CN108714911A - A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band - Google Patents
A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band Download PDFInfo
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- CN108714911A CN108714911A CN201810772041.0A CN201810772041A CN108714911A CN 108714911 A CN108714911 A CN 108714911A CN 201810772041 A CN201810772041 A CN 201810772041A CN 108714911 A CN108714911 A CN 108714911A
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- chela
- section
- joint
- pincers
- hydraulic
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- 241000040710 Chela Species 0.000 title claims abstract description 196
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 41
- 210000000080 chela (arthropods) Anatomy 0.000 claims abstract description 90
- 238000005183 dynamical system Methods 0.000 claims abstract description 25
- 239000012530 fluid Substances 0.000 claims abstract description 8
- 208000037873 arthrodesis Diseases 0.000 claims abstract description 3
- 239000003921 oil Substances 0.000 claims description 38
- 230000033001 locomotion Effects 0.000 claims description 13
- 238000001816 cooling Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 239000010408 film Substances 0.000 claims description 7
- 239000002828 fuel tank Substances 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 230000004888 barrier function Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 238000010248 power generation Methods 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 4
- 239000010409 thin film Substances 0.000 claims description 4
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000009825 accumulation Methods 0.000 claims description 3
- 238000004146 energy storage Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 230000035939 shock Effects 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 3
- 239000002918 waste heat Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims description 2
- 230000003014 reinforcing effect Effects 0.000 claims description 2
- 239000011232 storage material Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims 1
- 229910021389 graphene Inorganic materials 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 6
- 239000003795 chemical substances by application Substances 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 239000007788 liquid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 235000001968 nicotinic acid Nutrition 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 241000239226 Scorpiones Species 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 239000000284 extract Substances 0.000 description 2
- 238000009432 framing Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 229910000737 Duralumin Inorganic materials 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 150000001336 alkenes Chemical class 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 238000001727 in vivo Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band, it is saved including chela, three-dimensional joint, two-dimentional joint, chela shield section, pincers section, it is additionally provided with link, pincers move device, integrated hydraulic dynamical system, intelligent electric-controlled device, three-dimensional arthrodesis is connected on link and with chela section, chela section is connected by two-dimentional joint with chela shield section, chela shield section moves device by pincers and is connected with pincers section, integrated hydraulic dynamical system is fixed in the cavity of chela section or/and chela shield section, by fluid pressure line respectively with three-dimensional joint, two-dimentional joint, the hydraulic interface that pincers move device is connected, intelligent electric-controlled device is fixed in link or/and the cavity of chela section or/and chela shield section, intelligent electric-controlled device respectively with integrated hydraulic dynamical system, three-dimensional joint, two-dimentional joint, pincers move device electrical connection.The configuration of the present invention is simple, dismounting with it is easy to assembly, joint torque is big, charge efficiency height.
Description
Technical field
The present invention relates to Intelligent bionic machinery people's technical fields, and in particular to a kind of more passes of the autonomous hydraulic pressure distributed power of band
Save bionical chela.
Background technology
With the development of the needs and science and technology of production, since the 1950s, it has been recognized that biological
System is to open up one of main path of new technology, consciously using living nature as various technological thoughts, design principle and creation
The source of invention.People's chemistry, physics, mathematics and technology model carry out in-depth study to biosystem, promote
The tremendous expansion of biology, to the research of biological in vivo functionality mechanism also achieves rapid progress.Starting will be from living nature
The knowledge of acquisition is used for improving engineering technology equipment old or that creation is new.Biology start to stride into all trades and professions technological innovation and
The ranks of technological revolution, and first automatically control, aviation, the military services such as navigation achieve success.Then biology and
Engineering technology program is combined together, and is interpenetrated and is pregnant with a newborn science --- bionics.
As an independent subject, bionics is formally born in nineteen sixty September.It is the science of mimic biology.Definitely
Ground says that bionics is the various excellent features such as the structure for studying biosystem, speciality, function, energy conversion, information control,
And they are applied to technological system, improve existing engineering equipment, and create new technical process, building configuration,
The Comprehensive Science of the technological systems such as automation equipment.
The research and development of bionic intelligence machinery are the research directions that contemporary society increasingly payes attention to.It is evolved in natural biology
, under structure or construction with specific characteristic inspires, and develop practical intelligent machine or robot.As scorpion has heavily fortified point
The structures such as chela, flexible multi-joint leg and the multiple degrees of freedom anal spine of hard shell, big clamping force, crab have hard outer
The structures such as shell, unique eyes construction, the chela of big clamping force and flexible multi-joint leg, these unique textures pass through up to ten thousand
Year evolves, to having important reference value in bio-robot exploitation.The chela of wherein big clamping force is to scorpion, crab
The activity aspect such as detection, feeding, attack, defence there is very important value, the multiple degrees of freedom of chela, big clamping force structure
With function also in earthquake rescue, the fields such as security protection, underwater construction, military investigation, field exploration have very strong bionical meaning
Justice.
Currently, in terms of bionic mechanical research and development, it is related to the document report of bionical chela, there are also, but quantity
Seldom.
12nd phase in 2009《Machinery and electronics》Entitled " the design and reality of Bionic crab robot has been delivered on magazine
Paper now ", this article disclose a kind of Bionic crab robot constituted using duralumin, hard alumin ium alloy innovation standard member, the bionical crab
Crab robot has 2 chelas, every chela to have 3 joints, driven respectively by 3 servo motors, it can be achieved that the pickup of Bionic crab,
The functions such as carrying；But such bionical chela has the following problems:First, only adapting to light-duty or underloading robot, generally use
It is small-sized or light-duty servo motor and speed reducer, causes clamping force, endurance small, it is bionical large-scale or heavy-load type can not be applied to
Robot, second is that without self power on this kind of bionical chela, power concentration need to pass through cable transfer on robot body's frame
On to bionical chela, paralyse due to easily causing connecting cable to wear because frequently moving；Third, the presence of its monoblock type centrally connected power source is filled
The problem that the electric time is long, charge efficiency is low, fourth, this kind of bionical chela is connected with the power on main body frame, installation maintenance is most
It is inconvenient.
CN201610277479.2 discloses a kind of Multi-purpose bionic crab robot, and module and a left side are clamped including right side
Clamp module in side；It clamps module and is clamped by right side pincers driving motor, right side pincers driving pinion, right side pincers drive gear wheel, right side in right side
Rotating arm, right side pincers first order driving hydraulic stem, right side rotational pin, right side pincers first order actuating arm, right side pincers second level driving
Hydraulic stem, right side pincers second level actuating arm, right side pincers third level driving hydraulic stem, right side pincers third level actuating arm, cutting blade,
Auxiliary camera, a word automatic screwdriver, cross automatic screwdriver, cutting blade driving eccentric disc, cutting blade drive disc type
Motor, cutting blade driving first connecting rod, cutting blade driving second connecting rod, rotary-cut cutter tooth composition；It clamps module and uses class in left side
It is realized like structure and stretches saw blade function；The patent realizes the functions such as the sawing of bionical chela branch using mechanically and hydraulically mode, has
The features such as clamping force is big, sawing ability is strong, but there are following defects：First, power source concentrates on bionic machine main body frame,
The joint hydraulic power that chela need to be provided by the hydraulic power system on robot body's frame, easily because of connection cables or hydraulic pressure
Frequently movement causes to wear and paralyse pipeline；Second, its monoblock type centrally connected power source is arranged on bionic machine human agent, exists and fill
The problem that the electric time is long, charge efficiency is low；Third, non-linear relation is presented using the joint motions of linear oil cylinder and driver,
Cause control system complicated；Fourth, bionical chela and the connection cables wherein arranged or/and hydraulic pipeline and robot body's frame
Frame must be connected directly, extremely inconvenient dismounting.
CN201410581468.4 discloses a kind of Bionic crab robot, wherein the pincers chela system includes rack,
Respectively installation one clamps chela main body to the left and right sides symmetric position of rack, and each chela main body that clamps is by fixed frame, motor rack, swing
Steering engine, two connection cards, pallet, crawl steering engine, two key-type ratch, two claw bars and two connecting rod compositions, the patent are adopted
The clamp function that bionical chela is realized with the mechanical system of link mechanism, has the following problems：When power source concentrate on it is bionical
On machine body frame, using the mechanical structure passing power of more parts, complicated, poor reliability；Second is that motor pattern list
One, degree of freedom is few, only realizes clamp function, adapts to complex working condition energy force difference；Third, its monoblock type centrally connected power source be arranged in it is bionical
On robot body, there is a problem of that the charging time is long, charge efficiency is low；Fourth, installation maintenance is inconvenient.
Invention content
The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a kind of simple in structure, work can
Lean on, dismounting with it is easy to assembly, joint torque is big, charge efficiency height, be adapted to the autonomous distributed power of band of large-scale multi-foot robot
The bionical chela of multi-joint.
The technical solution adopted by the present invention to solve the technical problems is a kind of multi-joint of the autonomous hydraulic pressure distributed power of band
Bionic mechanical chela, including chela section, three-dimensional joint, two-dimentional joint, chela shield section, pincers section, which is characterized in that be additionally provided with link,
Pincers move device, integrated hydraulic dynamical system, intelligent electric-controlled device, and three-dimensional arthrodesis is connected on link and with chela section, chela
Section is connected by two-dimentional joint with chela shield section, and chela shield section moves device by pincers and is connected with pincers section, and integrated hydraulic dynamical system is fixed
In the cavity of chela section or/and chela shield section, the hydraulic pressure of device is moved with three-dimensional joint, two-dimentional joint, pincers respectively by fluid pressure line
Interface is connected, and intelligent electric-controlled device is fixed in link or/and the cavity of chela section or/and chela shield section, intelligent electric-controlled device point
Does not move device with integrated hydraulic dynamical system, three-dimensional joint, two-dimentional joint, pincers and be electrically connected.
Further, the chela is saved with the quantity in two-dimentional joint >=2；The three-dimensional joint includes angling cylinder I, sensing
Device I, joint frame, angling cylinder II, sensor II, the sensor I are fixed on I end of angling cylinder, and the sensor II is solid
It is scheduled on II end of angling cylinder, the angling cylinder I, angling cylinder II are fixed on the two of joint frame with non-parallel be staggered
End can make three-dimensional joint realize that three dimensions is swung；The two dimension joint mainly including angling cylinder III and is fixed on its end
Sensor III；Also two-dimentional joint is made to realize that row two dimensional surface is swung；It includes pincers hydrodynamic cylinder pressure that the pincers, which move device, for driving
Pincers section movement.
Further, the link is equipped with bolt mounting holes or/and pin hole or/and card slot, for will be distributed with autonomous
The multi-joint chela of power is quickly fastened on bio-robot main body frame.The chela section, chela shield section, pincers section for
The framing component of cavity facilitates cavity inside arrangement integrated hydraulic dynamical system, intelligent electric-controlled device.
Further, the integrated hydraulic dynamical system includes mainly driving motor, hydraulic pump, Mini oil tank, hydraulic electromagnetic
Valve group and battery pack；Driving motor, hydraulic pump, Mini oil tank are sequentially connected and are fixed on the sky of chela section A or chela section B or chela shield section
Intracavitary, hydraulic electromagnetic valve group are connected with hydraulic pump by pipeline；Battery pack and driving motor electrical connection, hydraulic electromagnetic valve group and electricity
Pond group is separately fixed in the cavity of chela section or/and chela shield section, and integrated hydraulic dynamical system drives revolution oil by hydraulic power
The rotating forward of cylinder, reversion, locking and pincers hydrodynamic cylinder pressure it is flexible, realize to three-dimensional joint, two-dimentional joint, the movement of pincers section and stop.
Further, the intelligent electric-controlled device includes mainly intelligent controller, charge port；Intelligent controller is fixed on chela section
Or in the cavity of chela shield section, the sensor institute that device is moved according to sensor I, sensor II, sensor III, sensor IV, pincers is anti-
The electric signal of feedback carrys out the precise motion in 3 joints and the dynamic device of pincers of control biomimetics chela；Charge port is arranged in link or chela
On section or chela shield section or pincers section, for charging to the battery pack inside bionical chela.
Further, the chela shield section is equipped with elastic protecting against shock material or/and spring energy storage material or/and piezoelectric material structure
Part generates vibratory impulse and accumulation kinetic energy or piezo-electric generating to slow down in protection process.
Further, the angling cylinder I, angling cylinder II, the spiral revolution oil that angling cylinder III is both-end power output
Cylinder to realize that 90-270 ° of joint wide-angle large torque is swung, and facilitates oil cylinder both ends to connect and position.The sensor I passes
Sensor II, sensor III are rotary angle transmitter；The driving motor is direct current generator；The hydraulic pump is gear pump, described micro-
Type fuel tank is metal material fuel tank or elastic rubber shell fuel tank；The hydraulic electromagnetic valve group by integrated magnet valves or/and 2 with
Upper three position four-way electromagnetic valve composition；The battery pack is by 2 groups or more rechargeable lithium battary groups or/and solid state battery or/and stone
Black alkene battery pack is constituted.
Further, the intelligent electric-controlled device is additionally provided with the auxiliary for improving bionical chela coordination and stationarity
Sensor includes on chela shield section for monitoring the impact force or/and the pressure sensing for clamping power situation that chela shield section is subject to
Device is mounted on the strain gauge for the variation of monitoring of structures part upper stress on link or/and chela section, is mounted on fluid pressure line
On oil temperature sensor for monitoring hydraulic oil temperature variation, for detecting barrier or attacking on chela shield section or/and pincers section
Hit the position of object and the ultrasonic sensor of distance and/or airborne laser range finder.
Further, it is additionally provided in the integrated hydraulic dynamical system for carrying out cooling cooling to motor and Mini oil tank
Fan and/or cooling fin, the Mini oil tank be equipped with using oil temperature waste-heat power generation thermoelectric generation film, the angling cylinder I,
Angling cylinder II, angling cylinder III, pincers move device or hydraulic electromagnetic valve group is equipped with for ensuring angling cylinder running stability
Balanced valve or hydraulic lock.
Further, the residue installed in the cavity of the chela section after integrated hydraulic dynamical system and intelligent electric-controlled device is empty
Between, it is filled with lightweight buoyancy material, to increase the buoyancy of bionical chela in water；The gabarit of chela is equipped with reinforcing rib and/or prevents
Protective material；Chela section, chela shield section surface are additionally provided with solar panel or/and thin-film member, the solar panels or/and thin-film member of setting
It can be charged directly to battery pack by intelligent controller；It is different that the chela shield section, pincers section are equipped with shape, convenient for clamp barrier and
Attack the pincers tooth of object；The annular saw and/or chain saw for sawing barrier are provided on chela shield section.
Further, it is additionally provided in the integrated hydraulic dynamical system for carrying out cooling cooling to motor and Mini oil tank
Fan and/or cooling fin, the Mini oil tank be equipped with using oil temperature waste-heat power generation thermoelectric generation film, the angling cylinder I,
Angling cylinder II, angling cylinder III, pincers hydrodynamic cylinder pressure or hydraulic electromagnetic valve group are equipped with for ensuring that angling cylinder operates steadily
The balanced valve or hydraulic lock of property.
The multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band of the present invention carries intelligent controlling device and integrated liquid
Force system is pressed, it can be with autonomous control bionic mechanical chela self-movement；Bionic mechanical chela can be fast entirely through link
Fast ground is fixedly connected with bio-robot main body frame, when needing repair demolition to maintain and replacing, can also realize quickly dismounting and
Replace bionic mechanical chela.
In the bio-robot course of work, the intelligent controller of each bionical chela can be used as two-level controller, can root
According to the controller on bionic machine human agent（Primary controller）Control instruction, calculate determine three-dimensional joint on bionical chela,
The kinematic parameter and movement locus of device are moved in two-dimentional joint, pincers.Every bionic mechanical chela, driving motor are provided in battery pack
Under power support, driving hydraulic pump extracts the hydraulic oil in Mini oil tank, and the hydraulic oil of extraction is by hydraulic electromagnetic valve group, hydraulic pressure
Pipeline enters angling cylinder I, angling cylinder II, angling cylinder III, pincers hydrodynamic cylinder pressure, realizes three-dimensional joint, the two-dimentional big torsion in joint
It swings and clamps in square, polarizers of big angle scope and move device high-torque clamp；Simultaneously intelligent controller according to sensor I on the oil cylinder of joint,
Sensor II, sensor III, pincers move the electric signal of the sensor of device to adjust the break-make of hydraulic electromagnetic valve group, realize to joint
Angling cylinder I, angling cylinder II, the rotating forward of angling cylinder III, reversion, locking and the Telescopic for clamping hydrodynamic cylinder pressure.And it is bionical
Solar panel/the film or temperature and pressure power generator and piezo-electric device being arranged on chela may be implemented to charge to battery pack,
Reduce the dependence to external power supply.
Compared with the prior art, the present invention has the positive effect that：1）Multi-joint with autonomous hydraulic pressure distributed power is imitative
Life tool chela, it is only necessary to which link and electric plug achieve that and be connected and communicate with bionic machine human agent, are not necessarily to a large amount of hydraulic pressure
The connection of pipeline and electric wiring, simple in structure, installation and removal are convenient；Pipeline wear-out failure is greatly reduced simultaneously, and complete machine can
It is improved by property；2）The joint action of bionical chela can realize that stagewise intelligent controller controls, relative to concentrating on bionic machine
The complexity of control system can be greatly reduced in integrated control on human agent；3）It is driven using the hydraulic gyration oil cylinder of high torque
Dynamic bionical chela joint is swung, and opposite servo motor+speed reducer mode drives joint to swing, and acts than milder, joint torque
Greatly, bearing capacity is high, can meet the demand of heavy duty carrying, severe impact of bionical chela etc.：4）It is set on every bionical chela
Distributed battery group and charge port are set, is connected in main body without a large amount of electric wirings, that is, improves reliability, and improves charging effect
Rate；The solar panels or film, temperature and pressure power generation sheet, piezo-electric generating piece being arranged on each bionical chela simultaneously, can imitate place
Battery pack is charged, reduces external energy requirement on raw chela；5）The tools such as setting pincers, saw, brill, can also set on bionical chela
The instruments such as life-detection instrument, camera, headlamp, laser gun, infrasonic wave generator, tool are set, its pincers is assigned, saw, bores, life
The multiple functions such as detection, camera shooting, illumination, transmitting laser, infrasound generation can facilitate bionical chela anti-in earthquake rescue, security
Shield, military investigation, field exploration etc. multipurpose use.
Description of the drawings
Fig. 1 is the three dimensional structure diagram of the embodiment of the present invention 1；
Fig. 2 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the three dimensional structure diagram of the embodiment of the present invention 2；
Fig. 4 is the structural schematic diagram of the embodiment of the present invention 2；
Fig. 5 is the three dimensional structure diagram of the embodiment of the present invention 3；
Fig. 6 is the structural schematic diagram of the embodiment of the present invention 3.
Specific implementation mode
The present invention is further described in detail below with reference to the accompanying drawings and embodiments.
Embodiment 1
Referring to Fig.1, Fig. 2, the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of the present embodiment band include mainly link
1, three-dimensional joint 2, chela section A, two-dimentional joint I 3, chela section B, two-dimentional joint II 4, chela shield section C, pincers move device 7, pincers section D, integrated liquid
Press Force system 5, intelligent electric-controlled device 6；Three-dimensional joint 2 is fixed on link 1 and is connected with chela section A, and chela section A passes through two dimension
Joint I 3 is connected with chela section B, and chela section B is connected by two-dimentional joint II 4 with chela shield section C, and chela shield section C moves device 7 and pincers by pincers
It saves D to be connected, integrated hydraulic dynamical system 5 is fixed in the cavity of chela section A and chela section B and chela shield section C, by fluid pressure line is distinguished
The hydraulic interface that device 7 is moved with three-dimensional joint 2, two-dimentional joint I 3, two-dimentional joint II 4, pincers is connected, and intelligent electric-controlled device 6 is fixed
In the cavity of link 1 and chela shield section C, intelligent electric-controlled device 6 respectively with integrated hydraulic dynamical system 5, three-dimensional joint 2, two
Tie up joint I 3, two-dimentional joint II 4, the dynamic electrical connection of device 7 of pincers.
The three-dimensional joint 2 include mainly angling cylinder I 201, sensor I 202, joint frame 203, angling cylinder II 204,
Sensor II 205, sensor I 202 are fixed on I 201 end of angling cylinder, and sensor II 205 is fixed on II 204 end of angling cylinder
Portion, angling cylinder I 201, angling cylinder II 204 are staggered with 90 degree is fixed on the both ends of joint frame 203, can make three-dimensional joint
2 realize that three dimensions is swung；The two dimension joint I 3 includes mainly angling cylinder III 301 and is fixed on the sensor III of its end
302；The two dimension joint II 4 includes mainly angling cylinder IV 401 and is fixed on the sensor IV 402 of its end, also makes two dimension
Joint I 3, two-dimentional joint II 4 realize that row two dimensional surface is swung；The pincers move device 7 include pincers hydrodynamic cylinder pressure 701, axis pin I 702,
The both ends of pin shaft II 703, pin shaft III 704, pincers hydrodynamic cylinder pressure 701 pass through axis pin I 702, pin shaft III 704 and chela shield section C, pincers respectively
Section D is hinged and connected, and the pin shaft II 703 is hinged and connected for chela shield section C, pincers section D；Wherein pincers hydrodynamic cylinder pressure 701 uses servo
Hydraulic cylinder, for driving pincers section movement.
The link 1 is equipped with pin hole 101, for the multi-joint chela with autonomous distributed power to be quickly connected and fixed
On bio-robot main body frame.The chela section A, chela section B, chela shield section C, pincers section D are the framing component with cavity, convenient
Cavity inside arranges integrated hydraulic dynamical system 5, intelligent electric-controlled device 6.
The integrated hydraulic dynamical system 5 includes mainly driving motor 501, hydraulic pump 502, Mini oil tank 503, hydraulic pressure electricity
Magnet valve group 504 and battery pack I 505, battery pack II 506；Driving motor 501, hydraulic pump 502, Mini oil tank 503 are sequentially connected simultaneously
It is fixed in the cavity of chela shield section C, hydraulic electromagnetic valve group 504 is fixed in the cavity of chela shield section C and hydraulic pump 502 passes through liquid
Pressure pipe road is connected；Battery pack I 505, battery pack II 506 are fixed in the cavity of chela section A and chela section B, and electric with driving motor 501
Connection；Integrated hydraulic dynamical system 5 drives angling cylinder I, angling cylinder II, angling cylinder III, revolution oil by hydraulic power
Cylinder IV is rotated forward, is inverted, locking, is realized to three-dimensional joint 2, two-dimentional joint I 3, the two-dimentional movement of joint II 4 and stopping.The intelligence
Electric control gear 6 includes mainly intelligent controller 601, charge port 602, electric plug 603；Intelligent controller 601 is fixed on chela shield section C
In framework, according to the electric signal that sensor I 202, sensor II 205, sensor III 302, sensor IV 402 are fed back, control is imitative
3 joint precise motions of raw chela；Charge port 602 is arranged on the upper pincers section C4 of chela shield section C, inside to bionical chela
Battery pack I 505, battery pack II 506 charge, the communication on the intelligent controller 601 and robot body passes through electric plug
603 connections.
The abnormity component with cavity is made in the chela section A, chela section B, the preferred high-strength light alloys of chela shield section C, to reduce
Bionical chela weight and sports energy consumption.The chela shield section C is equipped with protecting against shock chela shield C1, elastic energy storage component C3, to slow down protection
Vibratory impulse and accumulation kinetic energy or piezo-electric generating are generated in the process；Angling cylinder I 201, angling cylinder II 204, the revolution oil stated
Cylinder III 301, angling cylinder IV 401 using both-end power output spiral angling cylinder, it can be achieved that joint large torque swing, and side
Just both ends connection and positioning.The sensor I 202, sensor II 205, sensor III 302, sensor IV 302 are passed using corner
Sensor, can real-time delivery angle of revolution to intelligent controller 601.The driving motor 501 uses 24V direct current generators, the liquid
Press pump 502 uses high-pressure gear pump, the Mini oil tank 503 that metal material fuel tank, the hydraulic electromagnetic valve group 504 is used to use
Integrated magnet valves.The battery pack I 505, battery pack II 506 use rechargeable lithium battary.
The intelligent electric-controlled device 6 is additionally provided with the auxiliary for improving bionical chela coordination and stationarity and senses
Device --- pressure sensor, strain gauge, oil temperature sensor, ultrasonic sensor and airborne laser range finder, pressure sensor peace
On chela shield section, impact force or/and pincers power situation that monitoring chela shield section is subject to；Strain gauge be mounted on link or/
It is saved on A or/and chela section B with chela, the variation of monitoring of structures part upper stress；Oil temperature sensor is mounted on fluid pressure line, monitors hydraulic pressure
Oil temperature changes；Ultrasonic sensor is mounted on chela shield section C, and airborne laser range finder is mounted on pincers section D, is respectively used to detection obstacle
Object or position and the distance for attacking object.
The multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of the present invention carries intelligent controlling device 6 and integrated hydraulic
Dynamical system 5, can be with autonomous control bionic mechanical chela self-movement；Bionic mechanical chela can be fast entirely through link 1
Fast ground is fixedly connected with bio-robot main body frame, when needing repair demolition to maintain and replacing, can also realize quickly dismounting and
Replace bionic mechanical chela；In bio-robot motion process, the intelligent controller of bionical chela can be used as two-level controller,
It can be according to the controller on bionic machine human agent（Primary controller）Control instruction, calculate and determine three-dimensional on bionical chela close
Section 2, two-dimentional joint II 4, clamps the kinematic parameter and movement locus for moving device 7 at two-dimentional joint I 3；Its driving motor 501 is in battery
Group I 505, battery pack II 506 are provided under power support, and driving hydraulic pump 502 extracts hydraulic oil in Mini oil tank 503；Hydraulic oil
Enter angling cylinder I 201, angling cylinder II 204, angling cylinder III 301, revolution by hydraulic electromagnetic valve group 504, fluid pressure line
Oil cylinder IV 401, pincers hydrodynamic cylinder pressure 701, realize three-dimensional joint 2, two-dimentional joint I 3, swing in II 4 large torque of two-dimentional joint,
With pincers 701 high-torque clamp of hydrodynamic cylinder pressure；Intelligent controller 601 is according to sensor I 202, sensor II on the oil cylinder of joint simultaneously
205, sensor III 302, sensor IV 402, pincers move the electric signal of device to adjust the break-make of hydraulic electromagnetic valve group, realize to closing
Save angling cylinder I 201, angling cylinder II 204, angling cylinder III 301, angling cylinder IV 401, rotating forward, reversion and locking and
Clamp the Telescopic of hydrodynamic cylinder pressure 701.
Embodiment 2
With reference to Fig. 3, Fig. 4, the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of the present embodiment band, the area with embodiment 1
It is not only that：Annular saw 8 is had additional on the machinery chela, is fixed on the middle and lower part of chela shield section C；The link 1 uses card slot
Fixed pin hole form is reinforced, for quickly connecting；The chela section A, chela section B are that the special-shaped component with cavity is made in titanium alloy；Its
Middle chela section A, chela section B outer surfaces are additionally provided with I A4 of solar energy film part, II B4 of solar energy film part, for collect solar energy to
Bionic leg is powered;Chela saves A, the flexible telescopic protective cover A5 of chela section B end sets, elastic telescopic protective case B5 and is closed for protecting
Section；The chela shield section C uses shield type, and elastic alloy material part C5 is arranged and carrys out vibration reduction and cushioning；It includes pincers that the pincers, which move device 7,
Hydrodynamic cylinder pressure 701, axis pin I 702, pin shaft II 703, pin shaft III 704, angular transducer 705, the both ends point of pincers hydrodynamic cylinder pressure 701
It is not hinged and connected by axis pin I 702, pin shaft III 704 and chela shield section C, pincers section D, the angular transducer 705 is fixed on pin shaft II
703 end, for detecting pincers section swing angles of the D with respect to chela shield section C, pincers hydrodynamic cylinder pressure 701 uses Normal hydraulic oil cylinder；Institute
It states pincers section D and uses zigzag jaw；The Mini oil tank 503 using can breathing elastic hydraulic fuel tank；The charge port 602 is adopted
With radio induction charging mouth, the electric plug 603 is communicated using wireless blue tooth formula.
Embodiment 3
With reference to Fig. 5, Fig. 6, the difference of the multi-joint bionic mechanical chela and embodiment 1 of the autonomous hydraulic pressure distributed power of the present embodiment band
It is only that：Chain saw 8 is had additional on the machinery chela, is fixed on the middle part of chela shield section C；The chain saw 8 includes drive motor
801, chain saw disc 802, oscillating oil cylinder 803, wherein 803 Quality Initiative saw disc 802 of oscillating oil cylinder are swung, when chain saw does not work, chain
Saw disc swings to the side of pincers section C4.The upper pincers section C4 and pincers section D-shaped embrace pincers at one, in the drive of pincers hydrodynamic cylinder pressure 701
It carries out embracing pincers article under dynamic, is used in combination chain saw 8 to carry out sawed-off；The power plant 5 is arranged chela and saves in A, and the chela shield section C uses shield
Board type.
Those skilled in the art can be carry out various modifications to the present invention and modification, if these modifications and variations are at this
Within the scope of invention claim and its equivalent technologies, then these modifications and variations are also within protection scope of the present invention.
The prior art that the content not being described in detail in specification is known to the skilled person.
Claims (10)
1. a kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band, including chela section, three-dimensional joint, two-dimentional joint,
Chela shield section, pincers section, which is characterized in that it is additionally provided with link, clamps and moves device, integrated hydraulic dynamical system, intelligent electric-controlled device, three
Arthrodesis is tieed up on link and is connected with chela section, chela section is connected by two-dimentional joint with chela shield section, and chela shield section is dynamic by clamping
Device is connected with pincers section, and integrated hydraulic dynamical system is fixed in the cavity of chela section or/and chela shield section, is distinguished by fluid pressure line
The hydraulic interface that device is moved with three-dimensional joint, two-dimentional joint, pincers is connected, and intelligent electric-controlled device is fixed on link or/and chela section
Or/and in the cavity of chela shield section, intelligent electric-controlled device is dynamic with integrated hydraulic dynamical system, three-dimensional joint, two-dimentional joint, pincers respectively
Device is electrically connected.
2. the multi-joint bionic mechanical chela with autonomous hydraulic pressure distributed power as described in claim 1, which is characterized in that described
Chela is saved with the quantity in two-dimentional joint >=2；The three-dimensional joint includes angling cylinder I, sensor I, joint frame, angling cylinder
II, sensor II, the sensor I are fixed on I end of angling cylinder, and the sensor II is fixed on II end of angling cylinder,
The angling cylinder I, angling cylinder II are fixed on the both ends of joint frame with non-parallel be staggered, and three-dimensional joint can be made to realize three
Dimension space is swung；The two dimension joint includes mainly angling cylinder III and the sensor III for being fixed on its end；Also make two-dimentional pass
Section realizes that row two dimensional surface is swung；It includes pincers hydrodynamic cylinder pressure that the pincers, which move device, for driving pincers section movement.
3. the multi-joint bionic mechanical chela with autonomous hydraulic pressure distributed power as claimed in claim 1 or 2, which is characterized in that
The link is equipped with bolt mounting holes or/and pin hole or/and card slot.
4. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 1-3, feature exist
In the integrated hydraulic dynamical system includes driving motor, hydraulic pump, Mini oil tank, hydraulic electromagnetic valve group and battery pack；Driving
Motor, hydraulic pump, Mini oil tank are sequentially connected and are fixed in the cavity of chela section or chela shield section, hydraulic electromagnetic valve group and hydraulic pump
It is connected by pipeline；Battery pack and driving motor electrical connection, hydraulic electromagnetic valve group and battery pack are separately fixed at chela section or/and chela
In the cavity of shield section, integrated hydraulic dynamical system drives rotating forward, reversion, locking and the pincers hydrodynamic of angling cylinder by hydraulic power
Cylinder pressure stretches, and realizes and three-dimensional joint, two-dimentional joint, pincers section are moved or stopped.
5. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 1-4, feature exist
In the intelligent electric-controlled device includes intelligent controller, charge port；Intelligent controller is fixed on the cavity of chela section or chela shield section
It is interior, move the electric signal that the sensor of device is fed back, control biomimetics chela according to sensor I, sensor II, sensor III, pincers
Joint and pincers move device precise motion；Charge port is arranged on link or chela section or chela shield section or pincers section, for imitative
Battery pack charging inside raw chela.
6. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 1-5, feature exist
In the chela shield section is equipped with elastic protecting against shock material or/and spring energy storage material or/and piezoelectric material component, anti-to slow down
Vibratory impulse and accumulation kinetic energy or piezo-electric generating are generated during shield.
7. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 2-6, feature exist
In the angling cylinder I, angling cylinder II, the spiral angling cylinder that angling cylinder III is both-end power output, to realize joint
90-270 ° of wide-angle large torque is swung, and oil cylinder both ends is facilitated to connect and position；The sensor I, sensor II, sensor
III is rotary angle transmitter；The driving motor is direct current generator；The hydraulic pump is gear pump, and the Mini oil tank is metal material
Matter fuel tank or elastic rubber shell fuel tank；The hydraulic electromagnetic valve group is by integrated magnet valves or/and 2 or more 3-position 4-way electromagnetism
Valve group at；The battery pack is made of 2 groups or more rechargeable lithium battary groups or/and solid state battery or/and graphene battery group.
8. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 1-8, feature exist
In, the intelligent electric-controlled device is additionally provided with the aiding sensors for improving bionical chela coordination and stationarity, including
For monitoring the impact force or/and the pressure sensor for clamping power situation that chela shield section is subject to, the company of being mounted on chela shield section
The strain gauge for the variation of monitoring of structures part upper stress on frame or/and chela section is connect, for monitoring on fluid pressure line
The oil temperature sensor of hydraulic oil temperature variation, for detecting barrier or attacking the position of object on chela shield section or/and pincers section
And the ultrasonic sensor and/or airborne laser range finder of distance.
9. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 1-9, feature exist
In the interior installation integrated hydraulic dynamical system of cavity of the chela section and the remaining space after intelligent electric-controlled device are filled with lightweight
Buoyant material, to increase the buoyancy of bionical chela in water；The gabarit of chela is equipped with reinforcing rib and/or protective materials；Chela section, chela
Shield section surface is additionally provided with solar panel or/and thin-film member, and the solar panels or/and thin-film member of setting pass through intelligent controller
It can charge directly to battery pack；The chela shield section, pincers section are equipped with shape difference, are convenient for clamp barrier and attack the pincers tooth of object；
The annular saw and/or chain saw for sawing barrier are provided on chela shield section.
10. the multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band as described in one of claim 4-10, feature
Be, be additionally provided in the integrated hydraulic dynamical system for motor and Mini oil tank carry out cooling cooling fan and/or
Cooling fin, the Mini oil tank are equipped with the thermoelectric generation film using oil temperature waste-heat power generation, the angling cylinder I, angling cylinder
II, angling cylinder III, pincers hydrodynamic cylinder pressure or hydraulic electromagnetic valve group are equipped with the balance for ensuring angling cylinder running stability
Valve or hydraulic lock.
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| CN201810772041.0A CN108714911A (en) | 2018-07-13 | 2018-07-13 | A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band |
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| CN201810772041.0A CN108714911A (en) | 2018-07-13 | 2018-07-13 | A kind of multi-joint bionic mechanical chela of the autonomous hydraulic pressure distributed power of band |
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