CN208773609U - Liquid metal humanoid robot Dextrous Hand - Google Patents
Liquid metal humanoid robot Dextrous Hand Download PDFInfo
- Publication number
- CN208773609U CN208773609U CN201821169344.5U CN201821169344U CN208773609U CN 208773609 U CN208773609 U CN 208773609U CN 201821169344 U CN201821169344 U CN 201821169344U CN 208773609 U CN208773609 U CN 208773609U
- Authority
- CN
- China
- Prior art keywords
- liquid metal
- joint
- remote
- nearly
- finger joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a kind of liquid metal humanoid robot Dextrous Hand, refrigeration is assemblied in inside nearly finger joint with heating formula liquid metal driving joint operation cylinder, the spontaneous electric appliance of liquid metal；Described nearly finger joint one end is connected with remote finger joint, constitutes single finger；The nearly finger joint other end is connected with palm；Multiple fingers are connected with palm, collectively form liquid metal humanoid robot Dextrous Hand with the intelligent controller；The pole assemblage of the spontaneous electric appliance of liquid metal is on the outside of the middle part of refrigeration and heating formula liquid metal driving joint operation cylinder, liquid metal cuts magnetic pole and generates magnetic induction line generation cutting current, drives the upper electrode layer of joint operation cylinder, lower electrode layer that electric current is transmitted to battery by the rectifier of the spontaneous electric appliance of liquid metal by the refrigeration and heating formula liquid metal.There is the utility model robot delicate adaptive coincide to be crawled the performance of object shape, and there is the mobile spontaneous electrical function of liquid metal to provide one kind.
Description
Technical field
The utility model relates to robot delicates, more specifically to a kind of liquid metal humanoid robot Dextrous Hand.
Background technique
Current robot technology obtains fast development, and application field is more and more extensive.As machine human and environment phase
The last execution unit of interaction, end effector have the raising of robot automtion level and level of operation particularly significant
Effect.The research of the ability to work of end effector of robot receives great attention.In recent years, due to traditional industry
End effector of robot is designed generally directed to specific particular task, and such as two finger single-degree-of-freedom clampers can be used for clamping geometric form
Shape regular object executes loading and unloading and simple fittage, and because its structure is simple, application is wide.But when the object grasped
Or when task change, the structure type of end effector will also change, therefore its adaption object is limited in scope, it is on the other hand traditional
Actuator rigid grasping is retained as to object, if want change grasping posture or change grasping point, need first to decontrol object again
Grasping, therefore its operating flexibility is insufficient.In modern industrial production, product category is increasing, and the pace of product renewal is continuous
Accelerate, production task is higher and higher to end effector requirement, and the conventional termination for lacking versatility and flexibility executes
Device can not increasingly adapt to the needs in market, and robot delicate is multiple free because having the characteristics that in structure, so right
Clamping object is adaptable, and can operate clamped object and adjust its pose, while Dextrous Hand also has sensing capability, this
A little advantages make Dextrous Hand constantly be developed and be applied as general end-effector.As new generation of intelligent universal machine
The Dextrous Hand of tool gripper capable substitution mankind under the limit such as space, underwater and nuclear radiation and hostile environment execute dangerous and answer
Miscellaneous operation task, application potential are huge.Such as repair and test outside the station module under space environment, the spy under deep-marine-environment
It surveys, sample and salvages, the nuclear device maintenance under radiation risk environment, nuclear warhead dismounts and battlefield is removed mines etc..In addition, service,
Medical treatment, entertainment field, the humanoid dextrous hand for being installed on anthropomorphic robot arm end also receive more and more attention, these are answered
Enormous motivation is provided with prospect for the research of Dextrous Hand.
The adaptivity of robot delicate crawl object currently how is further increased, how will driving and sensing and control
Technology processed combines to further increase robot hand dexterity, how to develop and use the spontaneous electrical function of robot delicate
Etc. technologies, these all need people and further go to solve.
Utility model content
In view of this, the present invention provides a kind of liquid metal humanoid robot Dextrous Hands, comprising: refrigeration and heating formula
Liquid metal drives joint operation cylinder, the spontaneous electric appliance of liquid metal, nearly finger joint, remote finger joint, palm, intelligent controller；The system
It is cold to be assemblied in inside nearly finger joint with heating formula liquid metal driving joint operation cylinder, the spontaneous electric appliance of liquid metal；The nearly finger
Section one end is connected with remote finger joint, constitutes the single finger of liquid metal humanoid robot Dextrous Hand；The nearly finger joint other end with
Palm is connected；The finger of the multiple liquid metal humanoid robot Dextrous Hand is connected with palm, and total with intelligent controller
With composition liquid metal humanoid robot Dextrous Hand；The refrigeration drives joint operation cylinder with heating formula liquid metal, comprising: liquid
The nearly finger joint active piston of metal driving joint operation cylinder body, liquid metal, upper electrode layer, the nearly finger joint of liquid metal by piston,
Lower electrode layer, miniature refrigerator, miniature heat-producing machine, first pressure sensor, temperature sensor, flexible expandable by piston
Bar, connection shifting block, remote joint shifting block, liquid metal, heat-conducting layer, heat insulation layer；The miniature refrigerator, miniature heat-producing machine are by leading
Thermosphere is respectively assembled at the front outsides different places of liquid metal driving joint operation cylinder body；The spontaneous electric appliance of liquid metal
It include: magnetic pole, rectifier, battery；The pole assemblage drives in joint operation cylinder in refrigeration and heating formula liquid metal
On the outside of portion, the liquid metal cutting magnetic pole generates magnetic induction line and generates cutting current, will by the upper electrode layer, lower electrode layer
Electric current is transmitted to battery by rectifier.
In above scheme, the liquid metal humanoid robot Dextrous Hand, the refrigeration drives with heating formula liquid metal
The nearly finger joint active piston of liquid metal in joint operation cylinder is in T font, is assemblied in liquid metal driving joint operation cylinder body
The front in portion can drive the sliding of joint operation inboard wall of cylinder block along liquid metal；It is close that the pressure sensor is assemblied in liquid metal
The anterior face of finger joint active piston receiving external force；The upper electrode layer is assemblied in liquid metal nearly finger joint active piston rear portion table
Face, and be in close contact with the liquid metal one end for being encapsulated in liquid metal driving joint operation cylinder interior；The liquid metal
Nearly finger joint is assemblied in the middle part of liquid metal driving joint operation cylinder interior by piston, can drive joint work along liquid metal
Make inboard wall of cylinder block sliding；The nearly finger joint of the liquid metal is equipped with lower electrode layer by an end face of piston；The lower electrode layer
It is in close contact with the liquid metal other end for being encapsulated in liquid metal driving joint operation cylinder interior；The liquid metal is sealed
Between the lower electrode layer by piston of upper electrode layer and the nearly finger joint of liquid metal of the nearly finger joint active piston of liquid metal, and
It is formed in external pressure and acts on lower liquid metal pressure closed system and removable frame；The passive piston rod is assemblied in liquid gold
Belong to the rear portion of driving joint operation cylinder interior, and finger joint close with liquid metal is connected by the other end of piston；The liquid
The outer layer of state metal driving joint operation cylinder body is heat insulation layer.
In above scheme, the nearly finger joint includes: nearly finger joint active sliding block, nearly joint shaft, nearly joint guide rod, nearly finger joint
Plate washer；The remote finger joint includes: remote joint pressure spring, remote joint pressure spring guide rod, remote joint torsional spring, remote joint shaft, second pressure biography
Sensor；Nearly finger joint active sliding block finger joint active piston front end close with liquid metal is closely coupled to be connect；The nearly joint guide rod
It is connected with nearly joint shaft；The nearly joint shaft is connected with palm；The passive piston rod is connected with shifting block is connect；It is described
Connection shifting block is connected with remote joint shifting block；The remote joint shifting block is connected with remote joint pressure spring one end；The remote joint pressure
The spring other end is connected with remote joint pressure spring guide rod；The remote joint shifting block other end is connected with remote joint shaft；The remote pass
The nodal axisn other end is connected with the remote joint pressure spring guide rod other end；The remote joint shaft and remote joint torsional spring and nearly finger joint plate washer phase
Connection；The second pressure sensor is assemblied in the outside of remote finger joint stress.
In above scheme, the intelligent controller and miniature refrigerator, miniature heat-producing machine, first pressure sensor, the
The spontaneous electric appliance of two pressure sensors, temperature sensor, liquid metal is connected；The miniature refrigerator includes: quick J-T refrigeration
Device, micro semiconductor refrigerator, micro-miniature refrigerator, quick start taper throttling refrigerator or cryocooler cold head minisize refrigeration
Device；It includes: column type, tower or flat that the quick J-T refrigerator is divided by shape, includes: certainly by gas flow optimized Division
Mode is open, includes: single gas circuit or double gas circuits by gas circuit division, by with the division of detector connection type include: monoblock type,
Modular or injecting type；The miniature refrigerator is assemblied in the lateral surface of liquid metal driving joint operation cylinder body；It is described miniature
Refrigerator further includes the scalable hollow refrigerator pipes of double helix, U-shaped hollow refrigerator pipes；The scalable hollow refrigerator pipes of double helix
Top is connected and communicates；Circulate cooling medium in the scalable hollow refrigerator pipes of double helix and U-shaped hollow refrigerator pipes, they
It is assemblied in the inside of liquid metal driving joint operation cylinder body, and closely in contact with liquid metal.
In above scheme, the liquid metal humanoid robot Dextrous Hand, the miniature heat-producing machine uses electric heating coating
Heat-producing machine or resistance heating layer heat-producing machine；The magnetic pole uses permanent magnet poles or hot-wire coil magnetic pole.
In above scheme, the liquid metal humanoid robot Dextrous Hand, the liquid metal includes: liquid gallium, liquid
Alloy gallium, liquid are received, liquid receives one of potassium, liquid lithium or liquid lead；The heat-conducting layer includes: graphene layer；The stone
Black alkene layer includes: graphene film, graphite ene coatings or graphene composite material layer.
In above scheme, the liquid metal humanoid robot Dextrous Hand includes: liquid metal humanoid robot Dextrous Hand
Single-unit finger, the binodal finger of liquid metal humanoid robot Dextrous Hand, liquid metal humanoid robot Dextrous Hand more piece finger, liquid
The single finger of state metal mold robot delicate, the both hands of liquid metal humanoid robot Dextrous Hand refer to or liquid metal humanoid robot
One or more of more fingers of Dextrous Hand.
The liquid metal humanoid robot Dextrous Hand course of work of the utility model is as follows:
When intelligent controller receives the crawl object instruction works instruction of liquid metal humanoid robot Dextrous Hand, intelligent controller
Instruction liquid metal humanoid robot Dextrous Hand carries out crawl object work.The palmar strap of liquid metal humanoid robot Dextrous Hand is started
Direction is crawled that object is close, and the nearly finger joint active sliding block of the finger of liquid metal humanoid robot Dextrous Hand is close to being crawled object.
When finger, which moves further towards, is crawled object, it is mounted on the first pressure sensor of liquid metal nearly finger joint active piston front
It issues signal and is conveyed to intelligent controller；Under the external force that crawl object generates, the nearly finger joint active piston of liquid metal
Moved into liquid metal driving joint operation cylinder body, be assemblied in the upper electrode layer at liquid metal nearly finger joint active piston rear portion with
The nearly finger joint active piston of liquid metal pushes liquid metal in liquid metal driving joint operation cylinder body to move up jointly；Upwards
Mobile liquid metal pushes the nearly finger joint of liquid metal to be moved up by piston；The passive piston driving of the nearly finger joint of liquid metal is soft
The scalable passive piston rod of property is moved up with shifting block is connect；Connecting shifting block drives remote joint shifting block to rotate around remote joint shaft；
It is curved that remote joint shaft and remote joint shifting block drive remote joint pressure spring guide rod and remote finger joint around remote joint to be axially crawled object rotation
It is bent；Nearly finger joint and remote finger joint have been in the article position that is booked at this time, be assemblied in first pressure sensor in nearly finger joint and
Second pressure sensor in remote finger joint sends pressure information to intelligent controller simultaneously；Intelligent controller is sent out to miniature refrigerator
Work order out, miniature refrigerator start fast-refrigerating work, are assemblied in liquid gold in liquid metal driving joint operation cylinder body
Belong to and being quickly cooled down, liquid metal rapid curing, nearly finger joint and remote finger joint, which have been in, at this time securely catches object state.
Designated position is moved to by liquid metal humanoid robot Dextrous Hand when being crawled object, intelligent controller is to miniature system
Cooler assigns stopping crawl work order, while assigning heating work order to miniature heat-producing machine；Miniature heat-producing machine starts quickly
Work is heated, is assemblied in liquid metal temperature rapid increase in liquid metal driving joint operation cylinder body, liquid metal is by solid-state
Become liquid；At this point, liquid metal humanoid robot Dextrous Hand, which starts to loosen, is crawled object；It is pressed in remote joint pressure spring, remote joint
Under spring guide rod, remote joint torsional spring and remote joint shaft collective effect, remote finger joint, which is left, is crawled object, returns to original state, liquid
The circulation action that metal mold robot delicate is completed crawl and loosened.
When generating under external force when grabbing object, drive the intracorporal liquid metal of joint operation cylinder close in liquid metal
Under finger joint active piston pushes, liquid metal is mobile to liquid metal driving joint operation cylinder body internal upper part, constantly cutting dress
Liquid metal is fitted over to the magnetic pole on the outside of liquid metal driving joint operation cylinder body, generates cutting current, and by being assemblied in liquid
Electric current is transferred to whole by the upper electrode layer and the nearly finger joint of liquid metal of the nearly finger joint active piston of metal by the lower electrode layer of piston
Device circuit is flowed, and it is spare by rectifier to be transferred to battery.
The technical solution that the embodiments of the present invention provide has the benefit that
(1) the liquid metal humanoid robot Dextrous Hand that the utility model uses uses refrigeration and heating formula liquid metal
Joint operation cylinder is driven, is combined using by miniature refrigerator, miniature heat-producing machine, liquid metal and intelligent controller, utilizes liquid
Phase change characteristics between the low melting point and solid and liquid of state metal, flowability when being in liquid using liquid metal can and be consolidated
There is adaptive coincide to be crawled object for physical property when state, robot delicate when liquid metal being made to be in liquid phase
The performance of shape, robot delicate when liquid metal being made to be in solid one have the stability of securely crawl object,
Therefore the dexterity of the crawl different shape object of the utility model liquid metal humanoid robot Dextrous Hand is shown with stability
It writes and improves.
(2) the liquid metal humanoid robot Dextrous Hand that the utility model uses uses the spontaneous electric appliance of liquid metal.When
It is generated under external force impetus when grabbing object, in the nearly finger joint active of the liquid metal driving intracorporal liquid metal of joint operation cylinder
Under piston pushes, when liquid metal humanoid robot Dextrous Hand forms seized condition, liquid metal drives joint work to liquid metal
It is mobile to make cylinder body internal upper part；When liquid metal humanoid robot Dextrous Hand forms relaxation state, liquid metal drives to liquid metal
Lower part is mobile in joint operation cylinder body；Therefore it is moved down on constantly in the liquid metal driving intracorporal liquid metal of joint operation cylinder
Dynamic, constantly cutting is assemblied in liquid metal and generates the magnetic line of force to the magnetic pole on the outside of liquid metal driving joint operation cylinder body, produces
Raw cutting current, and upper electrode layer and the nearly finger joint of liquid metal by being assemblied in the nearly finger joint active piston of liquid metal are by piston
Lower electrode layer electric current is transferred to rectifier circuit, and it is spare to be transmitted further to after being rectified by rectifier circuit battery.
Detailed description of the invention
Fig. 1 is singly to refer to structural section schematic diagram when liquid metal humanoid robot Dextrous Hand prepares crawl object；
Singly refer to structural section schematic diagram when Fig. 2 is liquid metal humanoid robot Dextrous Hand crawl object；
Fig. 3 is the structural section schematic diagram of refrigeration with heating formula liquid metal driving joint operation cylinder.
Wherein: refrigeration and heating formula liquid metal driving joint operation cylinder 1, the spontaneous electric appliance 2 of liquid metal, nearly finger joint 3, remote
Finger joint 4, liquid metal driving joint operation cylinder body 5, the nearly finger joint active piston 6 of liquid metal, upper electrode layer 7, liquid metal are close
Finger joint is passed by piston 8, lower electrode layer 9, miniature refrigerator 10, miniature heat-producing machine 11, first pressure sensor A, second pressure
Sensor B, temperature sensor C, passive piston rod 12, connection shifting block 13, remote joint shifting block 14, liquid metal 15, heat-conducting layer 16, absolutely
Thermosphere 17, magnetic pole 18, rectifier 19, battery 20, liquid metal drive joint operation inboard wall of cylinder block 21, nearly finger joint active sliding block
22, nearly joint shaft 23, nearly joint guide rod 24, nearly finger joint plate washer 25, remote joint pressure spring 26, remote joint pressure spring guide rod 27, remote joint
Torsional spring 28, remote joint shaft 29, object 30.
Specific embodiment
It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer
Type embodiment is further described.
Embodiment
The present embodiment is the liquid metal humanoid robot Dextrous Hand of the utility model, and Fig. 1 is liquid metal humanoid robot spirit
Singly refer to structural section schematic diagram when dab hand prepares crawl object；When Fig. 2 is liquid metal humanoid robot Dextrous Hand crawl object
Singly refer to structural section schematic diagram；Fig. 3 is the structural section schematic diagram of refrigeration with heating formula liquid metal driving joint operation cylinder.
The utility model embodiment provides a kind of liquid metal humanoid robot Dextrous Hand, comprising: refrigeration and heating formula liquid
The spontaneous electric appliance 2 of state metal driving joint operation cylinder 1 (see Fig. 3), liquid metal, nearly finger joint 3 (see Fig. 1, Fig. 2), remote finger joint 4, hand
The palm, intelligent controller；Refrigeration includes: liquid metal driving joint operation cylinder with heating formula liquid metal driving joint operation cylinder 1
The nearly finger joint active piston 6 of body 5, liquid metal, upper electrode layer 7, the nearly finger joint of liquid metal are by piston 8, lower electrode layer 9, miniature
Refrigerator 10, miniature heat-producing machine 11, first pressure sensor A, temperature sensor C, the passive piston rod 12 of flexible expandable, company
Connect shifting block 13, remote joint shifting block 14, liquid metal 15, heat-conducting layer 16, heat insulation layer 17；The spontaneous electric appliance 2 of liquid metal includes: magnetic pole
18, rectifier 19, battery 20；Magnetic pole 18 is assemblied in refrigeration and heats outside the middle part of formula liquid metal driving joint operation cylinder 1
Side, and it is spontaneous with the liquid metal of flowing 15, upper electrode layer 7, lower electrode layer 9, rectifier 19, the composition liquid metal of battery 20
Electric appliance 2；Miniature refrigerator 10, miniature heat-producing machine 11 are respectively assembled at liquid metal by heat-conducting layer 16 and drive joint operation cylinder body
5 front outsides different places, and collectively form refrigeration and heating formula liquid metal driving joint operation cylinder 1；Refrigeration and heating
Formula liquid metal driving joint operation cylinder 1, the spontaneous electric appliance 2 of liquid metal are assemblied in inside nearly finger joint 3；Nearly 3 one end of finger joint with
Remote finger joint 4 is connected, and constitutes the single finger of liquid metal humanoid robot Dextrous Hand；Nearly 3 other end of finger joint is connected with palm；
The finger of multiple liquid metal humanoid robot Dextrous Hands is connected with palm, and collectively forms liquid metal type with intelligent controller
Robot delicate.
Refrigeration in liquid metal humanoid robot Dextrous Hand and the liquid in heating formula liquid metal driving joint operation cylinder 1
The nearly finger joint active piston 6 of state metal is in T font, is assemblied in the front inside liquid metal driving joint operation cylinder body 5, can be along liquid
State metal driving joint operation inboard wall of cylinder block 21 slides；First pressure sensor A is assemblied in the nearly finger joint active piston 6 of liquid metal
Bear the anterior face of external force；Upper electrode layer 7 is assemblied in nearly 6 posterior face of finger joint active piston of liquid metal, and be encapsulated in
Liquid metal drives 15 one end of liquid metal inside joint operation cylinder body 5 to be in close contact；The nearly finger joint of liquid metal is by piston 8
It is assemblied in the middle part inside liquid metal driving joint operation cylinder body 5, joint operation inboard wall of cylinder block 21 can be driven along liquid metal
Sliding；The nearly finger joint of liquid metal is equipped with lower electrode layer 9 by an end face of piston 8；Lower electrode layer 9 and it is encapsulated in liquid metal
15 other end of liquid metal inside joint operation cylinder body 5 is driven to be in close contact；It is close that liquid metal 15 is encapsulated in liquid metal
The nearly finger joint of upper electrode layer 7 and liquid metal of finger joint active piston 6 is formed in external pressure by between the lower electrode layer 9 of piston 8
Power acts on lower liquid metal pressure closed system and removable frame；The passive piston rod 12 of flexible expandable is assemblied in liquid metal
The rear portion inside joint operation cylinder body 5 is driven, and finger joint close with liquid metal is connected by the other end of piston 8；Liquid gold
The outer layer for belonging to driving joint operation cylinder body 5 is heat insulation layer 17.
Nearly finger joint 3 includes: nearly finger joint active sliding block 22, nearly joint shaft 23, nearly joint guide rod 24, nearly finger joint plate washer 25；Far
Finger joint 4 includes: remote joint pressure spring 26, remote joint pressure spring guide rod 27, remote joint torsional spring 28, remote joint shaft 29；Nearly finger joint is actively sliding
The close phase in 6 front end of finger joint active piston close with the heating formula liquid metal driving liquid metal of joint operation cylinder 1 with refrigeration of block 22
Connection；Nearly joint guide rod 24 is connected with nearly joint shaft 23；Nearly joint shaft 23 is connected with palm；Refrigeration and heating formula liquid gold
The passive piston rod 12 of flexible expandable for belonging to driving joint operation cylinder 1 is connected with shifting block 13 is connect；Connect shifting block 13 and remote pass
Section shifting block 14 is connected；Remote joint shifting block 14 is connected with remote 26 one end of joint pressure spring；26 other end of remote joint pressure spring and remote pass
Section pressure spring guide rod 27 is connected；Shifting block 14 other end in remote joint is connected with remote joint shaft 29；Remote 29 other end of joint shaft and remote
Pressure spring guide rod 27 other end in joint is connected；Remote joint shaft 29 and remote joint torsional spring 28 are connected with nearly finger joint plate washer 25；Second
Pressure sensor B is assemblied on the outside of the stress of remote finger joint 4.
Intelligent controller and miniature refrigerator 10, miniature heat-producing machine 11, first pressure sensor A, second pressure sensor
B, the spontaneous electric appliance 2 of temperature sensor C, liquid metal is connected；Miniature refrigerator 10 uses miniature throttling fast-refrigerating device；It is miniature
Heat-producing machine 11 uses electric heating coating heat-producing machine；Magnetic pole 18 uses permanent magnet poles.Liquid metal 15 uses liquid alloy gallium；
Heat-conducting layer 16 uses graphite ene coatings.
The liquid metal humanoid robot Dextrous Hand course of work of the utility model embodiment is as follows:
When intelligent controller receives the crawl object instruction works instruction of liquid metal humanoid robot Dextrous Hand, intelligent controller
Instruction liquid metal humanoid robot Dextrous Hand carries out crawl object 30 and works.The palm of liquid metal humanoid robot Dextrous Hand drives
Object 30 is close to being crawled for finger, and the nearly finger joint active sliding block 6 of liquid metal humanoid robot clever hand finger is close to being crawled
Object 30 (see Fig. 1).When finger, which moves further towards, is crawled object 30, before being mounted on the nearly finger joint active piston 6 of liquid metal
The first pressure sensor A in portion issues signal and is conveyed to intelligent controller；Under the external force that crawl object 30 generates, liquid
The nearly finger joint active piston 6 of state metal is moved into liquid metal driving joint operation cylinder body 5, is assemblied in the nearly finger joint master of liquid metal
The upper electrode layer 7 at 6 rear portion of piston finger joint active piston 6 close with liquid metal pushes liquid metal to drive joint operation cylinder jointly
Liquid metal 15 moves up in body 5；The liquid metal 15 that moves up pushes the nearly finger joint of liquid metal by piston 8 to moving up
It is dynamic；The nearly finger joint of liquid metal drives the passive piston rod 12 of flexible expandable to move up with shifting block 13 is connect by piston 8；Connection
Shifting block 13 drives remote joint shifting block 14 to rotate around remote joint shaft 29；Remote joint shaft 29 and remote joint shifting block 14 drive remote joint to press
Spring guide rod 27 and remote finger joint 4 surround remote joint axial 29 and are crawled 30 rotation bending of object；Nearly finger joint 3 and remote finger joint 4 be at this time
Through being in 30 position of object that is booked, the second pressure being assemblied on the first pressure sensor A and remote finger joint 4 in nearly finger joint 3
Sensor B sends pressure information to intelligent controller simultaneously；Intelligent controller issues work order to miniature refrigerator 10, miniature
Refrigerator 10 starts fast-refrigerating work, is assemblied in liquid metal 15 in liquid metal driving joint operation cylinder body 5 and is quickly cooled down,
15 rapid curing of liquid metal, nearly finger joint 3 and remote finger joint 4, which have been in, at this time securely catches 30 state of object (see Fig. 2).
Designated position is moved to by liquid metal humanoid robot Dextrous Hand when being crawled object 30, intelligent controller is to miniature
Refrigerator 10 assigns stopping crawl work order, while assigning heating work order to miniature heat-producing machine 11；Miniature heat-producing machine 11
Start quickly heating work, be assemblied in liquid metal driving joint operation cylinder body 5 in liquid metal 15 temperature rapid increase, liquid
Metal 15 becomes liquid from solid-state；At this point, liquid metal humanoid robot Dextrous Hand, which starts to loosen, is crawled object 30；In remote joint
Under pressure spring 26,29 collective effect of remote joint pressure spring guide rod 27, remote joint torsional spring 28 and remote joint shaft, remote finger joint 4, which is left, to be crawled
Object 30 returns to liquid metal humanoid robot Dextrous Hand original state (see Fig. 1), in this liquid metal humanoid robot Dextrous Hand
The circulation action completing crawl and loosening.
When generating under external force when grabbing object 30, the liquid in liquid metal driving joint operation cylinder body 5 is golden
Belong under the nearly promotion of finger joint active piston 6, liquid metal 15 is mobile to liquid metal driving 5 internal upper part of joint operation cylinder body, constantly
Ground cutting is assemblied in the magnetic line of force that liquid metal is generated to the magnetic pole 18 in 5 outside of liquid metal driving joint operation cylinder body, generates
Cutting current, and the finger joint close with liquid metal of upper electrode layer 7 by being assemblied in the nearly finger joint active piston 6 of liquid metal is by piston
8 lower electrode layer 9 is transferred to 19 circuit of rectifier for electric current is generated, and by being transferred to battery after the rectification by rectifier 19
20 is spare.
The liquid metal humanoid robot Dextrous Hand of the utility model embodiment uses refrigeration and drives with heating formula liquid metal
Movable joint working cylinder 1 is combined using by miniature refrigerator 10, miniature heat-producing machine 11, liquid metal 15 and intelligent controller, benefit
With the low melting point and solid of liquid metal 15 and liquid phase-change feature, flowability when be in liquid using liquid metal can be with
There is adaptive coincide to be crawled for physical property when solid, robot delicate when liquid metal 15 being made to be in liquid condition
The performance of object shape, robot delicate when liquid metal 15 being made to be in solid state have the stabilization of securely crawl object
Performance, thus the dexterity of the crawl different shape object 30 of the utility model embodiment liquid metal humanoid robot Dextrous Hand with
Stability is significantly improved.
The liquid metal humanoid robot Dextrous Hand that the utility model embodiment uses uses the spontaneous electric appliance 2 of liquid metal.
When generating under external force impetus when grabbing object 30, the liquid metal in liquid metal driving joint operation cylinder body 5 is close
Under finger joint active piston 6 pushes, when liquid metal humanoid robot Dextrous Hand forms seized condition, liquid metal 15 is to liquid metal
Drive 5 internal upper part of joint operation cylinder body mobile；Liquid metal humanoid robot Dextrous Hand formed relaxation state when, liquid metal 15 to
Liquid metal drives lower part in joint operation cylinder body 5 mobile；Therefore the liquid gold in liquid metal driving joint operation cylinder body 5
Belong to 15 constantly to move up and down, constantly cutting is assemblied in liquid metal to 5 outside of liquid metal driving joint operation cylinder body
Magnetic pole 18 generates the magnetic line of force, generates cutting current, and 7 He of upper electrode layer by being assemblied in the nearly finger joint active piston 6 of liquid metal
Electric current is transferred to 19 circuit of rectifier by the lower electrode layer 9 of piston 8 by the nearly finger joint of liquid metal, and by by 19 electricity of rectifier
It is spare that battery 20 is transmitted further to after the rectification of road.
Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components 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 above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this
Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model
Within the scope of shield.
Claims (7)
1. a kind of liquid metal humanoid robot Dextrous Hand characterized by comprising refrigeration drives joint with heating formula liquid metal
The spontaneous electric appliance of working cylinder, liquid metal, nearly finger joint, remote finger joint, palm, intelligent controller；The refrigeration and heating formula liquid gold
Belong to driving joint operation cylinder, the spontaneous electric appliance of liquid metal is assemblied in inside nearly finger joint；Described nearly finger joint one end and remote finger joint phase
Connection, constitutes single finger；The nearly finger joint other end is connected with palm；Multiple fingers are connected with palm, with
The intelligent controller collectively forms liquid metal humanoid robot Dextrous Hand；The refrigeration drives joint with heating formula liquid metal
Working cylinder, comprising: liquid metal drives joint operation cylinder body, the nearly finger joint active piston of liquid metal, upper electrode layer, liquid metal
Nearly finger joint by piston, lower electrode layer, miniature refrigerator, miniature heat-producing machine, first pressure sensor, temperature sensor, can stretch
Passive piston rod, the connection shifting block, remote joint shifting block, liquid metal, heat-conducting layer, heat insulation layer of contracting；It is the miniature refrigerator, miniature
Heat-producing machine is respectively assembled at the front outsides that liquid metal drives joint operation cylinder body by heat-conducting layer；The liquid metal is spontaneous
Electric appliance includes: magnetic pole, rectifier, battery；The pole assemblage drives joint operation cylinder in refrigeration and heating formula liquid metal
Middle part on the outside of；The liquid metal cutting magnetic pole generates magnetic induction line and generates cutting current, passes through the upper electrode layer, lower electrode
Electric current is transmitted to battery by rectifier by layer.
2. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the nearly finger joint of the liquid metal
Active piston is in T font, is assemblied in the front end of liquid metal driving joint operation cylinder interior, can drive joint along liquid metal
Working cylinder inwall sliding；The first pressure sensor is assemblied in the anterior face of the nearly finger joint active piston of liquid metal；Institute
The posterior face that upper electrode layer is assemblied in the nearly finger joint active piston of liquid metal is stated, and drives joint work with liquid metal is encapsulated in
The liquid metal one end for making cylinder interior is in close contact；The nearly finger joint of the liquid metal is assemblied in liquid metal driving by piston
The middle part of joint operation cylinder interior can drive the sliding of joint operation inboard wall of cylinder block along liquid metal；The liquid metal closely refers to
Section is equipped with lower electrode layer by an end face of piston；The lower electrode layer drives joint operation cylinder body with liquid metal is encapsulated in
The internal liquid metal other end is in close contact；The liquid metal is encapsulated in powering on for the nearly finger joint active piston of liquid metal
Pole layer and liquid metal nearly finger joint between the lower electrode layer of piston, are constituted liquid metal pressure closed system and removable knot
Structure；The passive piston rod is assemblied in the rear portion of liquid metal driving joint operation cylinder interior, and finger joint close with liquid metal
It is connected by the other end of piston；The outer layer of the liquid metal driving joint operation cylinder body is heat insulation layer.
3. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the nearly finger joint includes: close
Finger joint active sliding block, nearly joint shaft, nearly joint guide rod, nearly finger joint plate washer；The remote finger joint includes: remote joint pressure spring, remote joint
Pressure spring guide rod, remote joint torsional spring, remote joint shaft, second pressure sensor；The nearly finger joint active sliding block closely refers to liquid metal
Active piston front end is closely coupled connects for section；The nearly joint guide rod is connected with nearly joint shaft；The nearly joint shaft and palm phase
Connection；The passive piston rod is connected with shifting block is connect；The connection shifting block is connected with remote joint shifting block；The remote joint
Shifting block is connected with remote joint pressure spring one end；The remote joint pressure spring other end is connected with remote joint pressure spring guide rod；It is described remote
The joint shifting block other end is connected with remote joint shaft；The remote joint shaft other end is connected with the remote joint pressure spring guide rod other end
It connects；The remote joint shaft and remote joint torsional spring are connected with nearly finger joint plate washer；The second pressure sensor is assemblied in remote finger joint
The outside of stress.
4. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the intelligent controller with it is micro-
Type refrigerator, miniature heat-producing machine, first pressure sensor, second pressure sensor, temperature sensor, the spontaneous electric appliance of liquid metal
It is connected；The miniature refrigerator includes: fast-refrigerating device, micro semiconductor refrigerator, micro-miniature refrigerator, quick start
Taper throttling refrigerator or cryocooler cold head miniature refrigerator；The fast-refrigerating device by shape division include: column type, tower or
It is flat, by gas flow optimized Division include: self-adjustable or open, include: single gas circuit or double gas circuits by gas circuit division, by with
The division of detector connection type includes: monoblock type, modular or injecting type；The miniature refrigerator is assemblied in liquid metal driving
The lateral surface of joint operation cylinder body；The miniature refrigerator further includes the scalable hollow refrigerator pipes of double helix, U-shaped hollow refrigeration
Pipe；The top of the scalable hollow refrigerator pipes of double helix is connected and communicates；The scalable hollow refrigerator pipes of the double helix and U
Circulate cooling medium in the hollow refrigerator pipes of type, is assemblied in the inside of liquid metal driving joint operation cylinder body, and golden with liquid
Belong to and being in close contact.
5. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the miniature heat-producing machine uses
Electric heating coating heat-producing machine or resistance heating layer heat-producing machine；The magnetic pole uses permanent magnet poles or hot-wire coil magnetic pole.
6. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the liquid metal includes:
Liquid gallium, liquid alloy gallium, liquid are received, liquid receives one of potassium, liquid lithium or liquid lead；The heat-conducting layer includes: graphite
Alkene layer；The graphene layer includes: graphene film, graphite ene coatings or graphene composite material layer.
7. liquid metal humanoid robot Dextrous Hand according to claim 1, which is characterized in that the liquid metal type machine
People's Dextrous Hand includes: the binodal hand of the single-unit finger of liquid metal humanoid robot Dextrous Hand, liquid metal humanoid robot Dextrous Hand
Finger, the more piece finger of liquid metal humanoid robot Dextrous Hand, the single finger of liquid metal humanoid robot Dextrous Hand, liquid metal type
The both hands of robot delicate refer to, more fingers of liquid metal humanoid robot Dextrous Hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821169344.5U CN208773609U (en) | 2018-07-23 | 2018-07-23 | Liquid metal humanoid robot Dextrous Hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821169344.5U CN208773609U (en) | 2018-07-23 | 2018-07-23 | Liquid metal humanoid robot Dextrous Hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208773609U true CN208773609U (en) | 2019-04-23 |
Family
ID=66154423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821169344.5U Expired - Fee Related CN208773609U (en) | 2018-07-23 | 2018-07-23 | Liquid metal humanoid robot Dextrous Hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208773609U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN110179542A (en) * | 2019-06-14 | 2019-08-30 | 北京罗森博特科技有限公司 | A kind of passive arm and the mechanical equipment with the passive arm |
-
2018
- 2018-07-23 CN CN201821169344.5U patent/CN208773609U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN108818590B (en) * | 2018-07-23 | 2022-12-30 | 中国地质大学（武汉） | Dexterous hand of liquid metal robot |
| CN110179542A (en) * | 2019-06-14 | 2019-08-30 | 北京罗森博特科技有限公司 | A kind of passive arm and the mechanical equipment with the passive arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106826879B (en) | A kind of manipulator that rigid and flexible is changeable | |
| Lu et al. | A novel design of a parallel gripper actuated by a large-stroke shape memory alloy actuator | |
| CN108818590A (en) | Liquid metal humanoid robot Dextrous Hand | |
| CN208773609U (en) | Liquid metal humanoid robot Dextrous Hand | |
| Hao et al. | A eutectic-alloy-infused soft actuator with sensing, tunable degrees of freedom, and stiffness properties | |
| CN202572399U (en) | Synchronous smart mechanical arm of robot | |
| CN203331021U (en) | Household carrying robot | |
| CN109733497A (en) | A kind of creep software machine and its driving method based on marmem | |
| CN108687794A (en) | The Electrostatic Absorption flexible grips of marmem driving | |
| CN109176568A (en) | A kind of rigid soft coupling multi-finger clever hand of tendon rope-electromagnetic force joint driving | |
| CN208541541U (en) | A kind of machinery restoring gloves | |
| CN105555486A (en) | Position/force controller, and position/force control method and program | |
| CN102806563B (en) | Underwater traction pulley type anthropopathic mechanical hand | |
| CN107510574A (en) | A kind of liquid metal ectoskeleton joint | |
| CN108927797A (en) | One kind is coupled hardness with softness mechanical arm | |
| Yang et al. | A novel variable stiffness and tunable bending shape soft robotic finger based on thermoresponsive polymers | |
| Ren et al. | Novel bionic soft robotic hand with dexterous deformation and reliable grasping | |
| CN213765888U (en) | Robot and clamping jaw device thereof | |
| CN205799474U (en) | Piston drives magnetic current flexible machine hand apparatus | |
| CN109955275A (en) | The composite special-shaped cavity of thermal expansive fluid drives humanoid robot software hand | |
| CN103807249B (en) | robot bionic hydraulic system | |
| CN115533952A (en) | SMA driven electrostatic adsorption type soft gripper and clamping device with gripper | |
| CN206154300U (en) | Device of human strength is assisted and strengthened | |
| CN210307854U (en) | Under-actuated manipulator | |
| CN110459836B (en) | Battery heating system of robot in low temperature environment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190423 Termination date: 20200723 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |