CN108657305A - The driving joint of robot of liquid metal pressure and self-generating device - Google Patents
The driving joint of robot of liquid metal pressure and self-generating device Download PDFInfo
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- CN108657305A CN108657305A CN201810604037.3A CN201810604037A CN108657305A CN 108657305 A CN108657305 A CN 108657305A CN 201810604037 A CN201810604037 A CN 201810604037A CN 108657305 A CN108657305 A CN 108657305A
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- liquid metal
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- metal pressure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/32—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from a charging set comprising a non-electric prime mover rotating at constant speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/34—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering
- H02J7/345—Parallel operation in networks using both storage and other dc sources, e.g. providing buffering using capacitors as storage or buffering devices
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K44/00—Machines in which the dynamo-electric interaction between a plasma or flow of conductive liquid or of fluid-borne conductive or magnetic particles and a coil system or magnetic field converts energy of mass flow into electrical energy or vice versa
- H02K44/08—Magnetohydrodynamic [MHD] generators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N11/00—Generators or motors not provided for elsewhere; Alleged perpetua mobilia obtained by electric or magnetic means
- H02N11/002—Generators
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of driving joint of robot of liquid metal pressure and self-generating devices, including：Hot temperature difference power generation type liquid metal pressure working cylinder, liquid metal magnetohydrodynamic generation device, servo valve, magnetic drive pump, joint of robot, sensor, intelligent controller, check valve, filter, overflow valve, liquid metal storage bin, ultracapacitor；It is combined being integrally formed structure with hot thermoelectric generator using by liquid metal pressure working cylinder, and generates hot thermo-electric generation effect；It uses and is combined hot temperature difference power generation type liquid metal pressure working cylinder with liquid metal magnetohydrodynamic generation device, liquid metal is by magnet, and cutting magnetic line, generates liquid metal magnetohydrodynamic generation effect；Therefore joint of robot device of the present invention, the dual spontaneous electrical function with hot thermo-electric generation and magnetohydrodynamic generator provide electric energy guarantee for robot ambulation movement.
Description
Technical field
The present invention relates to robot fields, are related to liquid metal pressure driving robot and self power generation application technology, more
It says to body, is related to a kind of driving joint of robot of liquid metal pressure and self-generating device.
Background technology
With the continuous development of science and technology, people need to seek a kind of manpower substitute to complete under some adverse circumstances
, the dangerous task of tool.In recent years, robot technology fast development has brought expectation.Robot can
The tool for adapting to the living environment of the mankind ideally and using, and human-computer dialogue, exchange etc. can be carried out；Robot is wide
General application value, which is embodied in it, can not only replace people's operation in having radiation, dust, toxic adverse circumstances, moreover it is possible to shape
At power type artificial limb, paralytic's walking etc. is assisted.Therefore, robot is in medical treatment, ocean development, education, the disaster relief, engineering, army
The multiple fields such as thing, biotechnology, machine maintenance, agricultural aquatic products, communications and transportation have development prospect and extensively using values.
In robot evolution, joint drive technology is important core technology.Current many robots are using motor as robot
Joint drive power, i.e., it is electrically driven.But electrically driven mode has its weakness, for example big load can not be born, be frequently necessary to outside
Portion connects the transmission device of large and bulky；Motor is higher and damage etc. there is also operating temperature due to load too high, is easily caused.
With the increase of load, its output power of motor is also required to increase electrically driven mode, then can cause the increasing of motor volume and weight
Greatly, therefore it is very big to robot system entire effect, it is same if needing to increase transmission device without increasing power of motor, in this way
Not only reduce the weight that speed also adds robot system.Such issues that in order to overcome, people use hydraulic-driven pass
Jie Shi robots.
For hydraulic-driven prosthetic robot compared with electrically driven prosthetic robot, most prominent advantage is apparatus body
Product is smaller and inertia is smaller.For one needs to have the walking robot flexibly responded, device volume and inertia determine
Requirement to control system and equipment.Therefore it selects hydraulic energy as robot driving joint energy, actually makes with certain
With value.Currently, the dynamic characteristic, load capacity and environment for how further increasing hydraulic-driven prosthetic robot adapt to energy
Power, how to develop hydraulic-driven prosthetic robot has high dynamic, good balance control ability, extremely strong obstacle climbing ability,
How to make leg foot formula joint drive humanoid robot in the process of walking can self power generation come supplement itself needs electric energy, these are all
It is to face the technical issues that need to address.
Invention content
In view of this, the present invention provides a kind of driving joint of robot of liquid metal pressure and self-generating devices.
Present invention employs a kind of technical solutions：A kind of driving joint of robot of liquid metal pressure and spontaneous Denso
It sets, which is characterized in that including：Hot temperature difference power generation type liquid metal pressure working cylinder, liquid metal magnetohydrodynamic generation device, servo
Valve, joint of robot, sensor, intelligent controller, check valve, filter, overflow valve, liquid metal storage bin, surpasses magnetic drive pump
Grade capacitor；The liquid metal magnetohydrodynamic generation device is assemblied in the liquid gold of hot temperature difference power generation type liquid metal pressure working cylinder
Belong to and entering on channel, and constitutes liquid metal pressure driving joint of robot and automatic generating structure；The liquid metal storage bin
It is connected with filter；The filter is connected by magnetic drive pump with check valve and overflow valve；The check valve and servo valve
The ends liquid metal import p be connected；The liquid at the servo valve liquid metal outflow ends a and liquid metal magnetohydrodynamic generation device
Metal entry end is connected；The liquid metal outflow end of the liquid metal magnetohydrodynamic generation device and hot temperature difference power generation type liquid gold
The liquid metal inflow end for belonging to pressure working cylinder is connected；The flow of liquid metal of hot temperature difference power generation type liquid metal pressure working cylinder
Outlet flows into the ends b with servo valve liquid metal and is connected；The servo valve liquid metal outflow ends t are stored with another liquid metal
Case is connected；The intelligent controller and servo valve, sensor, check valve, overflow valve, liquid metal storage bin, surpass magnetic drive pump
Grade capacitor, control signalling means are connected；The intelligent controller carries out logic according to control signalling means, sensor feedback information
Operation reaches regulation and control and enters liquid metal magnetohydrodynamic generation device and hot temperature difference power generation type liquid metal to instruct regulation and control servo valve
Liquid metal flows speed, flowing time, the amount of flow size of pressure working cylinder realize liquid metal in liquid metal magnetohydrodynamic
The working cycles of electric organ and hot temperature difference power generation type liquid metal pressure working cylinder；The hot temperature difference power generation type liquid metal pressure
Hot thermoelectric generator, liquid metal magnetohydrodynamic generation device in working cylinder are connected with ultracapacitor；The electricity of ultracapacitor
Energy output end needs power device to be connected with robot；Work in the hot temperature difference power generation type liquid metal pressure working cylinder
Stopper rod output end is connected by sensor with joint of robot, and joint of robot is driven controllably to be moved according to dependent instruction
Make.
In said program, the driving joint of robot of the liquid metal pressure and self-generating device are liquid metal pressure
Driving robot leg joint and self-generating device；The joint of robot is robot leg joint, including：It is big leg joint, big
Leg joint connecting shaft, knee joint, calf joint, calf joint connecting shaft, ankle-joint, robot foot；The big leg joint passes through
Knee joint is connected with calf joint；The calf joint is connected by ankle-joint with robot foot；The hot thermo-electric generation
Formula liquid metal pressure working cylinder upper end, by being connected in the middle part of big leg joint connecting shaft and big leg joint；The hot temperature difference hair
Electric-type liquid metal pressure working cylinder lower end, by being connected in the middle part of calf joint connecting shaft and calf joint；The liquid gold
Belong to magnetohydrodynamic generator device, servo valve, ultracapacitor, sensor and is assemblied in hot temperature difference power generation type liquid metal pressure working cylinder
Side；The big leg joint, calf joint and hot temperature difference power generation type liquid metal pressure working cylinder, collectively form liquid metal pressure
Power drive can generate the tripod structure of deformation, and controllable driving force is provided for the leg walking movement of robot.
In said program, the hot temperature difference power generation type liquid metal pressure working cylinder, including：Liquid metal pressure working cylinder
Body, liquid metal, piston, piston rod, hot thermoelectric generator, graphene layer, radiator；The piston, piston rod, liquid metal
It is assemblied in liquid metal pressure working cylinder；The piston rod is connected with piston；Liquid metal is packaged in by the piston
Side in liquid metal pressure working cylinder；The piston rod is the liquid metal pressure driving force of liquid metal pressure working cylinder
Output end is connected with joint of robot；It is sent out by graphene layer and the hot temperature difference on the outside of the liquid metal pressure working cylinder
Electric appliance hot junction is connected；The hot thermoelectric generator cold end is connected with radiator；The hot thermoelectric generator and super capacitor
Device is connected, and by thermo-electric generation power storage in ultracapacitor, needs power device to use for robot.
In said program, the liquid metal magnetohydrodynamic generation device, including：Magnet, power channel, electrode strip, electrode draw
Outlet；The magnet is assemblied in power channel top and bottom；The electrode strip is assemblied in power channel two sides；The electrode
Exit connection electrode item, and be connected with ultracapacitor；The magnet includes：Permanent magnet or superconducting magnet；The liquid
State metal enters power channel under servo valve control and flows, and constantly cuts the magnet in power channel upper end, lower end assembly
The magnetic line of force of generation to produce electricl energy, and will generate electricity power storage in ultracapacitor, for power device needed for robot
It uses.
In said program, the liquid metal includes：Liquid gallium, liquid gallium alloy or liquid gallium nano-fluid；The liquid
State gallium nano-fluid, including：Add the liquid gallium or liquid of simultaneously dispersing Nano carbon tubes, graphene nanometer sheet or nano heat-conductive particle
The good liquid of thermal conductivity or gas instead also can be used in gallium alloy, the liquid metal；The graphene layer includes：Graphene
Film, graphite ene coatings or graphene composite material layer；The hot thermoelectric power generation device, including several pieces concatenated or/and simultaneously
The thermoelectric generation film monomer of connection is separated between the thermoelectric generation film monomer and thermoelectric generation film monomer by heat-insulating material；Institute
Stating radiating element includes：Air cooling fin radiating element or working medium circulation radiating element；The working medium includes：Water, nano-fluid or
Heat-conducting fluid.
In said program, the driving joint of robot of the liquid metal pressure and self-generating device further include：Liquid gold
Belong to pressure-driven robot shoulder joint and the driving robots arm joint of self-generating device, liquid metal pressure and spontaneous Denso
It sets, the driving robot joint of liquid metal pressure and self-generating device, liquid metal pressure drive humanoid robot neck joint
And one or more of the driving robot anklebone of self-generating device, liquid metal pressure and self-generating device；The liquid
The driving joint of robot of state stress metal and self-generating device can be applied to：Aircraft liquid metal pressure driving device, machine
Tool engineering liquid metal pressure driving device, war industry equipment liquid metal pressure driving device, the driving of naval vessel liquid metal pressure
Device, traffic track liquid metal pressure driving device, vehicle liquid metal pressure driving device, harbor station liquid metal pressure
One or more of force driving device.
In said program, the sensor includes：Pressure sensor, displacement sensor, temperature sensor, angle sensor
Device.
The advantageous effect brought of technical solution that the embodiment of the present invention provides is：
(1) present invention is using simultaneously disclosed hot temperature difference power generation type liquid metal pressure working cylinder, by liquid metal pressure work
Make cylinder to be combined with hot thermoelectric generator, being integrally formed structure；Using liquid metal as the working fluid of hydraulic cylinder and tradition
Hydraulic oil compares, and liquid metal has the series advantages such as performance stabilization, high temperature resistant, thermal conductivity be good, improves dynamic characteristic, bears
Loading capability, adaptive capacity to environment, balance control ability, obstacle climbing ability；It, can be negative by height due to liquid metal for conducting heat function admirable
The hot junction that the heat generated in the case of load is quickly transferred to hot thermoelectric generator carries out gas-to electricity, therefore liquid metal pressure is driven
Ejector half joint of robot and self-generating device have higher spontaneous electrical efficiency.
(2) present invention is used hot temperature difference power generation type liquid metal pressure working cylinder and liquid metal magnetohydrodynamic generation device phase
In conjunction with, liquid metal by magnet, and cutting magnetic line, generate power generation effect；Therefore joint of robot device of the present invention, tool
There are the self power generation of hot thermo-electric generation and magnetohydrodynamic generator and dual generating function, providing electric energy for robot ambulation movement protects
Barrier.
Description of the drawings
Fig. 1 is the driving joint of robot of liquid metal pressure of the present invention and the fundamental diagram of self-generating device；
Fig. 2 is the driving robot leg joint of liquid metal pressure of the present invention and the structural schematic diagram of self-generating device；
Fig. 3 be the present invention liquid metal magnetohydrodynamic generation device in liquid metal flows cutting magnetic line generate electricity structure show
It is intended to.
Wherein, hot temperature difference power generation type liquid metal pressure working cylinder 1, liquid metal magnetohydrodynamic generation device 2, servo valve 3, magnetic
Power pump 4, joint of robot 5, sensor 6, intelligent controller 7, check valve 8, filter 9, overflow valve 10, liquid metal storage bin
11, ultracapacitor 12, control signalling means 13, hot thermoelectric generator 14, piston rod 15, big leg joint 16, the connection of big leg joint
Axis 17, knee joint 18, calf joint 19, calf joint connecting shaft 20, ankle-joint 21, robot foot 22, liquid metal pressure work
Make cylinder body 23, piston 24, graphene layer 25, radiator 26, magnet 27, power channel 28, liquid metal 29, electrode strip 30, electricity
Pole exit 31, electric energy output end 32.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is further described.
Embodiment
The driving joint of robot of the embodiment of the present invention liquid metal pressure and self-generating device use liquid metal pressure
Power drive humanoid robot leg joint and self-generating device, operation principle are shown in that Fig. 1, structure are shown in Fig. 2, including：Hot thermo-electric generation
Formula liquid metal pressure working cylinder 1, liquid metal magnetohydrodynamic generation device 2, servo valve 3, magnetic drive pump 4, joint of robot 5, sensing
Device 6, intelligent controller 7, check valve 8, filter 9, overflow valve 10, liquid metal storage bin 11, ultracapacitor 12；Liquid gold
The liquid metal 29 that category magnetohydrodynamic generator device 2 is assemblied in hot temperature difference power generation type liquid metal pressure working cylinder 1 enters on channel, and
Constitute liquid metal pressure driving joint of robot and spontaneous electrical function structure；Liquid metal is stored in liquid metal storage bin 11
29, it is connected with filter 9；Filter 9 is connected by magnetic drive pump 4 with check valve 8 and overflow valve 10；Check valve 8 and servo
The ends liquid metal import p of valve 3 are connected；The liquid gold at the ends outflow end a of servo valve 3 and liquid metal magnetohydrodynamic generation device 2
Belong to 29 upstream ends to be connected；29 outflow end of liquid metal of liquid metal magnetohydrodynamic generation device 2 and hot temperature difference power generation type liquid gold
The inflow of liquid metal 29 end for belonging to pressure working cylinder 1 is connected；The liquid gold of hot temperature difference power generation type liquid metal pressure working cylinder 1
Belong to outflow end with the flow of liquid metal inlet side ends b of servo valve 3 to be connected；The liquid metal ends outflow end t of servo valve 3 and another liquid
State metal storage bin 11 is connected；Intelligent controller and 7 with servo valve 3, magnetic drive pump 4, sensor 6, check valve 9, overflow valve 10,
Liquid metal storage bin 11, ultracapacitor 12, control signalling means 13 are connected；Intelligent controller 7 according to control signalling means 13,
6 feedback information of sensor carries out logical operation, to instruct regulation and control servo valve 3, reaches regulation and control and enters liquid metal magnetohydrodynamic generation
29 flowing velocity of liquid metal of device 2 and hot temperature difference power generation type liquid metal pressure working cylinder 1, flowing time, amount of flow size,
Realize work of the liquid metal 29 in liquid metal magnetohydrodynamic generation device 2 and hot temperature difference power generation type liquid metal pressure working cylinder 1
Cycle；Hot thermoelectric generator 14, liquid metal magnetohydrodynamic generation device 2 in hot temperature difference power generation type liquid metal pressure working cylinder 1
It is connected with ultracapacitor 12；The electric energy output end 32 of ultracapacitor 12 needs power device to be connected with robot；
15 output end of piston rod in hot temperature difference power generation type liquid metal pressure working cylinder 1 is connected by sensor 6 with joint of robot 5
It connects, and joint of robot 5 is driven to carry out controllable action according to dependent instruction.
The joint of robot 5 of the present embodiment is robot leg joint, including：Big leg joint 16, big leg joint connecting shaft 17,
Knee joint 18, calf joint 19, calf joint connecting shaft 20, ankle-joint 21, robot foot 22；Big leg joint 16 passes through knee joint
18 are connected with calf joint 19；Calf joint 19 is connected by ankle-joint 21 with robot foot 22；Hot temperature difference power generation type liquid
1 upper end of state stress metal working cylinder is connected by big leg joint connecting shaft 17 with 16 middle part of big leg joint；Hot temperature difference power generation type
1 lower end of liquid metal pressure working cylinder is connected by calf joint connecting shaft 20 with 19 middle part of calf joint；Liquid metal magnetic
Fluid power-generation device 2, servo valve 3, ultracapacitor 12, sensor 6 are assemblied in hot temperature difference power generation type liquid metal pressure work
1 side of cylinder；Big leg joint 16, calf joint 19 and hot temperature difference power generation type liquid metal pressure working cylinder 1 collectively form liquid gold
Belong to the tripod structure that pressure-driven can generate deformation, controllable driving force is provided for robot ambulation movement.
Hot temperature difference power generation type liquid metal pressure working cylinder 1, including：Liquid metal pressure working cylinder 23, liquid metal
29, piston 24, piston rod 15, hot thermoelectric generator 14, graphene layer 25, radiator 26；Liquid metal 29, piston 24, piston
Bar 15 is assemblied in liquid metal pressure working cylinder 23；Piston rod 15 is connected with piston 24；Piston 24 is by liquid metal 29
It is packaged in side in liquid metal pressure working cylinder 23；Piston rod 15 is the liquid metal of liquid metal pressure working cylinder 23
Pressure driving force output end is connected with robot leg joint；23 outside of liquid metal pressure working cylinder passes through graphene layer
25 are connected with 14 hot junction of hot thermoelectric generator；14 cold end of hot thermoelectric generator is connected with radiator 26；Hot thermoelectric generator
14 are connected with ultracapacitor 12, and by thermo-electric generation power storage in ultracapacitor 12, for electricity consumption needed for robot
Device uses.
Liquid metal magnetohydrodynamic generation device 2 (see Fig. 3), including：Magnet 27, power channel 28, electrode strip 30, electrode are drawn
End 31；Magnet 27 is assemblied in 28 top and bottom of power channel；Electrode strip 30 is assemblied in 28 two sides of power channel；Electrode is drawn
31 connection electrode items 30 are held, and are connected with ultracapacitor 12；Magnet 27 uses permanent magnet；Liquid metal 29 is in servo valve
The lower power channel 28 that enters of 3 controls flows, and constantly cuts and assembles the magnetic force that magnet 27 generates in 28 upper end of power channel, lower end
Line to produce electricl energy, and will generate electricity power storage in ultracapacitor 12, be used for power device needed for robot.
The present embodiment liquid metal uses liquid gallium alloy；Graphene layer uses graphite ene coatings；Hot thermoelectric power generation device
14, including several pieces of concatenated or/and in parallel thermoelectric generation film monomers, thermoelectric generation film monomer and thermoelectric generation film monomer it
Between separated by using heat-insulating material；Radiating element 26 uses air cooling fin radiating element；Sensor 6 uses：Pressure sensor,
Displacement sensor, angular transducer.
The course of work of the present embodiment is as follows：
Intelligent controller 7 receives control signalling means 13 about driving leg joint command information (see Fig. 1), intelligent controller 7
Liquid metal storage bin 11, filter 9 and magnetic drive pump 4 is instructed to work；Magnetic drive pump 4 extracts liquid gold out from liquid metal storage bin 11
Belong to 29 ends p for entering servo valve 3 by filter 9, and enters liquid metal magnetohydrodynamic generation after being flowed out from the ends a of servo valve 3
29 upstream end of liquid metal of device 2, and enter hot temperature difference power generation type liquid gold from the outflow end of liquid metal magnetohydrodynamic generation device 2
Belong to the liquid metal upstream end of pressure working cylinder 1；It is sent out when liquid metal 29 enters liquid metal magnetohydrodynamic under the control of servo valve 3
(see Fig. 3) when the power channel 28 of electric appliance 2 flows, then constantly cuts and produced in 28 upper end of power channel, lower end assembly magnet 27
The raw magnetic line of force, by produce electricl energy electric current；By electrode strip 30 and electrode leads to client 31, by power generation power storage super
In grade capacitor 12, used for power device needed for robot by electric energy output end 32.
When liquid metal 29 enters hot temperature difference power generation type liquid metal pressure from the outflow end of liquid metal magnetohydrodynamic generation device 2
When 29 upstream end of liquid metal of power working cylinder 1, liquid metal 29 generates certain pressure and piston 24 and piston rod 15 is pushed to transport
It is dynamic；Intelligent controller 7 carries out logical operation according to control signalling means 13,6 feedback information of sensor, to instruct regulation and control servo valve 3,
Reach the liquid metal that regulation and control enter liquid metal magnetohydrodynamic generation device 2 and hot temperature difference power generation type liquid metal pressure working cylinder 1
29 flowing velocities, flowing time, amount of flow size realize liquid metal 29 in liquid metal magnetohydrodynamic generation device 2 and the hot temperature difference
The working cycles of power generating type liquid metal pressure working cylinder 1；Piston rod 15 then drives robot leg joint to implement controlled motion.
When liquid metal 29 enters hot temperature difference power generation type liquid metal pressure from the outflow end of liquid metal magnetohydrodynamic generation device 2
When 29 upstream end of liquid metal of power working cylinder 1, liquid metal 29 generates certain pressure and piston 24 and piston rod 15 is pushed to transport
When dynamic, then certain heat is will produce；Liquid metal pressure working cylinder 23 is quickly delivered heat to by graphene layer 25
The hot junction of hot thermoelectric generator 14, since the cold end of hot thermoelectric generator 14 is connected with air cooling fin radiating element 26, in heat
Under the hot junction of thermoelectric generator 14 is acted on cold-end temperature difference, hot thermo-electric generation effect is generated, and the power storage that will generate electricity is super
In capacitor 12, used for power device needed for robot.
When entering 29 upstream end of liquid metal of hot temperature difference power generation type liquid metal pressure working cylinder 1 when liquid metal 29
(see Fig. 2), liquid metal 29 generate certain pressure and piston 24 and piston rod 15 are pushed to move, and pass through big leg joint connecting shaft 17
Big leg joint 16 is driven, calf joint 19 is driven by calf joint connecting shaft 20；Due to big leg joint 16,19 and of calf joint
Hot temperature difference power generation type liquid metal pressure working cylinder 1, the tripod knot of deformation can be generated by collectively forming liquid metal pressure driving
Structure.Since calf joint 19 is connected by ankle-joint 21 with robot foot 22, being provided for robot leg joint walking movement can
The driving force of control.
Herein, the nouns of locality such as involved front, rear, top, and bottom are to be located in figure with parts in attached drawing and zero
Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality
Use should not limit the claimed range of the application.
In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (8)
1. a kind of driving joint of robot of liquid metal pressure and self-generating device, which is characterized in that including：Hot thermo-electric generation
Formula liquid metal pressure working cylinder, liquid metal magnetohydrodynamic generation device, servo valve, magnetic drive pump, joint of robot, sensor, intelligence
It can controller, check valve, filter, overflow valve, liquid metal storage bin, ultracapacitor；The liquid metal magnetohydrodynamic hair
The liquid metal that electric appliance is assemblied in hot temperature difference power generation type liquid metal pressure working cylinder enters on channel；The liquid metal storage
Case stores liquid metal, is connected with filter；The filter is connected by magnetic drive pump with check valve and overflow valve；It is described
Check valve is connected with the ends liquid metal import p of servo valve；The liquid metal outflow ends a and the liquid metal magnetic of the servo valve
The liquid metal upstream end of fluid power-generation device is connected；The liquid metal outflow end of the liquid metal magnetohydrodynamic generation device and heat
The liquid metal of temperature difference power generation type liquid metal pressure working cylinder flows into end and is connected；Hot temperature difference power generation type liquid metal pressure work
Make the liquid metal outflow end of cylinder and the liquid metal of servo valve flows into the ends b and is connected；The liquid metal of the servo valve flows out t
End is connected with liquid metal storage bin；The intelligent controller and servo valve, magnetic drive pump, sensor, check valve, overflow valve,
Liquid metal storage bin, ultracapacitor, control signalling means are connected；The intelligent controller is according to control signalling means, sensing
Device feedback information regulates and controls servo valve；Hot thermoelectric generator, liquid in the hot temperature difference power generation type liquid metal pressure working cylinder
Metal MHD electric organ is connected with ultracapacitor；It needs to use Denso in the electric energy output end and robot of ultracapacitor
It sets and is connected；Piston rod output end in the hot temperature difference power generation type liquid metal pressure working cylinder passes through sensor and robot
Joint is connected, and drives joint of robot according to instruction action.
2. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, which is characterized in that
The driving joint of robot of the liquid metal pressure and self-generating device are the driving robot leg joint of liquid metal pressure
And self-generating device；The joint of robot is robot leg joint, including：Big leg joint, big leg joint connecting shaft, knee close
Section, calf joint, calf joint connecting shaft, ankle-joint, robot foot；The big leg joint passes through knee joint and calf joint phase
Connection；The calf joint is connected by ankle-joint with robot foot；The hot temperature difference power generation type liquid metal pressure work
Cylinder upper end, by being connected in the middle part of big leg joint connecting shaft and big leg joint；The hot temperature difference power generation type liquid metal pressure work
Make cylinder lower end by being connected in the middle part of calf joint connecting shaft and calf joint；The liquid metal magnetohydrodynamic generation device, servo
Valve, ultracapacitor, sensor are assemblied in hot temperature difference power generation type liquid metal pressure working cylinder side；The big leg joint,
Calf joint and hot temperature difference power generation type liquid metal pressure working cylinder, deformation can be generated by collectively forming liquid metal pressure driving
Tripod structure.
3. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, which is characterized in that
The hot temperature difference power generation type liquid metal pressure working cylinder, including：Liquid metal pressure working cylinder, liquid metal, piston, work
Stopper rod, hot thermoelectric generator, graphene layer, radiator；The piston, piston rod, liquid metal are assemblied in liquid metal pressure
In working cylinder；The piston rod is connected with piston；Liquid metal is packaged in liquid metal pressure working cylinder by the piston
Internal side；The piston rod is the liquid metal pressure driving force output end of liquid metal pressure working cylinder, is closed with robot
Section is connected；It is connected with hot thermoelectric generator hot junction by graphene layer on the outside of the liquid metal pressure working cylinder；Institute
Hot thermoelectric generator cold end is stated with radiator to be connected；The hot thermoelectric generator is connected with ultracapacitor, and by the temperature difference
The power storage that generates electricity is in ultracapacitor.
4. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, which is characterized in that
The liquid metal magnetohydrodynamic generation device, including：Magnet, power channel, electrode strip, electrode leads to client；The magnet is assemblied in
Power channel top and bottom；The electrode strip is assemblied in power channel two sides；The electrode leads to client connection electrode item, and
It is connected with ultracapacitor；The magnet is permanent magnet or superconducting magnet；The liquid metal under servo valve control into
Enter power channel flowing.
5. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, it is characterised in that：
The liquid metal includes：Liquid gallium, liquid gallium alloy or liquid gallium nano-fluid；The liquid gallium nano-fluid is to add simultaneously
Dispersing Nano carbon tubes, the liquid gallium of graphene nanometer sheet or nano heat-conductive particle or liquid gallium alloy；The liquid metal uses
The liquid or gas instead of heat conduction；The graphene layer includes：Graphene film, graphite ene coatings or graphene composite material
Layer；The hot thermoelectric power generation device, including several pieces of concatenated or/and in parallel thermoelectric generation film monomers, the thermo-electric generation
It is separated by heat-insulating material between piece monomer and thermoelectric generation film monomer；The radiating element includes：Air cooling fin radiating element
Or working medium circulation radiating element；The working medium includes：Water, nano-fluid or heat-conducting fluid.
6. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, which is characterized in that
The driving joint of robot of the liquid metal pressure and self-generating device are the driving robot shoulder joint of liquid metal pressure
And the driving robots arm joint of self-generating device, liquid metal pressure and the driving machine of self-generating device, liquid metal pressure
Device human hand joint and self-generating device, liquid metal pressure driving humanoid robot neck joint and self-generating device, liquid metal pressure
In power drive humanoid robot ankle-joint and the one or more of self-generating device.
7. the driving joint of robot of liquid metal pressure according to claim 1 and self-generating device, which is characterized in that
The sensor includes：Pressure sensor, displacement sensor, temperature sensor, angular transducer.
8. according to the driving joint of robot of claim 1~7 any one of them liquid metal pressure and self-generating device,
It is characterized in that, can be applied to aircraft liquid metal pressure driving device, mechanical engineering liquid metal pressure driving device, military project
Equip liquid metal pressure driving device, naval vessel liquid metal pressure driving device, traffic track liquid metal pressure driving dress
It sets, one or more of vehicle liquid metal pressure driving device, harbor station liquid metal pressure driving device.
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