base Ⅰ1 and the launch base Ⅱ2;

[0042] The extrusion driver 104 is composed of a retractable belt 104a and a deformation driving part 104b, both of which are made of nickel-titanium memory alloy and are elongated when heated; the retractable belt 104a is a reciprocating folded strip structure that can be stretched and contracted in the longitudinal direction, and the deformation driving part 104b is an inwardly convex curved beam structure, and the two are integrally fixedly connected; the upper end of the retractable belt 104a of the extrusion driver 104 is fixedly connected to the upper shallow groove end of the driver matching groove 103, and the lower end of the deformation driving part 104b is fixedly connected to the lower through groove end of the driver matching groove 103;

[0043] The grabbing projectile 3 is placed inside the shell of the launching base, and the bottom of the grabbing projectile 3 is connected to the inner bottom of the launching base through a connecting rope 4. The lower shell of the grabbing projectile 3 is connected to the convex deformation driving part 104b on the launching base Ⅰ1 and the launching base Ⅱ2.

[0044] The retractable belt 104a, the deformation driving part 104b and the surface of the launching base driver 5 in the extrusion driver 104 are all provided with heating wires, but two sets of circuits are used to supply power respectively between the heating wires of the extrusion driver 104 and the launching base driver 5. When working, the extrusion driver 104 is used to pre-store energy for ejection, and the launching base driver 5 is used to control the opening and closing of the launching base Ⅰ1 and the launching base Ⅱ2.

[0045] See attached Figure 2 and attached Figure 3 A fixed shaft 105 is provided at the lower end of the outer shell of the transmitting base Ⅰ1, which is axially matched with the fixed hole 205 at the lower end of the outer shell of the transmitting base Ⅱ2, and the transmitting base Ⅰ1 and the transmitting base Ⅱ2 can be relatively opened and closed; the upper part of the driver matching groove 103 on the transmitting base Ⅰ1 is a shallow groove, and the lower part passes through the shell, and the two driver matching grooves 103 are symmetrically distributed at 30° to the left and right of the outer center of the transmitting base Ⅰ1.

[0046] The shell of the grabbing projectile 3 is an ellipsoidal structure with a concave top, which includes four curved petals 302, a cavity 303 and four support seats 304. The thin-walled cavity 303 is located at the upper part of the grabbing projectile 3, and four curved petals 302 are evenly arranged on the top to form a thin-walled concave structure. There are gaps, i.e., through grooves 301, between the curved petals 302. The four support seats 304 are located at the lower part of the shell of the grabbing projectile 3.

[0047] The grabbing projectile 3 is vertically placed inside the shell composed of the launching base Ⅰ1 and the launching base Ⅱ2, and the central axes of the two coincide. The four support seats 304 are aligned one by one with the deformation driving part 104a of the extrusion driver 104. When placed, the support seats 304 and the deformation driving part 104a are in tangential contact; the upper part of the grabbing projectile 3 is tangential to the concave part of the ejection outlet 106, limiting its movement in the vertical direction.

[0048] The connecting rope 4 can be made of high-strength elastic polyester material, and the diameter is generally 3-10 mm, which needs to be selected according to the size of the captured projectile 3.

[0049] Example 2

[0050] In the present embodiment, only some structures are added relative to the device of the embodiment 1, specifically: a rectangular shallow groove driving belt placement groove II is opened along the curvature at a position opposite to the driving belt placement groove I101 on the inner side of the shell of the launching base I1 and the launching base II2, and a launching base driver 5 is also arranged therein, connected to the inner side of the launching base I1 and the launching base II2, but the launching base driver 5 on the inner side is made of a nickel-titanium memory alloy that is elongated by heating, that is, when heated (when cooled), a steady-state force for closing between the launching base I1 and the launching base II2 is provided, and the curvature of the elongated deformation is reduced when heated, thereby providing an opening and closing force for the launching base I1 and the launching base II2 on the inner side; the two inner and outer launching base drivers 5 are arranged at the same time to improve the stability of the opening and closing movement of the launching base I1 and the launching base II2.

[0051] The 4D printing bionic explosion ejection grabbing device provided by the present invention has the following specific usage method:

[0052] Step 1: Load the Grab Shot

[0053] The launching base driver 5 is powered on to heat up, and its deformation curvature is reduced, driving the launching base Ⅰ1 and the launching base Ⅱ2 to open outwards, putting in the grabbing projectile 3, and making the four supporting seats 304 align with the deformation driving part 104b of the extrusion driver 104 respectively. Then the power is turned off to cool the launching base driver 5, and the curvature becomes larger, driving the launching base Ⅰ1 and the launching base Ⅱ2 to close inwards until the relative planes of the launching base Ⅰ1 and the launching base Ⅱ2 are parallel, and at the same time the upper part of the grabbing projectile 3 is stuck to restrict its movement.

[0054] Step 2: Squeeze and grab the pellet

[0055] The expansion belt 104a and the deformation driving part 104b of the extrusion driver 104 are heated by electricity, the expansion belt 104a is stretched, and the deformation driving part 104b is further bent inward. At this time, the deformation driving part 104b gradually applies pressure to the support seat 304 to eject and store energy. The captured projectile 3 has a tendency to eject outward, but its top is restricted by the concave part of the ejection outlet 106 and cannot move outward. The whole system gradually stores elastic potential energy. The energy storage process is shown in the attached figure. Figure 5 (a).

[0056] Step 3: Grab the projectile and launch it

[0057] See attached Figure 5 After completing the energy storage, the launching base driver 5 is powered on to heat up, and its curvature becomes smaller, driving the launching base Ⅰ1 and the launching base Ⅱ2 to slowly open outward. After reaching the critical point, the elastic potential energy stored in the system is released instantly, and the captured projectile 3 is squeezed and ejected; in this process, the displacement of the elastic potential energy released by the deformation driving part 104b on the support seat 304 is much greater than the displacement of driving the launching base Ⅰ1 and the launching base Ⅱ2 to open, thereby realizing the explosive ejection of the captured projectile 3.

[0058] Step 4: Grasping the target object

[0059] The grabbing projectile 3 flies at a high speed toward the target object. After its top hits the target, the target object will squeeze the curved petals 302 inward due to inertia, and the four curved petals 302 will be recessed inward into the cavity 303, and the target object will enter the cavity 303. Then the four curved petals 302 will reset, and the target object will be wrapped in the grabbing projectile 3. The reset curved petals 302 will form a concave dome relative to the target object, locking the target object.

[0060] During the ejection process, the ejection speed of the captured projectile 3 is calculated as follows:

[0061] 1) Set is the critical opening angle of the launch base Ⅰ1 and the launch base Ⅱ2; Critical opening angle At this time, the launching base Ⅰ1 and the launching base Ⅱ2 are subjected to equivalent pulling forces on both sides of the launching base driver 5.

[0062] 2) Set is the launch speed of the captured projectile 3, p is the extrusion force generated by the deformation of the extrusion driver 104, t is the time for the captured projectile 3 to store energy for ejection, and m is the total mass of the captured projectile 3. In summary, the theoretical value of the launch speed of the captured projectile 3 can be calculated using momentum theory:

[0063] .

Claims

1. A 4D printed bionic explosive ejection grabbing device, comprising: A launching base, a projectile grabbing base (3), a connecting rope (4) and a launching base driver (5), wherein: the shell of the launching base is composed of a lower hemispherical shell and an upper conical shell, and the upper part of the conical shell is provided with an ejection outlet (106); the launching base comprises a launching base I (1) and a launching base II (2) which are symmetrically arranged on the left and right, and the bottoms of the two are axially connected; The launch base I (1) further comprises a drive belt placement groove I (101), a driver matching groove (103), and an extrusion driver (104); the drive belt placement groove I (101) is located at the center of the outer side of the launch base I (1) shell, and is a rectangular shallow groove opened along the curvature of the shell; the driver matching groove (103) is symmetrically arranged relative to the drive belt placement groove I (101), and the extrusion driver (104) is arranged in the driver matching groove (103); the launch base driver (5) is placed in the drive belt placement groove I (101) outside the launch base I (1) and the drive belt placement groove I (101) outside the launch base II (2), connecting the launch base I (1) and the launch base II (2); The extrusion driver (104) is composed of a telescopic belt (104a) and a deformation driver (104b) which are fixedly connected in one piece; the telescopic belt (104a) is a strip structure, and the deformation driver (104b) is an inwardly convex curved beam structure; the end of the telescopic belt (104a) is fixedly connected to the shallow groove end of the driver matching groove (103), and the end of the deformation driver (104b) is fixedly connected to the through groove end of the driver matching groove (103); The grabbing projectile (3) is placed inside the shell of the launching base, the bottom of the grabbing projectile (3) is connected to the bottom of the launching base via a connecting rope (4), and the lower shell of the grabbing projectile (3) is connected to the deformation driving parts (104b) of the launching base I (1) and the launching base II (2).

2. A 4D printed bionic explosive ejection grabbing device according to claim 1, characterized in that: The launch base driver (5) on the outer side of the launch base shell is made of nickel-titanium memory alloy, and provides a steady-state force for closing the launch base I (1) and the launch base II (2) when cooled, and reduces the curvature of the contraction deformation when heated, thereby providing an opening and closing force for the launch base I (1) and the launch base II (2); The retractable band (104a) of the deformation driving part (104b) and the deformation driving part (104b) are both made of nickel-titanium memory alloy and are both heated and stretched.

3. A 4D printed bionic explosive ejection grabbing device according to claim 2, characterized in that: The surfaces of the transmitting base driver (5), the retractable belt (104a) of the extrusion driver (104), and the deformation driving part (104b) are all provided with heating wires, but the heating wires of the extrusion driver (104) and the transmitting base driver (5) are respectively powered by two sets of circuits.

4. A 4D printed bionic explosion ejection grabbing device according to claim 3, characterized in that: The shell of the grabbing projectile (3) is an ellipsoidal structure with a concave top, comprising n curved petals (302), a cavity (303) and a support seat (304), wherein the cavity (303) is located at the upper part of the grabbing projectile (3), and the top of the cavity is evenly provided with n curved petals (302) to form a thin-walled concave structure, and n gaps, i.e., through grooves (301), are provided between the n curved petals (302), and the support seat (304) is located at the lower part of the shell of the grabbing projectile (3), where n≥3; The captured projectile (3) is vertically placed inside the shell of the launching base, the central axes of the two coincide with each other, and the support seat (304) is aligned one by one with the deformation driving part (104a) of the extrusion driver (104).

5. A 4D printed bionic explosive ejection grabbing device according to claim 4, characterized in that: The connecting rope (4) is an elastic rope and is arranged between the bottom of the projectile (3) and the inner bottom of the launching base.

6. A method for using a 4D printed bionic explosive ejection grabbing device, characterized in that: A 4D printed bionic explosion ejection grabbing device as described in claim 5: 1) Loading the captured projectile: energizing the heated launch base driver (5) to drive the launch base I (1) and the launch base II (2) to open outwards, inserting the captured projectile (3), and then disconnecting the power to allow the launch base driver (5) to cool and drive the launch base I (1) and the launch base II (2) to close inwards, thereby locking the captured projectile (3); 2) Extruding and grabbing the projectile: applying electricity to heat the telescopic belt (104a) and the deformation driving part (104b) of the extrusion driver (104), so that the temperature of the two increases, the telescopic belt (104a) stretches, and the deformation driving part (104b) further bends inwards. At this time, the deformation driving part (104b) gradually applies pressure to the support seat (304) to eject and store energy; 3) Grab the projectile and eject it: After the energy storage is completed, the launch base driver (5) is powered on to heat it, driving the launch base I (1) and the launch base II (2) to slowly open outward. After reaching the critical point, the elastic potential energy stored in the system is instantly released, and the grab projectile 3 is squeezed and ejected; 4) Grasping of target object: The grabbing projectile (3) is aimed at the target object and flies at high speed. After the top end thereof hits the target, the target object presses the curved petals (302) inwardly and enters the cavity (303). Then, the four curved petals (302) are reset to lock the target object.

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