A 4D printed bionic explosive ejection grabbing device

Abstract

The present invention discloses a 4D-printed biomimetic explosive ejection and catching device, belonging to the fields of additive manufacturing and biomimetic technology. The device comprises a launch base, a projectile catching device, a connecting rope, and a launch base driver. The launch base housing is composed of a lower hemispherical shell and an upper conical shell, with an ejection outlet formed at its upper portion. The launch base comprises a launch base I and a launch base II, both symmetrically connected by a launch base driver. The launch base driver's outer sides are connected by a launch base driver, which can be controlled by heating to open and close the launch bases. The launch base I also includes an extrusion driver, which is integrally fixedly connected to a retractable belt and a deformation driver, both of which extend upon heating. The deformation driver is an inwardly convex curved beam structure that connects to the underside of the projectile catching device. The projectile catching device is placed inside the launch base housing, with the bottom of the projectile catching device connected to the bottom of the launch base via a connecting rope. The device features fast response, simple operation, and a compact 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 explosive ejection grasping device. Background Art

[0002] 4D printing technology adds the dimension of time to 3D printing, pre-programming the design into the printing material and printing parameters. Through specific external stimuli or stimulation, the formed sample undergoes a transformation in its appearance and physical and chemical properties. In engineering applications, speed and force are important indicators for measuring the overall performance of 4D-printed components, and there is a wide range of practical needs in various fields. For example, the military requires micro-weapons and detectors that can be deployed explosively and at a fixed point in a short period of time; the aerospace field requires actuators that can achieve high-speed grasping of objects under low gravity conditions; and the space field requires a fast-release tethered grabber (or robotic arm) for capture, which can encapsulate key parts of the target, such as the power supply module, and render them ineffective.

[0003] Nature is the source of numerous scientific and technological principles and major inventions. Plants grow by competing with other plants for resources. Under certain incentives, the pericarp can rapidly deform, propelling seeds at high accelerations to areas far from the parent plant. For example, mature witch hazel pods can eject seeds at high speeds under the pressure of pericarp deformation. These complex biomimetic structures are difficult to create using traditional manufacturing processes.

[0004] In summary, the present invention adopts 4D printing technology and ensures the dynamic process of the component's shape / physical and chemical property transformation and deformation with strain velocity and driving force, and develops a 4D printed bionic explosive 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 printing bionic explosive ejection grasping device, which imitates the explosive ejection of witch hazel fruits to realize bionic explosive 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 the upper part of the conical shell has an ejection outlet 106; the launching base includes a launching base I1 and a launching base II2 that are symmetrically arranged on both sides, and the bottoms of the two are axially connected;

[0008] The transmitting 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 transmitting 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 transmitting base driver 5 is placed in the drive belt placement slot Ⅰ101 outside the transmitting base Ⅰ1 and the drive belt placement slot Ⅰ101 outside the transmitting base Ⅱ2, connecting the transmitting base Ⅰ1 and the transmitting base Ⅱ2;

[0009] The extrusion driver 104 is composed of an integrally fixed elastic band 104a and a deformation driver 104b; the elastic band 104a is a strip structure, and the deformation driver 104b is an inwardly convex curved beam structure; the elastic band 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 launching base shell, 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. When cooled, it provides a steady-state force to close the launch base I1 and the launch base II2. When heated, the curvature of the shrinkage deformation decreases, providing an opening and closing force for the launch base I1 and the launch base II2.

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

[0013] The surfaces of the transmitting base driver 5 , the stretchable 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 projectile grabbing 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 projectile grabbing 3. The top of the cavity 303 is evenly distributed with n curved petals 302 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 projectile grabbing 3, where n ≥ 3.

[0015] The captured projectile 3 is vertically placed inside the shell of the launching base, with the central axes of the two coinciding, 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 grabbing projectile: Power on the heating launch base driver 5 to drive the launch base I1 and the launch base II2 to open outwards, and then put the grabbing projectile 3 in. Power off the launch base driver 5 to cool down and drive the launch base I1 and the launch base II2 to close inwards, locking the grabbing projectile 3;

[0019] 2) Squeeze and grab the projectile: Power is applied to heat the elastic band 104a and the deformation drive part 104b of the extrusion driver 104. As the temperature of the elastic band 104a increases, the deformation drive part 104b bends further inward. At this time, the deformation drive part 104b gradually applies pressure to the support seat 304 to eject the projectile;

[0020] 3) Grab the projectile and eject it: After energy storage is completed, the launch base driver 5 is powered on to heat it and drive the launch base I1 and the launch base II2 to slowly open outward. 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 the target object: The grabbing projectile 3 flies at high speed towards 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 return to their original position and lock the target object.

[0022] The present invention provides a 4D printing bionic explosive ejection and catching device, which belongs to the field of additive manufacturing technology. It includes: a launch base, a catching projectile, a connecting rope, and a launch base driver. The launch 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 launch base includes a launch base I and a launch base II connected by a left-right symmetrical axis, and the outer sides of the two are connected by a launch base driver, which can control the opening and closing of the launch base by heating; the launch base I also includes an extrusion driver, which is composed of an integral fixed connection of a telescopic belt and a deformation drive part, both of which are elongated by heat; the deformation drive part is an inwardly convex curved beam structure that is connected to the lower side of the catching projectile; the catching projectile is placed inside the launch base shell, and the bottom of the catching projectile is connected to the bottom of the launch base by a connecting rope. In summary, the ejection and catching device has a fast response, simple operation, and a compact structure.

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

[0024] The present invention studies the peel of witch hazel and makes it have similar performance, which can realize bionic explosive ejection grasping, and the device has sensitive response and fast deformation speed;

[0025] The device of the present invention can be quickly printed and formed as a whole. By pre-setting the stress programming of the thermally stimulated response parts during the printing process and arranging the heating wire circuit, the ejection and snatch 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 simple operation. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0027] Figure 2 This is a schematic diagram of the external and internal structures of a launching base I of a 4D printing bionic explosive 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 grasping device for grasping a projectile according to the present invention;

[0030] Figure 5 This is a schematic diagram of the state of the projectile ejection process of a 4D printed bionic explosive ejection grasping device of the present invention.

[0031] In the accompanying drawings

[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. Retractable belt; 104b. Deformation driver; 105. Fixed shaft; 106. Ejection exit;

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

[0034] 3. Grab the projectile; 301. Through slot; 302. Bend petal; 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 reference to the accompanying drawings and specific embodiments.

[0038] Example 1

[0039] A 4D-printed bionic explosive ejection and catching device comprises: a launching base, a catching projectile 3, a connecting rope 4, and a launching base driver 5. The launching base housing is composed of a lower hemispherical shell and an upper conical shell, with an ejection outlet 106 formed in the upper portion of the conical shell. The launching base comprises a launching base I1 and a launching base II2, which are symmetrically arranged on both sides and are axially connected at their bottoms.

[0040] The transmitting base Ⅰ1 also 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 transmitting 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 transmitting base driver 5 is placed in the drive belt placement slot Ⅰ101 outside the transmitting base Ⅰ1 and the drive belt placement slot Ⅰ101 outside the transmitting base Ⅱ2 in a strip shape, connecting the transmitting base Ⅰ1 and the transmitting base Ⅱ2;

[0041] The launch base driver 5 on the outside of the launch base housing is made of nickel-titanium memory alloy. When not heated (when cooled), it provides a steady-state force to close the launch base I1 and the launch base II2. When heated, it shrinks and deforms, 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 telescopic band 104a and a deformation driving part 104b, both of which are made of nickel-titanium memory alloy and expand when heated; the telescopic band 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 fixedly connected in an integrated manner; the upper end of the telescopic band 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 launching base shell, 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 outer shell of the grabbing projectile 3 is connected to the inwardly convex deformation driving part 104b on the launching base I1 and the launching base II2.

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

[0045] See attached Figure 2 and attached Figure 3 The lower end of the shell of the transmitting base I1 is provided with a fixed shaft 105, which is axially connected with the fixed hole 205 at the lower end of the shell of the transmitting base II2, and the transmitting base I1 and the transmitting base II2 can be opened and closed relative to each other; 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. The two driver matching grooves 103 are symmetrically distributed 30° to the left and right of the outer center of the transmitting base I1.

[0046] The shell of the projectile grabbing 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 projectile grabbing 3, and the top is evenly provided with four curved petals 302 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 projectile grabbing 3.

[0047] The grabbing projectile 3 is placed vertically 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 selected to be 3-10 mm, which needs to be selected according to the size of the captured projectile 3.

[0049] Example 2

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

[0051] The 4D printing bionic explosive ejection grabbing device provided by the present invention is specifically used as follows:

[0052] Step 1: Load the Grab Projectile

[0053] The launching base driver 5 is heated by electricity, and its deformation curvature decreases, driving the launching base I1 and the launching base II2 to open outward, placing the grabbing projectile 3, and making the four support bases 304 align with the deformation driving part 104b of the extrusion driver 104 respectively. Then the power is turned off to allow the launching base driver 5 to cool, and the curvature becomes larger, driving the launching base I1 and the launching base II2 to close inward 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, restricting its movement.

[0054] Step 2: Squeeze and Grab the Pellets

[0055] When the elastic band 104a and the deformation driving part 104b of the extrusion driver 104 are heated by electricity, the elastic band 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 the energy storage is completed, the launch base driver 5 is powered on to heat up, and its curvature becomes smaller, driving the launch base Ⅰ1 and the launch 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 deformation drive part 104b to release the elastic potential energy of the support base 304 is much greater than the displacement of driving the launch base Ⅰ1 and the launch base Ⅱ2 to open, 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. The four curved petals 302 will be recessed 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 be ejected and stored, 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 includes a launching base I (1) and a launching base II (2) which are arranged symmetrically 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) fixedly connected in an integral manner; 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, and the bottom of the grabbing projectile (3) is connected to the bottom of the launching base via a connecting rope (4). The lower shell of the grabbing projectile (3) is connected to the deformation driving part (104b) of the launching base I (1) and the launching base II (2).

2. The 4D printing bionic explosive ejection grabbing device according to claim 1, characterized in that: The launch base driver (5) on the outside of the launch base shell is made of nickel-titanium memory alloy, which provides a steady-state force for closing between the launch base I (1) and the launch base II (2) when cooled, and reduces the curvature of the shrinkage deformation when heated, providing an opening and closing force for the launch base I (1) and the launch base II (2); The stretchable 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 elongated upon heating.

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

4. The 4D printing bionic explosive 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 n curved petals (302) are evenly distributed on the top thereof 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 launch base, with the central axes of the two coinciding, and the support seat (304) is aligned one by one with the deformation drive part (104a) of the extrusion driver (104).

5. The 4D printing 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 by: A 4D printed bionic explosive ejection grabbing device according to claim 5 is used: 1) Loading the captured projectile: Powering on the heated launch base driver (5) drives the launch base I (1) and the launch base II (2) to open outwards, inserting the captured projectile (3); powering off the launch base driver (5) to cool the launch base driver (5) and drive the launch base I (1) and the launch base II (2) to close inwards, locking the captured projectile (3); 2) Extruding and grabbing the projectile: energizing and heating the telescopic belt (104a) and the deformation driving portion (104b) of the extrusion driver (104), causing the temperature of the two to rise, causing the telescopic belt (104a) to extend and the deformation driving portion (104b) to bend further inwards. At this time, the deformation driving portion (104b) gradually applies pressure to the support seat (304), thereby performing ejection energy storage; 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 outwards. 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 objects: The grabbing projectile (3) is aimed at the target object and flies at high speed. After the top end of the projectile 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.

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