CN209256945U - Three-dimensional porous graphene humanoid robot Dextrous Hand - Google Patents
Three-dimensional porous graphene humanoid robot Dextrous Hand Download PDFInfo
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- CN209256945U CN209256945U CN201821883435.5U CN201821883435U CN209256945U CN 209256945 U CN209256945 U CN 209256945U CN 201821883435 U CN201821883435 U CN 201821883435U CN 209256945 U CN209256945 U CN 209256945U
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Abstract
The utility model discloses a kind of three-dimensional porous graphene humanoid robot Dextrous Hands, comprising: the more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot, three-dimensional porous graphene humanoid robot refer to software Dextrous Hand more；The more articulations digitorum manus fingers of three-dimensional porous graphite ene-type of the three-dimensional porous more articulations digitorum manus Dextrous Hands of graphene humanoid robot specifically include that the three-dimensional porous graphite ene-type multiple-unit being made of multiple three-dimensional porous graphite ene-type unit drives is stacked driver；Three-dimensional porous graphite ene-type unit drive includes: two three-dimensional porous graphite ene-type electrode layers, ionic liquid gel electroactive layers；Intelligent controller is connected with dissimilar sensor, circuit control panel, scalable conducting wire, micro power, multiple three-dimensional porous graphite ene-type fingers, three-dimensional porous graphite ene-type wrist joint, palm, and the three-dimensional porous graphene humanoid robot Dextrous Hand for being integrally formed, it is suitable for grabbing polygon form object, scale object in irregular shape or atypical morphology object.
Description
Technical field
The utility model belongs to robotic technology field, is related to robot delicate and actuation techniques, relates more specifically to
A kind of three-dimensional porous graphene humanoid robot Dextrous Hand.
Background technique
In fields such as space exploration, hazardous environment operation, engineering in medicine, industrial production and services, robot will be played
Increasingly important role.Robot technology continues to develop, and one of core technology includes Dextrous Hand technology.And generation at this stage
There are some defects for known manipulator and crawl technique device in boundary, and such as: common mechanical hand cannot complete dexterous manipulation
Task, and the manipulator degrees-of-freedom that can complete dexterous manipulation is too many, mechanism and control strategy are excessively complicated, and reliability is relatively
It is low.Even if in the home environment, making robot arm crawl scale articles for daily use in irregular shape also very difficult.
Currently how to further increase the ability of robot delicate and reduce complexity, how to further increase robot
How the small size power density ratio of Dextrous Hand, flexibility, flexibility etc., further increase robot delicate universal performance, such as
What enable robot delicate stablize crawl atypia object, how to further increase robot delicate position and power/
The closed-loop control etc. of torque, these technologies need people's solution.
Utility model content
For the currently series technique problem existing for robot delicate technical field, the utility model provides one kind three
Porous graphene humanoid robot Dextrous Hand is tieed up, to reach the performance indexes of optimization hoisting machine people Dextrous Hand, is further opened up
Open up the application field of robot delicate.
A kind of realization specific technical solution of three-dimensional porous graphene humanoid robot Dextrous Hand of the utility model includes: three
The more articulations digitorum manus Dextrous Hands of dimension porous graphene humanoid robot, three-dimensional porous graphene humanoid robot refer to software Dextrous Hand more；It is described
The three-dimensional porous more articulations digitorum manus Dextrous Hands of graphene humanoid robot, comprising: the more articulations digitorum manus fingers of multiple three-dimensional porous graphite ene-type, three
Dimension porous graphite ene-type wrist joint, intelligent controller, different types of sensor, circuit control panel, scalable is led at palm
Line, micro power；The more articulations digitorum manus fingers of three-dimensional porous graphite ene-type, comprising: three-dimensional porous graphite ene-type multiple-unit is stacked
Driver articulations digitorum manus, distal end finger joint, left knee, finger joint connector；The stacked driving of the three-dimensional porous graphite ene-type multiple-unit
Device articulations digitorum manus is mainly assemblied in articulations digitorum manus by the stacked driver of three-dimensional porous graphite ene-type multiple-unit and constitutes；The three-dimensional porous stone
Black ene-type multiple-unit is stacked driver and is made of multiple three-dimensional porous graphite ene-type unit drives；The three-dimensional porous graphene
Type unit drive primary structure consists of three layers, comprising: two three-dimensional porous graphite ene-type electrode layers, ionic liquid gel electricity
Active layer；Described two three-dimensional porous graphite ene-type electrode layers are two outside layers, and the ionic liquid gel electricity for wrapping up middle layer is living
Property layer, and being integrally formed structure；The ionic liquid gel electroactive layer passes through physics using ionic liquid loadedization
Or ionic liquid is fixed on the solid-state carrier with the porous structure being connected by chemical method；The dissimilar sensor
It is respectively assembled in distal end finger joint, left knee or palm；The three-dimensional porous graphite ene-type multiple-unit is stacked driver and refers to pass
The both ends of section are connected with distal end finger joint one end, left knee one end respectively by finger joint connector；The left knee is another
End is stacked one end phase of driver articulations digitorum manus by another finger joint connector with another three-dimensional porous graphite ene-type multiple-unit
Connection, and constitute the three-dimensional porous more articulations digitorum manus fingers of graphite ene-type；The more articulations digitorum manus fingers of three-dimensional porous graphite ene-type
End is connected by finger joint connector with palm upper end；The three-dimensional porous graphite ene-type wrist joint, comprising: three-dimensional more
Hole graphite ene-type multiple-unit is stacked drive array, wrist joint connector；The three-dimensional porous graphite ene-type multiple-unit is stacked
Drive array includes: that the three-dimensional porous graphite ene-type multiple-unit of ordered arrangement is stacked driver, i.e., in multiple same directions or
Multiple and different directions form array according to certain rule arrangement mode；Three-dimensional in the three-dimensional porous graphite ene-type wrist joint
Porous graphite ene-type multiple-unit is stacked drive array, is connected by wrist joint connector with palm lower end, and in intelligence
Controller instruction is lower to be had to the curved driving function of multiple directions；The intelligent controller, operative sensor, circuit control
Plate, scalable conducting wire, micro power are assemblied in palm；The intelligent controller and dissimilar sensor, circuit control
Plate, scalable conducting wire, micro power, the more articulations digitorum manus fingers of multiple three-dimensional porous graphite ene-type, finger joint connector, three-dimensional porous stone
Black ene-type wrist joint, wrist joint connector, palm are connected, and the three-dimensional porous graphene humanoid robot for being integrally formed
More articulations digitorum manus Dextrous Hands.
In above scheme, the three-dimensional porous graphene humanoid robot refers to software Dextrous Hand more, comprising: multiple three-dimensional porous
Graphene humanoid robot software finger, finger joint connector, dissimilar sensor, palm, intelligent controller, circuit control panel,
Connecting wire, external electrode, micro power；The three-dimensional porous graphene humanoid robot software finger, comprising: three-dimensional porous stone
Black ene-type multiple-unit is stacked driver software finger；The three-dimensional porous graphite ene-type multiple-unit is stacked driver software finger master
It include: that three-dimensional porous graphite ene-type multiple-unit is stacked driver；The three-dimensional porous graphite ene-type multiple-unit is stacked driver
It is constituted by multiple three-dimensional porous graphite ene-type unit drives are stacked；The three-dimensional porous graphite ene-type unit drive is mainly tied
Structure consists of three layers, comprising: two three-dimensional porous graphite ene-type electrode layers, ionic liquid gel electroactive layers；Described two three
Dimension porous graphite ene-type electrode layer wraps up middle layer positioned at the outer surface of ionic liquid gel electroactive layer for two outside layers
Ionic liquid gel electroactive layer, and being integrally formed structure；The ionic liquid gel electroactive layer, it is negative using ionic liquid
Loadization, i.e., by the way that either physically or chemically ionic liquid is fixed on the solid-state carrier with the porous structure being connected；Institute
Dissimilar sensor is stated to be respectively assembled in three-dimensional porous graphene humanoid robot software finger or palm；The multiple three-dimensional
Porous graphene humanoid robot software finger passes through finger joint connector respectively and is connected with wrist；The external electrode is assemblied in finger
It saves outside connector, and is connected with the three-dimensional porous graphite ene-type electrode in three-dimensional porous graphene humanoid robot software finger
It connects；The intelligent controller, circuit control panel, connecting wire, micro power are assemblied in palm；The intelligent controller with
Dissimilar sensor, circuit control panel, connecting wire, micro power, three-dimensional porous graphene humanoid robot software finger, hand
The palm is connected, and the three-dimensional porous graphene humanoid robot for being integrally formed refers to software Dextrous Hand more.
The three-dimensional porous graphene humanoid robot refers to the three-dimensional porous graphene humanoid robot software of software Dextrous Hand more
Finger has soft body structure feature, is suitable for grabbing polygon form object, scale object in irregular shape under intelligent controller instruction
Body or atypical morphology object.
In above scheme, the three-dimensional porous graphite ene-type multiple-unit is stacked driver, comprising: by multiple three-dimensional porous stones
Black ene-type unit drive is orderly stacked and constitutes；There is insulation bullet between the multiple three-dimensional porous graphite ene-type unit drive
Property layer；Three-dimensional porous graphite ene-type electrode layer in the three-dimensional porous graphite ene-type unit drive by scalable conducting wire with
Circuit control panel is connected；The circuit control panel is connected by intelligent controller with micro power；Micro power is in intelligence
Three-dimensional porous graphite ene-type unit drive under from controller instruction to three-dimensional porous graphene humanoid robot Dextrous Hand provides
Electric energy, the voltage or size of current that provide or direction are regulated and controled by intelligent controller.
In above scheme, the three-dimensional porous grapheme material of the three-dimensional porous graphene humanoid robot Dextrous Hand includes:
Three-dimensional porous graphene sponge material, three-dimensional porous graphene hydrogel material, three-dimensional porous graphene aerogel material, three-dimensional
Porous graphene foamed material, three-dimensional porous graphene composite material, three-dimensional porous graphene oxide composite material or three-dimensional porous oxygen
Graphite alkene composite material；The three-dimensional porous graphene composite material includes: three-dimensional porous graphene sponge composite material, three
It is multiple to tie up porous graphene hydrogel composite material, three-dimensional porous graphene aerogel composite material or three-dimensional porous grapheme foam
Condensation material.
In above scheme, the different types of sensor include: touch sensor, torque sensor, position sensor,
Angular transducer, speech transducer, visual sensor, temperature sensor, brain wave sensor, electrocardiography transducer, blood pressure pass
Sensor.
In above scheme, the three-dimensional porous more articulations digitorum manus Dextrous Hands of graphene humanoid robot, comprising: multiple fingers, often
A finger has multiple finger-joints；The more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot, comprising: three-dimensional more
It is two articulations digitorum manus Dextrous Hand of hole graphene humanoid robot, three articulations digitorum manus Dextrous Hand of three-dimensional porous graphene humanoid robot, three-dimensional porous
Four articulations digitorum manus Dextrous Hand of graphene humanoid robot, five articulations digitorum manus Dextrous Hand of three-dimensional porous graphene humanoid robot or three-dimensional porous stone
Black ene-type robot multi-finger joint Dextrous Hand；The three-dimensional porous graphene humanoid robot refers to software Dextrous Hand more, comprising: three-dimensional
Porous graphene humanoid robot two refers to that software Dextrous Hand, three-dimensional porous graphene humanoid robot three refer to that software Dextrous Hand, three-dimensional are more
Hole graphene humanoid robot four refers to software Dextrous Hand, three-dimensional porous graphene humanoid robot the five fingers software Dextrous Hand or three-dimensional porous
Graphene humanoid robot refers to software Dextrous Hand more.
The more articulations digitorum manus Dextrous Hand courses of work of three-dimensional porous graphene humanoid robot of the utility model are as follows:
Intelligent controller issues crawl object work order, and micro power passes through circuit control panel and scalable conducting wire to three
The dimension more articulations digitorum manus fingers of porous graphite ene-type and three-dimensional porous graphite ene-type wrist joint convey a certain size or certain orientation
Voltage or electric current；Due to the three-dimensional in the more articulations digitorum manus fingers of three-dimensional porous graphite ene-type and three-dimensional porous graphite ene-type wrist joint
Porous graphite ene-type multiple-unit is stacked driver and is constituted by multiple three-dimensional porous graphite ene-type unit drives are stacked, and three-dimensional is more
Hole graphite ene-type unit drive primary structure consists of three layers, comprising: two three-dimensional porous graphite ene-type electrode layers, ionic liquids
Body gel electroactive layer；Two three-dimensional porous graphite ene-type electrode layers are two outside layers, wrap up the ionic liquid gel of middle layer
Electroactive layer, and being integrally formed structure；Ionic liquid gel electroactive layer passes through physics using ionic liquid loadedization
Or ionic liquid is fixed on the solid-state carrier with the porous structure being connected by chemical method；Its voltage and current passes through can
Electric energy is transferred to the three-dimensional porous graphite ene-type electrode layer that three-dimensional porous graphite ene-type multiple-unit is stacked driver by stretch conducting wire；
Since the three-dimensional porous graphene in three-dimensional porous graphite ene-type electrode layer has excellent electric conductivity, and there is huge table
Area and a large amount of holes being connected to；Ionic liquid gel electricity of the voltage of two three-dimensional porous graphite ene-type electrode layers to middle layer
Active layer forms electric field；Under the electric field action of two three-dimensional porous graphite ene-type electrode layers, ionic liquid gel electroactive layer
In charged ion redistribution, negative ions are respectively in two three-dimensional porous graphite ene-type electrode layers and its three-dimensional porous stone
Accumulation is distributed in black alkene hole；Since cationic volume is much larger than anion volume, lead to the three-dimensional porous graphite as cathode
The elongation of alkene electrode layer, the three-dimensional porous Graphene electrodes layer as anode is shunk, so that three-dimensional porous graphite ene-type unit be made to drive
Dynamic device is macroscopically generating visible deformation, generates bending driving effect；Due to the stacked driving of three-dimensional porous graphite ene-type multiple-unit
Device is that multiple three-dimensional porous graphite ene-type unit drives are orderly stacked composition, so generating bending driving superposition enhancement effect；
Under intelligent controller instruction, close the more articulations digitorum manus fingers of multiple three-dimensional porous graphite ene-type and three-dimensional porous graphite ene-type wrist
The drive actions of crawl object are completed in section collaboration bending.
It is three-dimensional porous during the more articulations digitorum manus finger collaboration bendings of three-dimensional porous graphite ene-type carry out crawl object motion
The dissimilar sensor assembled in the more articulations digitorum manus fingers of graphite ene-type and three-dimensional porous graphite ene-type wrist joint can cooperate with
Work；Various kinds of sensors can pass tactile information data, moment information data, location information data, Angle Information data etc.
It is defeated by intelligent controller；Intelligent controller is by the calculation process of intelligent chip, to being assemblied in three-dimensional porous graphite ene-type machine
The three-dimensional porous graphite ene-type multiple-unit of different location is stacked driver conveying regulation voltage or electricity in the more articulations digitorum manus Dextrous Hands of people
The information for flowing size makes the three-dimensional porous graphite ene-type multiple-unit of different location be stacked the bending degree or output torque of driver
Controllable adjustment is obtained, adaptive regulation crawl object is completed.
When the more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot complete crawl objects, and according to instruction safety
After object shifting to designated position, intelligent controller is released to the more articulations digitorum manus Dextrous Hand transmissions of three-dimensional porous graphene humanoid robot
Object instruction is put, then micro power is more to three-dimensional porous graphene humanoid robot is in by circuit control panel and scalable conducting wire
The three-dimensional porous graphite ene-type multiple-unit of different location is stacked driver and conveys opposite operating voltage or electricity in articulations digitorum manus Dextrous Hand
Stream, multiple three-dimensional porous more articulations digitorum manus fingers of graphite ene-type and the collaboration of three-dimensional porous graphite ene-type wrist joint are curved round about
Song completes release object motion.
The three-dimensional porous graphene humanoid robot of the utility model refers to that the software Dextrous Hand course of work is as follows more:
Intelligent controller issues crawl object work order, and micro power passes through circuit control panel and scalable conducting wire to three
Dimension porous graphite ene-type refers to that software finger conveys the voltage and current of a certain size or certain orientation more；Due to three-dimensional porous graphite
Ene-type refers to that the three-dimensional porous graphite ene-type multiple-unit in software finger is stacked driver by multiple three-dimensional porous graphite ene-type lists more
First driver is stacked to be constituted, and three-dimensional porous graphene type unit drive primary structure consists of three layers, comprising: two three-dimensionals
Porous graphite ene-type electrode layer, ionic liquid gel electroactive layer；Three-dimensional porous graphite ene-type electrode layer is two outside layers, package
The ionic liquid gel electroactive layer of middle layer, and being integrally formed structure；Ionic liquid gel electroactive layer, using ionic liquid
Body is supported, i.e., by the way that ionic liquid is either physically or chemically fixed to the solid-state carrier with the porous structure being connected
On；Electric energy is transferred to the three of the stacked driver of three-dimensional porous graphite ene-type multiple-unit by scalable conducting wire by its voltage and current
Tie up porous graphite ene-type electrode layer；Since the three-dimensional porous graphene in three-dimensional porous graphite ene-type electrode layer has excellent lead
Electrical property, and with huge surface area and a large amount of holes for being connected to；The voltage pair of two three-dimensional porous graphite ene-type electrode layers
The ionic liquid gel electroactive layer of middle layer forms electric field；In the electric field action of two three-dimensional porous graphite ene-type electrode layers
Under, the charged ion redistribution in ionic liquid gel electroactive layer, negative ions are respectively in two three-dimensional porous graphite
Accumulation is distributed in ene-type electrode layer and its three-dimensional porous graphene hole；Since cationic volume is much larger than anion volume, lead
The three-dimensional porous Graphene electrodes layer as cathode is caused to extend, the three-dimensional porous Graphene electrodes layer as anode is shunk, thus
So that three-dimensional porous graphite ene-type unit drive is macroscopically being generated visible deformation, generates bending driving effect；Since three-dimensional is more
It is that multiple three-dimensional porous graphite ene-type unit drives are orderly stacked composition that hole graphite ene-type multiple-unit, which is stacked driver, so producing
Raw bending driving synergistic effect；Under intelligent controller instruction, multiple three-dimensional porous graphite ene-type is made to refer to that software finger cooperates with more
Crawl object motion is completed in bending.
It is three-dimensional porous during three-dimensional porous graphite ene-type refers to that the collaboration bending of software finger carries out crawl object motion more
Graphite ene-type refers to that the dissimilar sensor assembled in software finger can cooperate more；Various kinds of sensors can believe tactile
Breath data, moment information data, location information data, Angle Information data etc. are transferred to intelligent controller；Intelligent controller is logical
The calculation process for crossing intelligent chip is stacked driver conveying to the three-dimensional porous graphite ene-type multiple-unit for being assemblied in different location and adjusts
The information for controlling voltage or size of current makes the three-dimensional porous graphite ene-type multiple-unit of different location be stacked the bending degree of driver
Or output torque obtains controllable adjustment, completes adaptive regulation crawl object.
When three-dimensional porous graphene humanoid robot refer to more software Dextrous Hand complete crawl object, and according to instruction safety
After object shifting to designated position, intelligent controller refers to that the transmission of software Dextrous Hand is released to three-dimensional porous graphene humanoid robot more
Object instruction is put, then micro power is more to three-dimensional porous graphene humanoid robot is in by circuit control panel and scalable conducting wire
Refer to that the three-dimensional porous graphite ene-type multiple-unit of software Dextrous Hand different location is stacked driver and conveys opposite operating voltage or electric current,
Multiple three-dimensional porous graphite ene-type refer to that release object motion is completed in bending to the collaboration of software finger round about more.
Therefore, three-dimensional porous graphene humanoid robot refers to the three-dimensional porous graphene humanoid robot software of software Dextrous Hand more
Finger has soft body structure feature, is suitable for grabbing polygon form object, scale object in irregular shape under intelligent controller instruction
Body or atypical morphology object.
The three-dimensional porous graphene humanoid robot Dextrous Hand of the utility model has the advantages that
A, it is more mainly to use three-dimensional for the driving joint of the three-dimensional porous graphene humanoid robot Dextrous Hand of the utility model
Hole graphite ene-type multiple-unit is stacked driver；Since the three-dimensional in the more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot is more
Hole graphite ene-type multiple-unit is stacked driver and is constituted by multiple three-dimensional porous graphite ene-type unit drives are stacked, three-dimensional porous
Graphite ene-type unit drive primary structure consists of three layers, comprising: two three-dimensional porous graphite ene-type electrode layers, ionic liquids
Gel electroactive layer；Three-dimensional porous graphite ene-type electrode layer is two outside layers, and the ionic liquid gel for wrapping up middle layer is electroactive
Layer, and being integrally formed structure；Since the three-dimensional porous graphene in three-dimensional porous graphite ene-type electrode layer has excellent lead
Electrical property, and there is huge surface area and a large amount of holes being connected to, the bending drive efficiency of driver can be made to be improved；
The voltage of two three-dimensional porous graphite ene-type electrode layers forms electric field to the ionic liquid gel electroactive layer of middle layer；At two
Under the electric field action of three-dimensional porous graphite ene-type electrode layer, the charged ion in ionic liquid gel electroactive layer is redistributed,
Its negative ions is distributed accumulation in two three-dimensional porous graphite ene-type electrode layers and its three-dimensional porous graphene hole respectively；By
It is much larger than anion volume in cationic volume, causes the three-dimensional porous Graphene electrodes layer as cathode to extend, as anode
Three-dimensional porous Graphene electrodes layer shrink, so that three-dimensional porous graphite ene-type unit drive be made macroscopically to generate visible shape
Become, generates bending driving effect；It is multiple three-dimensional porous graphenes since three-dimensional porous graphite ene-type multiple-unit is stacked driver
Type unit drive is orderly stacked and constitutes, so generating bending driving synergistic effect, the output torque of robot delicate is obtained
To enhancing.
B, the more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot of the utility model mainly use three-dimensional porous
Graphite ene-type wrist joint；It is stacked that three-dimensional porous graphite ene-type wrist joint mainly uses three-dimensional porous graphite ene-type multiple-unit
Drive array, comprising: be stacked driver ordered arrangement by multiple three-dimensional porous graphite ene-type multiple-units, and in multiple phase Tongfangs
To or multiple and different directions form certain rule array and constitute, have under intelligent controller instruction to the curved drive of different directions
Dynamic function；Under the control of intelligent controller, three-dimensional porous graphite ene-type wrist joint and multiple three-dimensional porous graphite ene-type are more
Articulations digitorum manus finger generates co-operating, and the performance of crawl object has dexterity, reliability and stability.
C, the three-dimensional porous graphene humanoid robot of the utility model refers to software Dextrous Hand more, mainly uses three-dimensional porous
Graphite ene-type refers to that the three-dimensional porous graphite ene-type multiple-unit in software finger is stacked driver more；Compared with traditional manipulator
Compared with, the problems such as it is too many to overcome former manipulator degrees-of-freedom, mechanism and excessively complicated control strategy, and there is soft body structure；In intelligence
It is more to regulate and control three-dimensional of the micro power into software finger by circuit control panel and connecting wire under the instruction that can control device
Hole graphite ene-type multiple-unit is stacked the voltage or electric current of driver input different size or different directions, therefore can be realized adaptive
Grab or discharge polygon form object or atypical morphology object with answering.
D, in the three-dimensional porous graphene humanoid robot Dextrous Hand of the utility model, using by sensor, intelligent controller
The frame mode combined with Dextrous Hand makes the three-dimensional porous graphite ene-type multiple-unit of different location be stacked the bending journey of driver
Degree or output torque obtain controllable adjustment, can be realized and adaptively grab or discharge object.Different type can be used in sensor
Sensor, such as: touch sensor, torque sensor, position sensor, angular transducer are used, in the regulation of intelligent controller
Under can enable three-dimensional porous graphene humanoid robot Dextrous Hand it is adaptive ground should grab object；Using speech transducer, vision
Sensor, brain wave sensor can make three-dimensional porous graphene humanoid robot Dextrous Hand receive polynary fetching instruction, in intelligence
Realize that wisdom grabs object under the regulation of controller；Using temperature sensor, electrocardiography transducer, blood pressure sensor etc., in intelligence
It can control the body that can make three-dimensional porous graphene humanoid robot Dextrous Hand as real-time monitoring under the regulation of device and collect human body
Body health data parameter has widened the application field of robot delicate as health care reference data.
Detailed description of the invention
Below in conjunction with accompanying drawings and embodiments, the utility model is described in further detail, in attached drawing:
Fig. 1 is the structural schematic diagram before three-dimensional porous graphite ene-type unit drive deformation driving；
Structural schematic diagram when Fig. 2 is three-dimensional porous graphite ene-type unit drive deformation driving；
Fig. 3 is the structural schematic diagram that three-dimensional porous graphite ene-type multiple-unit is stacked driver；
Fig. 4 is the structural schematic diagram of three-dimensional porous five articulations digitorum manus Dextrous Hand of graphene humanoid robot；
Fig. 5 is the structural schematic diagram that three-dimensional porous graphene humanoid robot three refers to software Dextrous Hand.
Wherein, three-dimensional porous five articulations digitorum manus Dextrous Hand 1 of graphene humanoid robot, the more articulations digitorum manus hands of three-dimensional porous graphite ene-type
Refer to that 2, three-dimensional porous graphite ene-type wrist joint 3, palm 4, sensor 5, three-dimensional porous graphite ene-type multiple-unit are stacked driver
Articulations digitorum manus 6, distal end finger joint 7, left knee 8, finger joint connector 9, three-dimensional porous graphite ene-type multiple-unit are stacked driver 10, three
Tie up porous graphite ene-type unit drive 11, the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type
Electrode layer 13, ionic liquid gel electroactive layer 14, three-dimensional porous graphite ene-type multiple-unit are stacked drive array 15, cation
16, anion 19, three-dimensional porous graphene humanoid robot refer to software Dextrous Hand 17, three-dimensional porous graphene humanoid robot software more
Finger 18, palm 20, external electrode 21, insulating resilient layer 22, wrist joint connector 23.
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 1.
Three-dimensional porous five articulations digitorum manus Dextrous Hand of graphene humanoid robot
The structural schematic diagram of the five articulations digitorum manus Dextrous Hand of three-dimensional porous graphene humanoid robot of the utility model embodiment 1
(see Fig. 4), the structural schematic diagram (see Fig. 1) before three-dimensional porous graphite ene-type unit drive deformation driving, three-dimensional porous graphite
Structural schematic diagram (see Fig. 2) when the deformation driving of ene-type unit drive, three-dimensional porous graphite ene-type multiple-unit are stacked driver
Structural schematic diagram (see Fig. 3).
Three-dimensional porous five articulations digitorum manus Dextrous Hand 1 of graphene humanoid robot includes: that multiple three-dimensional porous graphite ene-type refer to pass more
Save finger 2, three-dimensional porous graphite ene-type wrist joint 3, palm 4, intelligent controller, different types of sensor 5, circuit control
Plate, scalable conducting wire, micro power；The three-dimensional porous more articulations digitorum manus fingers 2 of graphite ene-type, comprising: three-dimensional porous graphite ene-type is more
Unit is stacked driver articulations digitorum manus 6, distal end finger joint 7, left knee 8, finger joint connector 9；Three-dimensional porous graphite ene-type multiple-unit
Stacked driver articulations digitorum manus 6 is mainly stacked driver 10 by three-dimensional porous graphite ene-type multiple-unit and is assemblied in articulations digitorum manus (see Fig. 3)
It constitutes；Three-dimensional porous graphite ene-type multiple-unit is stacked driver 10, comprising: by multiple three-dimensional porous graphite ene-type unit drives
11 are orderly stacked composition；There is insulating resilient layer 22 between multiple three-dimensional porous graphite ene-type unit drives 11；It is three-dimensional porous
The first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode in graphite ene-type unit drive 11
Layer 13 is connected by scalable conducting wire with circuit control panel；Circuit control panel is connected by intelligent controller with micro power
It connects；Under intelligent controller instruction, micro power provides electric energy to the three-dimensional porous graphite ene-type unit drive 11, mentions
The electric energy of confession includes voltage or electric current, and voltage or size of current or direction are regulated and controled by intelligent controller.
Three-dimensional porous graphite ene-type unit drive 11 (see Fig. 1, Fig. 2) primary structure consists of three layers, comprising: the one or three
Tie up porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13, ionic liquid gel electroactive layer 14；The
One three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 are two outside layers, in ionic liquid
The ionic liquid gel electroactive layer 14 of middle layer, and being integrally formed structure are wrapped up in the outer surface of gel electroactive layer 14；From
Sub- liquid gel electroactive layer 14 is formed using ionic liquid loadedization, i.e., by either physically or chemically consolidating ionic liquid
Determine onto the solid-state carrier with the porous structure being connected；Different types of sensor 5 is respectively assembled at distal end finger joint 7, close
It holds in finger joint 8 or palm 4；Three-dimensional porous graphite ene-type multiple-unit is stacked the both ends of driver articulations digitorum manus 6, passes through finger joint connector
9 are connected with 7 one end of distal end finger joint, 8 one end of left knee respectively；8 other end of left knee passes through another finger joint connector 9
The one end for being stacked driver articulations digitorum manus 6 with another three-dimensional porous graphite ene-type multiple-unit is connected, and it is more to constitute a three-dimensional
The more articulations digitorum manus fingers 2 of hole graphite ene-type；Three-dimensional porous more 2 ends of articulations digitorum manus finger of graphite ene-type, pass through finger joint connector 9 and hand
4 upper ends are slapped to be connected；Three-dimensional porous graphite ene-type wrist joint 3, comprising: three-dimensional porous graphite ene-type multiple-unit is stacked driver
Array 15, wrist joint connector 23；It includes: ordered arrangement that three-dimensional porous graphite ene-type multiple-unit, which is stacked drive array 15,
Three-dimensional porous graphite ene-type multiple-unit is stacked driver 10, i.e., in multiple same directions or multiple and different directions according to certain rule
Arrangement mode forms three-dimensional porous graphite ene-type multiple-unit and is stacked drive array 15；Three-dimensional porous graphite ene-type multiple-unit is stacked
Drive array 15 is connected by wrist joint connector 23 with 4 lower end of palm, and intelligent controller instruction under have to
The curved driving function of different directions；Intelligent controller, operative sensor, circuit control panel, scalable conducting wire, micro power are equal
It is assemblied in palm 4；It is intelligent controller and different types of sensor 5, circuit control panel, scalable conducting wire, micro power, more
The more articulations digitorum manus fingers 2 of a three-dimensional porous graphite ene-type, finger joint connector 9, three-dimensional porous graphite ene-type wrist joint 3, wrist are closed
Section connector 23, palm 4 are connected, and the more articulations digitorum manus Dextrous Hands 1 of three-dimensional porous graphene humanoid robot for being integrally formed.
The three-dimensional porous grapheme material of the three-dimensional porous more articulations digitorum manus Dextrous Hands 1 of graphene humanoid robot is using three-dimensional porous
Graphene sponge material.
More 1 courses of work of articulations digitorum manus Dextrous Hand of the three-dimensional porous graphene humanoid robot of the utility model embodiment 1 are as follows:
Intelligent controller issues crawl object work order, and micro power passes through circuit control panel and scalable conducting wire to three
It ties up the more articulations digitorum manus fingers 2 of porous graphite ene-type and conveys a certain size or certain orientation with three-dimensional porous graphite ene-type wrist joint 3
Voltage or electric current；Due in the more articulations digitorum manus fingers 2 of three-dimensional porous graphite ene-type and three-dimensional porous graphite ene-type wrist joint 3
Three-dimensional porous graphite ene-type multiple-unit is stacked driver 10 and is constituted by multiple three-dimensional porous graphite ene-type unit drives 11 are stacked,
Its three-dimensional 11 primary structure of porous graphene type unit drive consists of three layers, comprising: the first three-dimensional porous graphite ene-type electricity
Pole layer the 12, second three-dimensional porous graphite ene-type electrode layer 13, ionic liquid gel electroactive layer 14；First three-dimensional porous graphene
Type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 are two outside layers, wrap up the ionic liquid gel electricity of middle layer
Active layer 14, and being integrally formed structure；Ionic liquid gel electroactive layer 14 passes through object using ionic liquid loadedization
Ionic liquid is fixed on the solid-state carrier with the porous structure being connected by reason or chemical method；Its voltage and current passes through
Electric energy is transferred to the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer by scalable conducting wire
13；Due to three-dimensional porous in the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13
Graphene has excellent electric conductivity, and with huge surface area and a large amount of holes for being connected to；First three-dimensional porous graphite
Ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 voltage to the ionic liquid gel electroactive layer of middle layer
14 form electric field；In the first three-dimensional porous graphite ene-type electrode layer 12, the electric field of the second three-dimensional porous graphite ene-type electrode layer 13
Under effect, the charged ion in ionic liquid gel electroactive layer 14 is redistributed, and negative ions are three-dimensional more first respectively
Heap is distributed in hole graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 and its three-dimensional porous graphene hole
Product；Since cationic 16 volumes are much larger than 19 volume of anion, lead to the second three-dimensional porous Graphene electrodes layer as cathode
13 elongations, the first three-dimensional porous graphite ene-type electrode layer 12 as anode is shunk, to make three-dimensional porous graphite ene-type unit
Driver 11 is macroscopically generating visible deformation (see Fig. 2), generates bending driving effect；Since three-dimensional porous graphite ene-type is mostly single
The stacked driver 10 of member, which is that multiple three-dimensional porous graphite ene-type unit drives 11 are orderly stacked, to be constituted, so generating bending driving
It is superimposed enhancement effect；Under intelligent controller instruction, make more articulations digitorum manus fingers 2 of multiple three-dimensional porous graphite ene-type and three-dimensional porous
The drive actions of crawl object are completed in the collaboration bending of graphite ene-type wrist joint 3.
When the more articulations digitorum manus fingers 2 of three-dimensional porous graphite ene-type and the collaboration of three-dimensional porous graphite ene-type wrist joint 3 curve into
During row crawl object motion, the three-dimensional porous more articulations digitorum manus fingers 2 of graphite ene-type and three-dimensional porous graphite ene-type wrist joint 3
The different types of sensor 5 of middle assembly can cooperate；Various kinds of sensors 5 can be by tactile information data, moment information
Data, location information data, Angle Information data etc. are transferred to intelligent controller；The operation that intelligent controller passes through intelligent chip
Processing, to the three-dimensional porous graphene for being assemblied in different location in the more articulations digitorum manus Dextrous Hands 1 of three-dimensional porous graphene humanoid robot
Type multiple-unit is stacked the information of the conveying of driver 10 regulation voltage or size of current, makes the three-dimensional porous graphite ene-type of different location
Multiple-unit is stacked the bending degree of driver 10 or output torque obtains controllable adjustment, and adaptive regulation crawl object is completed in collaboration
Body.
When the more completion of the articulations digitorum manus Dextrous Hands 1 crawl objects of three-dimensional porous graphene humanoid robot, and pacify according to instruction
Entirely by after object shifting to designated position, intelligent controller is sent out to the more articulations digitorum manus Dextrous Hands 1 of three-dimensional porous graphene humanoid robot
Release object instruction is sent, then micro power is by circuit control panel and scalable conducting wire in three-dimensional porous graphite ene-type machine
The three-dimensional porous graphite ene-type multiple-unit of different location is stacked driver 10 and conveys opposite work electricity in the more articulations digitorum manus Dextrous Hands 1 of people
Pressure or electric current, multiple three-dimensional porous more articulations digitorum manus fingers 2 of graphite ene-type and three-dimensional porous graphite ene-type wrist joint 3 are cooperateed with to phase
Release object motion is completed in opposite direction bending.
Embodiment 2.
Three-dimensional porous graphene humanoid robot refers to software Dextrous Hand 17 more
The three-dimensional porous graphene humanoid robot of the utility model embodiment 2 refers to the structural schematic diagram of software Dextrous Hand 17 more
(see Fig. 5), the structural schematic diagram (see Fig. 1) before the three-dimensional porous deformation of graphite ene-type unit drive 11 driving, three-dimensional porous stone
Structural schematic diagram (see Fig. 2) when the black deformation of ene-type unit drive 11 driving, three-dimensional porous graphite ene-type multiple-unit is stacked to drive
The structural schematic diagram of dynamic device 10 (see Fig. 3).
The three-dimensional porous graphene humanoid robot of the utility model embodiment 2 refers to software Dextrous Hand 17 more, comprising: Duo Gesan
Tie up porous graphene humanoid robot software finger 18, finger joint connector, different types of sensor 5, palm 20, intelligent control
Device, circuit control panel, connecting wire, external electrode 21, micro power；Three-dimensional porous graphene humanoid robot software finger 18,
It include: that three-dimensional porous graphite ene-type multiple-unit is stacked driver software finger 18；Three-dimensional porous graphite ene-type multiple-unit is stacked to drive
Dynamic device software finger 18 specifically includes that three-dimensional porous graphite ene-type multiple-unit is stacked driver 10；Three-dimensional porous graphite ene-type is more
Unit is stacked driver 10, comprising: is constituted by multiple three-dimensional porous graphite ene-type unit drives 11 are orderly stacked (see Fig. 3)；
There is insulating resilient layer 22 between multiple three-dimensional porous graphite ene-type unit drives 11；Three-dimensional porous graphite ene-type unit driving
The first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 in device 11 are led by scalable
Line is connected with circuit control panel；Circuit control panel is connected by intelligent controller with micro power；Refer in intelligent controller
Under order, three-dimensional porous graphite ene-type unit drive 11 of the micro power into three-dimensional porous graphene humanoid robot Dextrous Hand is mentioned
Voltage supplied or electric current, the voltage or size of current that provide or direction are regulated and controled by intelligent controller.
Three-dimensional porous graphite ene-type unit drive 11 (see Fig. 1, Fig. 2) primary structure consists of three layers, comprising: the one or three
Tie up porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13, ionic liquid gel electroactive layer 14；The
One three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 are two outside layers, are located at ionic liquid
The ionic liquid gel electroactive layer 14 of middle layer, and being integrally formed structure are wrapped up in the outer surface of body gel electroactive layer 14；
Ionic liquid gel electroactive layer 14 is formed using ionic liquid loadedization, i.e., by either physically or chemically by ionic liquid
Fixed on the solid-state carrier with the porous structure being connected；Different types of sensor 5 is respectively assembled at three-dimensional porous stone
In black ene-type robot software finger 18 or palm 20；Multiple three-dimensional porous graphene humanoid robot software fingers 18 pass through respectively
Finger joint connector is connected with wrist 20；External electrode 21 is assemblied in outside finger joint connector, and with three-dimensional porous graphite ene-type
Three-dimensional porous graphite ene-type electrode in robot software finger 18 is connected；Intelligent controller, circuit control panel, connection are led
Line, micro power are assemblied in palm 20；Intelligent controller and dissimilar sensor 5, circuit control panel, connecting wire,
Micro power, three-dimensional porous graphene humanoid robot software finger 18, palm 20 are connected, and being integrally formed is three-dimensional porous
Graphene humanoid robot refers to software Dextrous Hand 17 more.
Three-dimensional porous graphene humanoid robot refers to the three-dimensional porous grapheme material of software Dextrous Hand 17 using three-dimensional more more
Hole graphene hydrogel material.
The three-dimensional porous graphene humanoid robot of the utility model refers to that 17 course of work of software Dextrous Hand is as follows more:
Intelligent controller issues crawl object work order, and micro power passes through circuit control panel and scalable conducting wire to three
Dimension porous graphite ene-type refers to that software finger 18 conveys the voltage or electric current of a certain size or certain orientation more；Due to three-dimensional porous stone
Black ene-type refers to that the three-dimensional porous graphite ene-type multiple-unit in software finger 18 is stacked driver 10 by multiple three-dimensional porous graphite more
Ene-type unit drive 11 is stacked to be constituted, and three-dimensional 11 primary structure of porous graphene type unit drive consists of three layers, and is wrapped
Include: the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13, ionic liquid gel electricity are living
Property layer 14；First three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 are two outside layers, packet
Wrap up in the ionic liquid gel electroactive layer 14 of middle layer, and being integrally formed structure；Ionic liquid gel electroactive layer 14 uses
Ionic liquid loadedization, i.e., by the way that ionic liquid is either physically or chemically fixed to the solid-state with the porous structure being connected
On carrier；Electric energy is transferred to the first three-dimensional porous graphite ene-type electrode layer 12, by scalable conducting wire by its voltage and current
Two three-dimensional porous graphite ene-type electrode layers 13；Due to the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite
Three-dimensional porous graphene in ene-type electrode layer 13 has excellent electric conductivity, and have huge surface area be connected to it is big
Metering-orifice hole；First three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 voltage to centre
The ionic liquid gel electroactive layer 14 of layer forms electric field；It is three-dimensional more in the first three-dimensional porous graphite ene-type electrode layer 12, second
Under the electric field action of hole graphite ene-type electrode layer 13, the charged ion in ionic liquid gel electroactive layer 14 is redistributed,
Negative ions respectively the first three-dimensional porous graphite ene-type electrode layer 12, the second three-dimensional porous graphite ene-type electrode layer 13 and thirdly
It ties up and is distributed accumulation in porous graphene hole；Since cationic 16 volumes are much larger than 19 volume of anion, cause as cathode
Second three-dimensional porous Graphene electrodes layer 13 extends, and the first three-dimensional porous Graphene electrodes layer 12 as anode is shunk, thus
So that three-dimensional porous graphite ene-type unit drive 11 is macroscopically being generated visible deformation, generates bending driving effect；Due to three-dimensional
It is multiple three-dimensional porous graphite ene-type unit drives 11 orderly stacked composition that porous graphite ene-type multiple-unit, which is stacked driver 10,
So generating bending driving synergistic effect；Under intelligent controller instruction, multiple three-dimensional porous graphite ene-type is made to refer to software hand more
Refer to that crawl object motion is completed in 18 collaboration bendings.
It is three-dimensional more during three-dimensional porous graphite ene-type refers to that the collaboration bending of software finger 18 carries out crawl object motion more
Hole graphite ene-type refers to that the dissimilar sensor 5 assembled in software finger 18 can cooperate more；Various kinds of sensors 5 can incite somebody to action
Tactile information data, moment information data, location information data, Angle Information data etc. are transferred to intelligent controller；Intelligence control
Device processed is stacked driver to the three-dimensional porous graphite ene-type multiple-unit for being assemblied in different location by the calculation process of intelligent chip
The information of 10 conveying regulation voltages or size of current, makes three-dimensional porous graphite ene-type multiple-unit be stacked the bending degree of driver 10
Or output torque obtains controllable adjustment, completes adaptive regulation crawl object.
When three-dimensional porous graphene humanoid robot refer to more software Dextrous Hand 17 complete crawl object, and according to instruction pacified
Entirely by after object shifting to designated position, intelligent controller refers to that software Dextrous Hand 17 is sent out to three-dimensional porous graphene humanoid robot more
Release object instruction is sent, then micro power is by circuit control panel and scalable conducting wire in three-dimensional porous graphite ene-type machine
People refers to that the three-dimensional porous graphite ene-type multiple-unit of 17 different location of software Dextrous Hand is stacked driver 10 and conveys opposite work electricity more
Pressure or electric current, multiple three-dimensional porous graphite ene-type refer to the collaboration of software finger 18 more, and bending completion release object is dynamic round about
Make.
Therefore, three-dimensional porous graphene humanoid robot refers to that the three-dimensional porous graphene humanoid robot of software Dextrous Hand 17 is soft more
Body finger 18 has soft body structure feature, is suitable for grabbing polygon form object under intelligent controller instruction, scale shape is not advised
Then object or atypical morphology object.
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 institute
The preferred embodiment for stating only the utility model, is not intended to limit the utility model, all spirit and original in the utility model
Within then, any modification, equivalent replacement, improvement and so on be should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of three-dimensional porous graphene humanoid robot Dextrous Hand characterized by comprising three-dimensional porous graphene humanoid robot
More articulations digitorum manus Dextrous Hands, three-dimensional porous graphene humanoid robot refer to software Dextrous Hand more；The three-dimensional porous graphite ene-type machine
The more articulations digitorum manus Dextrous Hands of people, comprising: the more articulations digitorum manus fingers of multiple three-dimensional porous graphite ene-type, three-dimensional porous graphite ene-type wrist are closed
Section, palm, intelligent controller, multiple sensors, circuit control panel, scalable conducting wire, micro power；The three-dimensional porous graphite
The more articulations digitorum manus fingers of ene-type, comprising: three-dimensional porous graphite ene-type multiple-unit is stacked driver articulations digitorum manus, distal end finger joint, proximal end refer to
Section, finger joint connector；The three-dimensional porous graphite ene-type multiple-unit is stacked driver articulations digitorum manus and uses three-dimensional porous graphite ene-type
Multiple-unit is stacked driver and is assemblied in articulations digitorum manus composition；The three-dimensional porous graphite ene-type multiple-unit is stacked driver by multiple three
Porous graphite ene-type unit drive is tieed up to constitute；The three-dimensional porous graphite ene-type unit drive includes: two three-dimensional porous
Graphite ene-type electrode layer, ionic liquid gel electroactive layer；Described two three-dimensional porous graphite ene-type electrode layers are wrapped in respectively
The outer surface of ionic liquid gel electroactive layer, and being integrally formed structure；The ionic liquid gel electroactive layer, using from
Sub- fluid load is formed；The multiple sensor is respectively assembled in distal end finger joint, left knee or palm；The three-dimensional is more
The both ends that hole graphite ene-type multiple-unit is stacked driver articulations digitorum manus pass through finger joint connector respectively and refer to distal end finger joint one end, proximal end
Section one end is connected；The left knee other end is more by another finger joint connector and another three-dimensional porous graphite ene-type
One end that unit is stacked driver articulations digitorum manus is connected, and constitutes the three-dimensional porous more articulations digitorum manus fingers of graphite ene-type；It is described
The three-dimensional porous more articulations digitorum manus finger tips of graphite ene-type, are connected by finger joint connector with palm upper end；It is described three-dimensional porous
Graphite ene-type wrist joint, comprising: three-dimensional porous graphite ene-type multiple-unit is stacked drive array, wrist joint connector；Institute
The three-dimensional porous graphite ene-type multiple-unit that the stacked drive array of three-dimensional porous graphite ene-type multiple-unit includes ordered arrangement is stated to fold
Set driver；The three-dimensional porous graphite ene-type multiple-unit is stacked drive array, by under wrist joint connector and palm
End is connected, and can be bent to multiple directions under intelligent controller instruction；The intelligent controller, the sensor of part, electricity
Road control panel, scalable conducting wire, micro power are assemblied in palm；The intelligent controller and sensor, circuit control panel,
Scalable conducting wire, micro power, the more articulations digitorum manus fingers of multiple three-dimensional porous graphite ene-type, finger joint connector, three-dimensional porous graphite
Ene-type wrist joint, wrist joint connector, palm are connected, and the three-dimensional porous graphene humanoid robot for being integrally formed is more
Articulations digitorum manus Dextrous Hand.
2. three-dimensional porous graphene humanoid robot Dextrous Hand according to claim 1, which is characterized in that described three-dimensional porous
Graphene humanoid robot refers to software Dextrous Hand more, comprising: multiple three-dimensional porous graphene humanoid robot software fingers, finger joint connection
Device, sensor, palm, intelligent controller, circuit control panel, connecting wire, external electrode, micro power；It is described three-dimensional porous
Graphene humanoid robot software finger, comprising: three-dimensional porous graphite ene-type multiple-unit is stacked driver software finger；The three-dimensional
It includes: that three-dimensional porous graphite ene-type multiple-unit is stacked driver that porous graphite ene-type multiple-unit, which is stacked driver software finger,；Institute
The stacked driver of three-dimensional porous graphite ene-type multiple-unit is stated to be constituted by multiple three-dimensional porous graphite ene-type unit drives are stacked；Institute
Three-dimensional porous graphite ene-type unit drive is stated to be made of three-decker, comprising: two three-dimensional porous graphite ene-type electrode layers, from
Sub- liquid gel electroactive layer；It is electroactive that described two three-dimensional porous graphite ene-type electrode layers are wrapped in the ionic liquid gel
Layer outer surface, and being integrally formed structure；The ionic liquid gel electroactive layer is formed using ionic liquid loadedization；Institute
Sensor is stated to be respectively assembled in three-dimensional porous graphene humanoid robot software finger or palm；The multiple three-dimensional porous graphite
Ene-type robot software finger passes through finger joint connector respectively and is connected with wrist；The external electrode is assemblied in finger joint connector
Outside, and be connected with the three-dimensional porous graphite ene-type electrode in three-dimensional porous graphene humanoid robot software finger；The intelligence
It can control device, circuit control panel, connecting wire, micro power to be assemblied in palm；The intelligent controller and sensor, electricity
Road control panel, connecting wire, micro power, three-dimensional porous graphene humanoid robot software finger, palm are connected, and constitute one
The three-dimensional porous graphene humanoid robot of body refers to software Dextrous Hand more.
3. three-dimensional porous graphene humanoid robot Dextrous Hand according to claim 1, which is characterized in that described three-dimensional porous
Graphite ene-type multiple-unit is stacked driver and is constituted by multiple three-dimensional porous graphite ene-type unit drives are orderly stacked；It is the multiple
There is insulating resilient layer between three-dimensional porous graphite ene-type unit drive；In the three-dimensional porous graphite ene-type unit drive
Three-dimensional porous graphite ene-type electrode layer be connected by scalable conducting wire with circuit control panel；The circuit control panel passes through intelligence
It can control device to be connected with micro power；The micro power is under intelligent controller instruction to three-dimensional porous graphite ene-type unit
Driver provides electric energy.
4. three-dimensional porous graphene humanoid robot Dextrous Hand according to claim 1, which is characterized in that three-dimensional porous graphite
The three-dimensional porous grapheme material of ene-type robot delicate includes: three-dimensional porous graphene sponge material, three-dimensional porous graphite
Alkene hydrogel material, three-dimensional porous graphene aerogel material, three-dimensional porous grapheme foam material, three-dimensional porous graphene are multiple
Condensation material, three-dimensional porous graphene oxide composite material or three-dimensional porous graphene oxide composite material；The three-dimensional porous graphene
Composite material includes: three-dimensional porous graphene sponge composite material, three-dimensional porous graphene hydrogel composite material, three-dimensional porous
Graphene aerogel composite material or three-dimensional porous grapheme foam composite material.
5. three-dimensional porous graphene humanoid robot Dextrous Hand according to claim 1 or 2, which is characterized in that the sensing
Device includes: touch sensor, torque sensor, position sensor, angular transducer, speech transducer, visual sensor, temperature
Sensor, brain wave sensor, electrocardiography transducer, blood pressure sensor.
6. three-dimensional porous graphene humanoid robot Dextrous Hand according to claim 1 or 2, which is characterized in that the three-dimensional
The more articulations digitorum manus Dextrous Hands of porous graphene humanoid robot, comprising: multiple fingers, each finger have multiple finger-joints；Institute
State the more articulations digitorum manus Dextrous Hands of three-dimensional porous graphene humanoid robot, comprising: three-dimensional porous two articulations digitorum manus of graphene humanoid robot spirit
Dab hand, three articulations digitorum manus Dextrous Hand of three-dimensional porous graphene humanoid robot, three-dimensional porous four articulations digitorum manus of graphene humanoid robot are dexterous
Hand, five articulations digitorum manus Dextrous Hand of three-dimensional porous graphene humanoid robot or the more articulations digitorum manus of three-dimensional porous graphene humanoid robot are dexterous
Hand；The three-dimensional porous graphene humanoid robot refers to software Dextrous Hand more, comprising: three-dimensional porous graphene humanoid robot two refers to soft
Body Dextrous Hand, three-dimensional porous graphene humanoid robot three refer to that software Dextrous Hand, three-dimensional porous graphene humanoid robot four refer to software
Dextrous Hand, three-dimensional porous graphene humanoid robot the five fingers software Dextrous Hand or three-dimensional porous graphene humanoid robot refer to software spirit more
Dab hand.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291042A (en) * | 2018-11-15 | 2019-02-01 | 中国地质大学（武汉） | Three-dimensional porous graphene humanoid robot Dextrous Hand |
| CN111232959A (en) * | 2020-03-12 | 2020-06-05 | 浙江大学 | Preparation method of miniature graphene aerogel device |
| WO2021179233A1 (en) * | 2020-03-12 | 2021-09-16 | 浙江大学 | Miniature graphene aerogel device and preparation method therefor |
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2018
- 2018-11-15 CN CN201821883435.5U patent/CN209256945U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291042A (en) * | 2018-11-15 | 2019-02-01 | 中国地质大学（武汉） | Three-dimensional porous graphene humanoid robot Dextrous Hand |
| CN109291042B (en) * | 2018-11-15 | 2023-10-27 | 中国地质大学（武汉） | Three-dimensional porous graphene robot smart hand |
| CN111232959A (en) * | 2020-03-12 | 2020-06-05 | 浙江大学 | Preparation method of miniature graphene aerogel device |
| CN111232959B (en) * | 2020-03-12 | 2021-04-13 | 浙江大学 | Preparation method of miniature graphene aerogel device |
| WO2021179233A1 (en) * | 2020-03-12 | 2021-09-16 | 浙江大学 | Miniature graphene aerogel device and preparation method therefor |
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