CN108657305B - Liquid metal pressure driven robot joint self-generating device - Google Patents
Liquid metal pressure driven robot joint self-generating device Download PDFInfo
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- CN108657305B CN108657305B CN201810604037.3A CN201810604037A CN108657305B CN 108657305 B CN108657305 B CN 108657305B CN 201810604037 A CN201810604037 A CN 201810604037A CN 108657305 B CN108657305 B CN 108657305B
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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
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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
- H02J7/34—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
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- 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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- Mechanical Engineering (AREA)
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Abstract
The invention discloses a liquid metal pressure driven robot joint self-generating device, which comprises: the system comprises a thermal temperature difference power generation type liquid metal pressure working cylinder, a liquid metal magnetofluid power generator, a servo valve, a magnetic pump, a robot joint, a sensor, an intelligent controller, a one-way valve, a filter, an overflow valve, a liquid metal storage tank and a super capacitor; the liquid metal pressure working cylinder and the thermal differential temperature generator are combined to form an integrated structure, and the thermal differential temperature generation effect is generated; the thermal temperature difference power generation type liquid metal pressure working cylinder is combined with the liquid metal magnetofluid power generator, and liquid metal passes through a magnet and cuts magnetic lines of force to generate a liquid metal magnetofluid power generation effect; therefore, the robot joint device has double self-generating functions of thermal temperature difference power generation and magnetohydrodynamic power generation, and provides electric energy guarantee for the walking motion of the robot.
Description
Technical Field
The invention relates to the field of robots, relates to a liquid metal pressure driven robot and a self-power generation application technology, and particularly relates to a liquid metal pressure driven robot joint self-power generation device.
Background
With the continuous development of science and technology, people need to seek a human substitute to complete dangerous work tasks in severe environments. In recent years, rapid development of robotics has been expected. The robot can adapt to the living environment and the used tools of human beings ideally, and can carry out man-machine conversation, communication and the like; the robot has wide application value, can replace people to work in the severe environment with radiation, dust and toxicity, can form a power type artificial limb, and assists a paralytic to walk and the like. Therefore, the robot has development prospect and wide application value in a plurality of fields such as medical treatment, ocean development, education, disaster relief, engineering, military affairs, biotechnology, machine maintenance, agriculture, forestry, aquatic products, transportation and the like. In the development process of the robot, joint driving technology is an important core technology. At present, many robots adopt motors as robot joint driving forces, namely, electric driving. However, the electric driving mode has weak points, such as the incapability of bearing large load, and the frequent need of a transmission device with large and heavy external connection; the motor is easy to damage due to overhigh load and higher working temperature. The electric driving mode has the advantages that the output power of the motor is required to be increased along with the increase of the load, the size and the weight of the motor are increased, the overall influence on the robot system is large, and the transmission device is required to be added if the power of the motor is not increased, so that the speed is reduced and the weight of the robot system is increased. To overcome such problems, hydraulically driven articulated robots have been used.
The hydraulic drive articulated robot has the most prominent advantages of smaller device volume and smaller inertia compared with the electric drive articulated robot. For a walking robot that needs to have a flexible response, the device volume and inertia determine the requirements for the control system and equipment. Therefore, hydraulic energy is selected as robot driving energy, and the robot driving energy-saving device has certain practical use value. At present, how to further improve the dynamic characteristic, the load capacity and the environmental suitability of hydraulic drive articulated robot, how to develop hydraulic drive articulated robot has high dynamic, good balanced control ability, extremely strong obstacle-surmounting ability, how to make leg-foot joint drive type robot can supplement the electric energy that self-generation needed in the walking process, these are all faced the technical problem that needs to solve.
Disclosure of Invention
In view of the above, the present invention provides a liquid metal pressure driven robot joint self-power generation device.
The invention adopts a technical scheme that: a liquid metal pressure driven robot joint self-generating device, comprising: the system comprises a thermal temperature difference power generation type liquid metal pressure working cylinder, a liquid metal magnetofluid power generator, a servo valve, a magnetic pump, a robot joint, a sensor, an intelligent controller, a one-way valve, a filter, an overflow valve, a liquid metal storage tank and a super capacitor; the liquid metal magnetohydrodynamic generator is assembled on a liquid metal inlet channel of the thermal temperature difference power generation type liquid metal pressure working cylinder, and forms a liquid metal pressure driven robot joint and a self-generating structure; the liquid metal storage tank is connected with the filter; the filter is connected with the one-way valve and the overflow valve through the magnetic pump; the check valve is connected with the p end of the liquid metal inlet of the servo valve; the liquid metal outflow end a of the servo valve is connected with the liquid metal inlet end of the liquid metal magnetofluid generator; the liquid metal outflow end of the liquid metal magnetofluid generator is connected with the liquid metal inflow end of the thermal temperature difference power generation type liquid metal pressure working cylinder; the liquid metal outflow end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the liquid metal inflow end b of the servo valve; the liquid metal outflow t end of the servo valve is connected with another liquid metal storage tank; the intelligent controller is connected with the servo valve, the magnetic pump, the sensor, the one-way valve, the overflow valve, the liquid metal storage tank, the super capacitor and the control signal device; the intelligent controller carries out logical operation according to feedback information of the control signal device and the sensor to instruct the regulation and control servo valve to regulate and control the flow speed, the flow time and the flow quantity of the liquid metal entering the liquid metal magnetohydrodynamic generator and the thermal temperature difference power generation type liquid metal pressure working cylinder, and the working circulation of the liquid metal in the liquid metal magnetohydrodynamic generator and the thermal temperature difference power generation type liquid metal pressure working cylinder is realized; the thermal temperature difference generator and the liquid metal magnetofluid generator in the thermal temperature difference power generation type liquid metal pressure working cylinder are connected with the super capacitor; the electric energy output end of the super capacitor is connected with a device needing to be used in the robot; and the output end of a piston rod in the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with a robot joint through a sensor and drives the robot joint to perform controllable action according to related instructions.
In the scheme, the liquid metal pressure driven robot joint self-generating device is a liquid metal pressure driven robot leg joint self-generating device; the robot joint is a robot leg joint, including: thigh joints, thigh joint connecting shafts, knee joints, shank joint connecting shafts, ankle joints and robot feet; the thigh joint is connected with the shank joint through the knee joint; the shank joint is connected with the robot foot through an ankle joint; the upper end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the middle part of a thigh joint through a thigh joint connecting shaft; the lower end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the middle part of a crus joint through a crus joint connecting shaft; the liquid metal magnetofluid generator, the servo valve, the super capacitor and the sensor are all assembled beside the thermal temperature difference power generation type liquid metal pressure working cylinder; thigh joints, shank joints and the thermal temperature difference power generation type liquid metal pressure working cylinder jointly form a tripod structure which can be deformed by liquid metal pressure driving, and controllable driving force is provided for leg walking motion of the robot.
In the above-mentioned scheme, hot thermoelectric generation formula liquid metal pressure working cylinder includes: the device comprises a liquid metal pressure working cylinder body, liquid metal, a piston rod, a thermal differential temperature generator, a graphene layer and a radiator; the piston, the piston rod and the liquid metal are assembled in the liquid metal pressure working cylinder body; the piston rod is connected with the piston; the piston seals the liquid metal at one side in the liquid metal pressure working cylinder body; the piston rod is a liquid metal pressure driving force output end of the liquid metal pressure working cylinder and is connected with the robot joint; the outer side of the liquid metal pressure working cylinder body is connected with the hot end of the thermal differential temperature generator through a graphene layer; the cold end of the thermal thermoelectric generator is connected with a radiator; the thermal temperature difference generator is connected with the super capacitor, and stores the temperature difference power generation electric energy in the super capacitor for the electric device of the robot.
In the above scheme, the liquid metal mhd generator includes: the device comprises a magnet, a power generation channel, an electrode strip and an electrode leading-out end; the magnets are assembled at the upper end and the lower end of the power generation channel; the electrode strips are assembled on two side surfaces of the power generation channel; the electrode leading-out end is connected with the electrode strip and is connected with the super capacitor; the magnet includes: a permanent magnet or a superconducting magnet; the liquid metal enters the power generation channel to flow under the control of the servo valve, and continuously cuts magnetic lines generated by the magnets assembled at the upper end and the lower end of the power generation channel, so that electric energy is generated, and the generated electric energy is stored in the super capacitor and is used by a power utilization device required by the robot.
In the above scheme, the liquid metal includes: liquid gallium, liquid gallium alloy or liquid gallium nanofluid; the liquid gallium nanofluid comprising: adding and dispersing liquid gallium or liquid gallium alloy of carbon nano tubes, graphene nano sheets or nano heat conduction particles, wherein the liquid metal can be replaced by liquid or gas with good heat conductivity; the graphene layer includes: a graphene film, a graphene coating or a graphene composite layer; the thermal thermoelectric power generation device comprises a plurality of thermoelectric power generation sheet monomers which are connected in series or/and in parallel, and the thermoelectric power generation sheet monomers are separated from the thermoelectric power generation sheet monomers through a heat insulating material; the heat sink includes: an air cooling fin heat dissipation device or a working medium circulation heat dissipation device; the working fluid comprises: water, nanofluids, or heat transfer fluids.
In the above-mentioned scheme, liquid metal pressure drive type robot joint and self-generating device still include: one or more of a liquid metal pressure driven robot shoulder joint and self-generating device, a liquid metal pressure driven robot arm joint and self-generating device, a liquid metal pressure driven robot hand joint and self-generating device, a liquid metal pressure driven robot neck joint and self-generating device, and a liquid metal pressure driven robot ankle joint and self-generating device; the liquid metal pressure-driven robot joint and the self-generating device can be applied to: the liquid metal pressure driving device comprises one or more of an aircraft liquid metal pressure driving device, a mechanical engineering liquid metal pressure driving device, a military equipment liquid metal pressure driving device, a ship liquid metal pressure driving device, a traffic track liquid metal pressure driving device, a vehicle liquid metal pressure driving device and a port and station liquid metal pressure driving device.
In the above aspect, the sensor includes: pressure sensor, displacement sensor, temperature sensor, angle sensor.
The technical scheme provided by the embodiment of the invention has the following beneficial effects:
(1) the invention adopts the disclosed thermal temperature difference power generation type liquid metal pressure working cylinder, and combines the liquid metal pressure working cylinder and the thermal temperature difference power generator to form an integrated structure; compared with the traditional hydraulic oil, the liquid metal serving as the working liquid of the hydraulic cylinder has the advantages of stable performance, high temperature resistance, good heat conductivity and the like, and improves the dynamic characteristic, the load capacity, the environmental adaptability, the balance control capacity and the obstacle crossing capacity; the liquid metal has excellent heat-conducting property, so that heat generated under the condition of high load can be quickly transmitted to the hot end of the thermoelectric generator for power generation and utilization, and the liquid metal pressure-driven robot joint and the self-generating device have high self-generating efficiency.
(2) The invention combines a thermal temperature difference power generation type liquid metal pressure working cylinder with a liquid metal magnetofluid power generator, wherein liquid metal passes through a magnet and cuts magnetic lines of force to generate a power generation effect; therefore, the robot joint device has the functions of self-power generation and double power generation of thermal temperature difference power generation and magnetohydrodynamic power generation, and provides electric energy guarantee for the walking motion of the robot.
Drawings
FIG. 1 is a schematic diagram of the operation of the joint self-generating device of the liquid metal pressure driven robot of the present invention;
FIG. 2 is a schematic structural diagram of a liquid metal pressure driven robot leg joint self-generating device of the invention;
fig. 3 is a schematic structural diagram of the liquid metal flow cutting magnetic line power generation in the liquid metal magnetohydrodynamic generator of the present invention.
The device comprises a thermal temperature difference power generation type liquid metal pressure working cylinder 1, a liquid metal magnetohydrodynamic power generator 2, a servo valve 3, a magnetic pump 4, a robot joint 5, a sensor 6, an intelligent controller 7, a one-way valve 8, a filter 9, an overflow valve 10, a liquid metal storage tank 11, a super capacitor 12, a control annunciator 13, a thermal temperature difference power generator 14, a piston rod 15, a thigh joint 16, a thigh joint connecting shaft 17, a knee joint 18, a shank joint 19, a shank joint connecting shaft 20, an ankle joint 21, a robot foot 22, a liquid metal pressure working cylinder body 23, a piston 24, a graphene layer 25, a radiator 26, a magnet 27, a power generation channel 28, liquid metal 29, an electrode strip 30, an electrode leading-out end 31 and an electric energy output end 32.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be further described with reference to the accompanying drawings.
Examples
The liquid metal pressure driven robot joint self-generating device of the embodiment of the invention adopts a liquid metal pressure driven robot leg joint self-generating device, the working principle of which is shown in figure 1, and the structure of which is shown in figure 2, and comprises: the device comprises a thermal temperature difference power generation type liquid metal pressure working cylinder 1, a liquid metal magnetofluid power generator 2, a servo valve 3, a magnetic pump 4, a robot joint 5, a sensor 6, an intelligent controller 7, a one-way valve 8, a filter 9, an overflow valve 10, a liquid metal storage tank 11 and a super capacitor 12; the liquid metal magnetohydrodynamic generator 2 is assembled on a liquid metal 29 inlet channel of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 and forms a liquid metal pressure driven robot joint and a self-generating functional structure; the liquid metal storage tank 11 stores liquid metal 29 and is connected with the filter 9; the filter 9 is connected with the one-way valve 8 and the overflow valve 10 through the magnetic pump 4; the check valve 8 is connected with the p end of the liquid metal inlet of the servo valve 3; the outflow end a end of the servo valve 3 is connected with the liquid metal 29 inlet end of the liquid metal magnetofluid generator 2; the outflow end of the liquid metal 29 of the liquid metal magnetohydrodynamic generator 2 is connected with the inflow end of the liquid metal 29 of the thermal temperature difference power generation type liquid metal pressure working cylinder 1; the liquid metal outflow end of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 is connected with the liquid metal inflow end b end of the servo valve 3; the end t of the liquid metal outflow end of the servo valve 3 is connected with another liquid metal storage tank 11; the intelligent controller 7 is connected with the servo valve 3, the magnetic pump 4, the sensor 6, the one-way valve 9, the overflow valve 10, the liquid metal storage tank 11, the super capacitor 12 and the control signal device 13; the intelligent controller 7 carries out logical operation according to feedback information of the control signaler 13 and the sensor 6 to instruct the regulation and control servo valve 3 to regulate and control the flow speed, the flow time and the flow quantity of the liquid metal 29 entering the liquid metal magnetohydrodynamic generator 2 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1, and realize the working cycle of the liquid metal 29 in the liquid metal magnetohydrodynamic generator 2 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1; the thermal temperature difference generator 14 and the liquid metal magnetofluid generator 2 in the thermal temperature difference power generation type liquid metal pressure working cylinder 1 are connected with the super capacitor 12; the electric energy output end 32 of the super capacitor 12 is connected with a device needing electricity in the robot; the output end of a piston rod 15 in the thermal temperature difference power generation type liquid metal pressure working cylinder 1 is connected with a robot joint 5 through a sensor 6, and the robot joint 5 is driven to carry out controllable action according to related instructions.
The robot joint 5 of the present embodiment is a robot leg joint, and includes: a thigh joint 16, a thigh joint connecting shaft 17, a knee joint 18, a shank joint 19, a shank joint connecting shaft 20, an ankle joint 21 and a robot foot 22; the thigh joint 16 is connected with the calf joint 19 through the knee joint 18; the shank joint 19 is connected with a robot foot 22 through an ankle joint 21; the upper end of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 is connected with the middle part of a thigh joint 16 through a thigh joint connecting shaft 17; the lower end of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 is connected with the middle part of a shank joint 19 through a shank joint connecting shaft 20; the liquid metal magnetohydrodynamic generator 2, the servo valve 3, the super capacitor 12 and the sensor 6 are all assembled beside the thermal temperature difference power generation type liquid metal pressure working cylinder 1; thigh joints 16, shank joints 19 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1 jointly form a tripod structure which can be deformed by liquid metal pressure driving, and controllable driving force is provided for robot walking motion.
Thermal thermoelectric generation formula liquid metal pressure working cylinder 1 includes: the device comprises a liquid metal pressure working cylinder 23, liquid metal 29, a piston 24, a piston rod 15, a thermal differential temperature generator 14, a graphene layer 25 and a radiator 26; the liquid metal 29, the piston 24 and the piston rod 15 are assembled in the liquid metal pressure working cylinder 23; the piston rod 15 is connected with the piston 24; the piston 24 seals the liquid metal 29 at one side in the liquid metal pressure working cylinder 23; the piston rod 15 is the liquid metal pressure driving force output end of the liquid metal pressure working cylinder body 23 and is connected with the leg joint of the robot; the outer side of the liquid metal pressure working cylinder body 23 is connected with the hot end of the thermal differential temperature generator 14 through a graphene layer 25; the cold end of the thermoelectric generator 14 is connected with a radiator 26; the thermoelectric generator 14 is connected with the super capacitor 12, and stores thermoelectric generation electric energy in the super capacitor 12 for the electric device required by the robot.
Liquid metal mhd generator 2 (see fig. 3) comprising: the magnet 27, the power generation channel 28, the electrode strip 30 and the electrode leading-out end 31; magnets 27 are fitted at the upper and lower ends of the power generation passage 28; the electrode strips 30 are assembled on two side surfaces of the power generation channel 28; the electrode leading-out terminal 31 is connected with the electrode strip 30 and is connected with the super capacitor 12; the magnet 27 is a permanent magnet; the liquid metal 29 enters the power generation channel 28 to flow under the control of the servo valve 3, continuously cuts magnetic lines generated by the magnets 27 arranged at the upper end and the lower end of the power generation channel 28, so as to generate electric energy, and the generated electric energy is stored in the super capacitor 12 and is used by electric devices required by the robot.
In the embodiment, the liquid metal adopts liquid gallium alloy; the graphene layer is a graphene coating; the thermoelectric power generation device 14 comprises a plurality of thermoelectric power generation sheet monomers connected in series or/and in parallel, and the thermoelectric power generation sheet monomers are separated from the thermoelectric power generation sheet monomers by using a heat insulation material; the radiator 26 adopts an air-cooled fin radiator; the sensor 6 employs: pressure sensor, displacement sensor, angle sensor.
The working process of the embodiment is as follows:
the intelligent controller 7 receives the control signaler 13 about the driving leg joint instruction information (see figure 1), and the intelligent controller 7 instructs the liquid metal storage tank 11, the filter 9 and the magnetic pump 4 to work; the magnetic pump 4 pumps out the liquid metal 29 from the liquid metal storage tank 11, the liquid metal passes through the filter 9 and enters the p end of the servo valve 3, the liquid metal flows out of the a end of the servo valve 3 and enters the liquid metal 29 inlet end of the liquid metal magnetohydrodynamic generator 2, and the liquid metal enters the liquid metal inlet end of the thermal differential temperature power generation type liquid metal pressure working cylinder 1 from the outflow end of the liquid metal magnetohydrodynamic generator 2; when the liquid metal 29 enters the power generation channel 28 of the liquid metal magnetohydrodynamic generator 2 to flow under the control of the servo valve 3 (see fig. 3), magnetic lines of force generated by the assembly magnets 27 at the upper end and the lower end of the power generation channel 28 are continuously cut, and electric energy current is generated through the magnetic lines of force; the generated electric energy is stored in the super capacitor 12 through the electrode strip 30 and the electrode leading-out terminal 31, and is supplied to electric devices required by the robot through the electric energy output terminal 32.
When the liquid metal 29 enters the liquid metal 29 inlet end of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 from the outlet end of the liquid metal magnetofluid power generator 2, the liquid metal 29 generates certain pressure to push the piston 24 and the piston rod 15 to move; the intelligent controller 7 carries out logical operation according to feedback information of the control signaler 13 and the sensor 6 to instruct the regulation and control servo valve 3 to regulate and control the flow speed, the flow time and the flow quantity of the liquid metal 29 entering the liquid metal magnetohydrodynamic generator 2 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1, and realize the working cycle of the liquid metal 29 in the liquid metal magnetohydrodynamic generator 2 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1; the piston rod 15 drives the robot leg joint to perform controllable motion.
When the liquid metal 29 enters the liquid metal 29 inlet end of the thermal differential temperature power generation type liquid metal pressure working cylinder 1 from the outlet end of the liquid metal magnetofluid power generator 2, certain heat can be generated when the liquid metal 29 generates certain pressure to push the piston 24 and the piston rod 15 to move; the liquid metal pressure working cylinder 23 rapidly transmits heat to the hot end of the thermoelectric generator 14 through the graphene layer 25, and as the cold end of the thermoelectric generator 14 is connected with the air-cooled fin radiator 26, under the temperature difference action between the hot end and the cold end of the thermoelectric generator 14, a thermoelectric generation effect is generated, and power generation electric energy is stored in the super capacitor 12 and is used by electric devices required by the robot.
When the liquid metal 29 enters the liquid metal 29 inlet end of the thermal temperature difference power generation type liquid metal pressure working cylinder 1 (see fig. 2), the liquid metal 29 generates certain pressure to push the piston 24 and the piston rod 15 to move, the thigh joint 16 is driven by the thigh joint connecting shaft 17, and the shank joint 19 is driven by the shank joint connecting shaft 20; as the thigh joint 16, the shank joint 19 and the thermal temperature difference power generation type liquid metal pressure working cylinder 1 jointly form a tripod structure which can be deformed by liquid metal pressure driving. Because the lower leg joint 19 is connected with the robot foot 22 through the ankle joint 21, controllable driving force is provided for the walking motion of the robot leg joint.
In this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. A liquid metal pressure driven robot joint self-generating device, comprising: the system comprises a thermal temperature difference power generation type liquid metal pressure working cylinder, a liquid metal magnetofluid power generator, a servo valve, a magnetic pump, a robot joint, a sensor, an intelligent controller, a one-way valve, a filter, an overflow valve, a liquid metal storage tank and a super capacitor; the liquid metal magnetofluid generator is assembled on a liquid metal inlet channel of the thermal temperature difference power generation type liquid metal pressure working cylinder; the liquid metal storage tank stores liquid metal and is connected with the filter; the filter is connected with the one-way valve and the overflow valve through the magnetic pump; the check valve is connected with the p end of the liquid metal inlet of the servo valve; the liquid metal outflow end a of the servo valve is connected with the liquid metal inlet end of the liquid metal magnetofluid generator; the liquid metal outflow end of the liquid metal magnetofluid generator is connected with the liquid metal inflow end of the thermal temperature difference power generation type liquid metal pressure working cylinder; the liquid metal outflow end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the liquid metal inflow end b of the servo valve; the liquid metal outflow t end of the servo valve is connected with the liquid metal storage tank; the intelligent controller is connected with the servo valve, the magnetic pump, the sensor, the one-way valve, the overflow valve, the liquid metal storage tank, the super capacitor and the control signal device; the intelligent controller regulates and controls the servo valve according to the feedback information of the control signal device and the sensor; the thermal temperature difference generator and the liquid metal magnetofluid generator in the thermal temperature difference power generation type liquid metal pressure working cylinder are connected with the super capacitor; the electric energy output end of the super capacitor is connected with a device needing to be used in the robot; and the output end of a piston rod in the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with a robot joint through a sensor and drives the robot joint to act according to instructions.
2. The liquid metal pressure driven robotic joint self-generating device of claim 1, wherein the robotic joint is a robotic leg joint comprising: thigh joints, thigh joint connecting shafts, knee joints, shank joint connecting shafts, ankle joints and robot feet; the thigh joint is connected with the shank joint through the knee joint; the shank joint is connected with the robot foot through an ankle joint; the upper end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the middle part of a thigh joint through a thigh joint connecting shaft; the lower end of the thermal temperature difference power generation type liquid metal pressure working cylinder is connected with the middle part of a crus joint through a crus joint connecting shaft; the liquid metal magnetofluid generator, the servo valve, the super capacitor and the sensor are all assembled beside the thermal temperature difference power generation type liquid metal pressure working cylinder; thigh joints, shank joints and the thermal temperature difference power generation type liquid metal pressure working cylinder jointly form a tripod structure which can be deformed by liquid metal pressure driving.
3. The liquid metal pressure driven robotic joint self-generating device of claim 1, wherein the thermo-electric generation type liquid metal pressure cylinder comprises: the device comprises a liquid metal pressure working cylinder body, liquid metal, a piston rod, a thermal differential temperature generator, a graphene layer and a radiator; the piston, the piston rod and the liquid metal are assembled in the liquid metal pressure working cylinder body; the piston rod is connected with the piston; the piston seals the liquid metal at one side in the liquid metal pressure working cylinder body; the piston rod is a liquid metal pressure driving force output end of the liquid metal pressure working cylinder and is connected with the robot joint; the outer side of the liquid metal pressure working cylinder body is connected with the hot end of the thermal differential temperature generator through a graphene layer; the cold end of the thermal thermoelectric generator is connected with a radiator; the thermal thermoelectric generator is connected with the super capacitor and stores thermoelectric generation electric energy in the super capacitor.
4. The liquid metal pressure driven robotic joint self-generating device of claim 1, wherein the liquid metal magnetohydrodynamic generator comprises: the device comprises a magnet, a power generation channel, an electrode strip and an electrode leading-out end; the magnets are assembled at the upper end and the lower end of the power generation channel; the electrode strips are assembled on two side surfaces of the power generation channel; the electrode leading-out end is connected with the electrode strip and is connected with the super capacitor; the magnet is a permanent magnet or a superconducting magnet; the liquid metal enters the power generation channel to flow under the control of a servo valve.
5. The liquid metal pressure driven robotic joint self-generating device of claim 1, wherein: the liquid metal includes: liquid gallium, liquid gallium alloy or liquid gallium nanofluid; the liquid gallium nanofluid is liquid gallium or liquid gallium alloy added with and dispersed with carbon nanotubes, graphene nanosheets or nano heat conducting particles; the liquid metal is replaced by heat-conducting liquid or gas; the graphene layer includes: a graphene film, a graphene coating or a graphene composite layer; the thermal thermoelectric power generation device comprises a plurality of thermoelectric power generation sheet monomers which are connected in series or/and in parallel, and the thermoelectric power generation sheet monomers are separated from the thermoelectric power generation sheet monomers through a heat insulating material; the heat sink includes: an air cooling fin heat dissipation device or a working medium circulation heat dissipation device; the working fluid comprises: water, nanofluids, or heat transfer fluids.
6. The liquid metal pressure driven robot joint self-power generation device according to claim 1, wherein the liquid metal pressure driven robot joint and self-power generation device is one or more of a liquid metal pressure driven robot shoulder joint and self-power generation device, a liquid metal pressure driven robot arm joint and self-power generation device, a liquid metal pressure driven robot hand joint and self-power generation device, a liquid metal pressure driven robot neck joint and self-power generation device, a liquid metal pressure driven robot ankle joint and self-power generation device.
7. The liquid metal pressure driven robotic joint self-generating device of claim 1, wherein the sensor comprises: pressure sensor, displacement sensor, temperature sensor, angle sensor.
8. The liquid metal pressure driven robot joint self-power generation device according to any one of claims 1 to 7, wherein the device can be applied to one or more of aircraft liquid metal pressure driving devices, mechanical engineering liquid metal pressure driving devices, military equipment liquid metal pressure driving devices, ship liquid metal pressure driving devices, traffic track liquid metal pressure driving devices, vehicle liquid metal pressure driving devices and harbor station liquid metal pressure driving devices.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810604037.3A CN108657305B (en) | 2018-06-12 | 2018-06-12 | Liquid metal pressure driven robot joint self-generating device |
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| CN201810604037.3A CN108657305B (en) | 2018-06-12 | 2018-06-12 | Liquid metal pressure driven robot joint self-generating device |
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| CN109605356B (en) * | 2018-11-16 | 2021-06-25 | 中国科学院理化技术研究所 | Self-driven snake-shaped motion-imitating liquid metal flexible machine |
| CN111293856B (en) * | 2020-03-16 | 2021-08-20 | 义乌市嘉诗电子科技有限公司 | Low-cost wearable human body movement power generation device and manufacturing method thereof |
| CN111355358B (en) * | 2020-03-19 | 2021-08-20 | 义乌市嘉诗电子科技有限公司 | Human motion power generation device for gymnasium and manufacturing method thereof |
| CN111608964B (en) * | 2020-04-16 | 2021-04-06 | 浙江大学 | Robot capable of recovering support phase pressing action energy and control method thereof |
| CN114633824A (en) * | 2022-03-22 | 2022-06-17 | 陇东学院 | Biped robot and leg damping and energy recovery device thereof |
| CN114776733B (en) * | 2022-05-11 | 2023-11-24 | 空间液态金属科技发展(江苏)有限公司 | High heat dissipation type disc brake system |
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| US6422329B1 (en) * | 1999-11-12 | 2002-07-23 | Homayoon Kazerooni | Human assisted walking robot |
| US9283949B2 (en) * | 2014-07-22 | 2016-03-15 | Google Inc. | Hybrid hydraulic and electrically actuated mobile robot |
| CN104135191A (en) * | 2014-08-18 | 2014-11-05 | 中国地质大学（武汉） | Foam metal composite phase change material heat storage temperature-difference power generation device |
| US9731416B1 (en) * | 2015-03-11 | 2017-08-15 | Google Inc. | Legged robot passive fluid-based ankles with spring centering |
| CN106357084B (en) * | 2016-11-29 | 2020-02-14 | 中国科学院电工研究所无锡分所 | Double-channel liquid metal magnetohydrodynamic generator |
| CN107370328A (en) * | 2017-07-10 | 2017-11-21 | 西安交通大学 | A kind of energy recycle device and method of field legged type robot leg damping |
| CN107672686B (en) * | 2017-09-20 | 2019-09-20 | 深圳市行者机器人技术有限公司 | A kind of biped robot and its leg damping and energy recycle device |
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