CN209755204U - dexterous hand of carbon nano tube fiber yarn thermally-driven artificial muscle type robot - Google Patents
dexterous hand of carbon nano tube fiber yarn thermally-driven artificial muscle type robot Download PDFInfo
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- CN209755204U CN209755204U CN201920031921.2U CN201920031921U CN209755204U CN 209755204 U CN209755204 U CN 209755204U CN 201920031921 U CN201920031921 U CN 201920031921U CN 209755204 U CN209755204 U CN 209755204U
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Abstract
The utility model discloses a dexterous hand of artificial muscle type robot of carbon nanotube fiber yarn thermal drive, include: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives the dexterous hand of the artificial muscle type robot, and the carbon nanotube fiber grid yarn composite elastic tube thermally drives the dexterous hand of the artificial muscle type robot; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fiber spiral yarn includes: the finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot, the finger joint, the knuckle, the heat-insulation telescopic hose and the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle and finger joint linkage mechanism; the carbon nano tube fiber spiral yarn is combined with the elastic tube, and has the functions of cooperative expansion, extension superposition and drive enhancement under the action of thermal working medium.
Description
Technical Field
The utility model belongs to the technical field of the dexterous hand of robot, artificial intelligence and the driver among the optical-mechanical-electrical integration, more specifically relates to a dexterous hand of artificial muscle type robot of carbon nanotube fiber yarn thermal drive.
Background
with the rapid development of the dexterous hand technology of the robot and the wide application of the dexterous hand technology in various fields, the requirements on the intelligence, the dexterous property and the adaptability of the dexterous hand operation of the robot are higher and higher. The dexterous hand of the robot is a robot end effector and is used as a final execution component of the interaction between the robot and the environment, and has important index effect on the improvement of the intelligent level and the operation level of the robot.
In recent years, the research of multi-finger robot hands has attracted much attention, and the multi-finger robot hands can imitate human hands in structure and function, and can realize the control of the operation and force of objects with various shapes, so that the multi-finger robot hands have the capability of solving the problem of grabbing objects with complex shapes. The hands of conventional robots face technical problems such as: the structure is simpler, the motion form is more single, the degree of freedom is less, the grabbing stability is poorer, the capability of grabbing articles with complex shapes is weaker, the grabbing flexibility is insufficient, and the like, so that the further development of the robot technology is restricted to a certain extent. At present, the traditional dexterous robot hand at home and abroad generally mainly adopts a rigid mechanical structure, the dexterous hand with the structure mostly adopts high-rigidity and high-hardness metal or polymer materials to manufacture palm and finger structures, and takes a motor, a steel cable, a pulley and the like as driving and transmission elements, so that the robot hand has obvious defects, such as: the dexterous robot hand with the traditional structure has poor operation safety on a target object (particularly a soft and crisp target) by rigid fingers, generally has fewer joints, has limited freedom, and has weak adaptability to the environment with limited working space. Compare in motor drive, hydraulic drive, the air pressure drive mode that the dexterous hand of robot of traditional structure adopted, the dexterous hand technique of steam liquid drive robot is used and has its superiority in some special fields, if: the device has the advantages of high driving power, convenient operation, low price, cleanness, no pollution, good safety, easy control, wide practical field, strong environmental adaptability and the like, thereby having wide application prospect.
At present, how to adopt new drive technology and new device in the dexterous hand technique of robot, how to further simulate manhand structure and function in the dexterous hand of robot, how to further improve adaptability and the multi freedom of the dexterous hand of robot multifinger, how to further improve the dexterous hand of robot multifinger and realize the complicated action such as grabbing, holding, pressing from both sides to the more complicated article of form, how to further promote the dexterous hand of robot multifinger of high performance, high adaptability etc. in fields such as aerospace, deep sea exploration, medical rehabilitation, remote operation, the disabled service of helping, these problems remain people to solve.
SUMMERY OF THE UTILITY MODEL
To the current series problem that exists in the dexterous hand of robot and the drive field technical development of artificial muscle type, the utility model provides a dexterous hand of carbon nanotube fiber yarn thermal drive artificial muscle type robot to reach and adopt carbon nanotube fiber yarn new material and thermal drive technique to combine together, optimize the range of application and the performance index of expanding dexterous hand of robot and drive technique.
the utility model discloses a carbon nanotube fiber yarn thermal drive artificial muscle type robot dexterous technical scheme's realization includes: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives the artificial muscle type robot dexterous hand or the carbon nanotube fiber grid yarn composite elastic tube thermally drives the artificial muscle type robot dexterous hand; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fibre spiral yarn includes: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives fingers, palms, hot gas and liquid working medium working chambers, heaters, working media and an intelligent controller of the dexterous hand of the artificial muscle type robot; the finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type robot comprises: the carbon nano tube fiber spiral yarn composite elastic tube thermally drives the artificial muscle type knuckle, knuckle and heat-insulating telescopic hose; the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type knuckle comprises: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives the artificial muscle and the finger joint linkage mechanism; the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle comprises: the device comprises carbon nano tube fiber spiral yarns, an elastic tube, an upper end cover, a lower end cover, a hot gas-liquid working medium interface pipeline, a hot gas-liquid working medium pipeline control valve and a sensor; the carbon nano tube fiber spiral yarns are embedded in the surface layer of the elastic tube to form a composite elastic tube; the carbon nano tube fiber spiral yarn has the functions of restraining radial expansion of the elastic tube and reinforcing ribs, and also has the function of driving extension by cooperating with the expansion and superposition of the elastic tube under the action of a thermal working medium; the upper end cover is provided with a hot gas-liquid working medium interface pipeline and a hot gas-liquid working medium pipeline control valve; the hot gas-liquid working medium interface pipeline and the elastic pipe are internally provided with sensors; the carbon nano tube fiber spiral yarns are embedded at two ends of a composite elastic tube formed by the elastic tube and are respectively connected with the upper end cover and the lower end cover to form an integrated carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle; the two ends of the carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle are respectively connected with the two ends of the finger joint linkage mechanism to form a carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle type finger joint; the finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type robot comprises: one or more carbon nanotube fiber spiral yarn composite elastic tubes thermally drive the artificial muscle type knuckle and one or more knuckles; the one or more carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type finger joints are respectively connected with one or more knuckles to form fingers of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand; the hot gas-liquid working medium working chamber, the heater and the intelligent controller are all assembled in the palm; the hot gas-liquid working medium working chamber is respectively connected with one or more carbon nanotube fiber spiral yarn composite elastic tubes in the fingers of the heat-driven artificial muscle type robot dexterous hand through heat-insulating telescopic hoses, provides a heated working medium and can also recover and store a backflow working medium after a heat driving effect; the heater is connected with the hot gas-liquid working medium working chamber and provides heat energy for changing the working medium from a liquid state to a gas state for the working medium in the hot gas-liquid working medium working chamber; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fibre spiral yarn includes: one or more carbon nanotube fiber spiral yarn composite elastic tubes thermally drive fingers of the dexterous hand of the artificial muscle type robot; the tail ends of the fingers of the one or more carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hands are respectively connected with the palm, so that the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand is formed.
In the above scheme, the dexterous hand of compound elasticity pipe thermal drive artificial muscle type robot of carbon nanotube fibre net yarn includes: the device comprises fingers, palms, a working chamber of hot gas-liquid working medium, a heater, working medium and an intelligent controller, wherein the fingers, palms, hot gas-liquid working medium working chamber, the heater, the working medium and the intelligent controller are thermally driven by a carbon nanotube fiber grid yarn composite elastic tube; the finger of the dexterous hand of the carbon nanotube fiber mesh yarn composite elastic tube thermal driving artificial muscle type robot comprises: the carbon nano tube fiber grid yarn composite elastic tube thermally drives artificial muscles, a knuckle linkage mechanism, a plurality of knuckles, a cable and a reset spring; the carbon nanotube fiber grid yarn composite elastic tube thermal driving artificial muscle comprises: the device comprises carbon nano tube fiber grid yarns, an elastic tube, an upper end cover, a lower end cover, a hot gas-liquid working medium interface pipeline, a hot gas-liquid working medium pipeline control valve and a sensor; the carbon nano tube fiber grid yarn is a grid formed by carbon nano tube fibers; the carbon nano tube fiber grid yarns are arranged outside the elastic tube, and a composite elastic tube with a composite structure is formed; the upper end cover is provided with a hot gas-liquid working medium interface pipeline and a hot gas-liquid working medium pipeline control valve; the hot gas-liquid working medium interface pipeline and the elastic pipe are internally provided with sensors; the two ends of the composite elastic tube formed by the elastic tube and the carbon nano tube fiber grid yarns are respectively an upper end cover and a lower end cover, and the upper end cover and the lower end cover form the carbon nano tube fiber grid yarn composite elastic tube thermal driving artificial muscle with an integrated structure; the carbon nano tube fiber grid yarn composite elastic tube thermally-driven artificial muscle is connected with the knuckle linkage mechanism and the knuckle sections through one end of a cord; the other end of the cable is connected with a return spring; the hot gas-liquid working medium working chamber, the heater and the intelligent controller are all assembled in the palm; the hot gas-liquid working medium working chamber is respectively connected with the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle in the finger of the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand through the heat-insulation telescopic hose, provides a heated working medium for conveying, and can also recover and store a backflow working medium after a heat driving effect; the heater is connected with the hot gas-liquid working medium working chamber and provides heat energy for changing the working medium from a liquid state to a gas state for the working medium in the hot gas-liquid working medium working chamber; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fiber net yarn includes: one or more carbon nanotube fiber mesh yarns are combined with the elastic tube to thermally drive the fingers of the dexterous hand of the artificial muscle type robot; the tail ends of the fingers of the one or more carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand are respectively connected with the palm, so that the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand is formed.
In the above scheme, the carbon nanotube fiber yarn includes: a plurality of single carbon nanotubes, carbon nanotube aggregation bundle fibers or carbon nanotube composite fibers are subjected to a stranding process to form a multi-strand fiber yarn; the carbon nanotube composite fiber includes: is formed by compounding carbon nanotube fibers with other fibers different from the carbon nanotube fibers.
In the above aspect, the heater includes: one of a laser heater, a controllable resistance heater, an electromagnetic heater, a microwave heater, a chemical reaction heater, an electric spark heater or a combustible ice heater; the laser heater adopts the light heat of laser irradiation to realize heating, or adopts optical fiber to conduct the laser light heat to realize heating; the controllable resistance heater realizes heating through the current of the controllable resistance under the instruction of the intelligent controller; the electromagnetic heater realizes heating by electromagnetic effect; the microwave heater adopts microwave radiation to realize heating; the chemical reaction heater realizes heating by utilizing heat generated by chemical reaction among substances; the electric spark heater adopts sparks generated after the electricity is supplied between the electrodes to realize heating; the combustible ice heater adopts combustible ice as fuel to realize heating.
In the above scheme, the working medium includes: one of pure water, an aqueous solution, an inorganic solvent, an organic solution, a multi-component organic mixture, a thermal expansion liquid, a thermal expansion gas, or a solid substance having sublimation by heating.
In the above aspect, the sensor includes: one or more of a temperature sensor, a pressure sensor, an angle sensor, a grip force sensor, a tension sensor, or a fluid sensor.
In the above aspect, the elastic tube includes: one of an organic heat-resistant elastic tube, an inorganic heat-resistant elastic tube, a composite heat-resistant elastic tube or an inorganic-organic hybrid heat-resistant elastic tube; the elastic tube further includes: a heat-insulating elastic tube; the heat-insulating elastic tube includes: one kind of heat insulating organic heat resisting elastic pipe, heat insulating inorganic heat resisting elastic pipe, heat insulating composite material heat resisting elastic pipe or heat insulating inorganic and organic hybrid material heat resisting elastic pipe.
In the above-mentioned scheme, the intelligent controller includes: computer chip, data storage chip and relevant software; and the intelligent controller is respectively connected with the sensor, the hot gas-liquid working medium pipeline control valve, the heater and the hot gas-liquid working medium working chamber.
in the scheme, the carbon nanotube fiber spiral yarns in the dexterous hand of the artificial muscle robot are thermally driven by the carbon nanotube fiber spiral yarns and the composite elastic tube, and can be replaced by graphene fiber spiral yarns and composite fiber spiral yarns; the carbon nanotube fiber mesh yarns in the dexterous hand of the thermal-driven artificial muscle type robot of the carbon nanotube fiber mesh yarns and the composite elastic tubes can be replaced by graphene fiber mesh yarns and composite fiber spiral yarns.
The utility model discloses two kinds of types working process of the dexterous hand of carbon nanotube fiber yarn thermal drive artificial muscle type robot are as follows respectively:
(1) The working process of the dexterous hand of the thermal-driven artificial muscle type robot with the carbon nano tube fiber spiral yarn composite elastic tube comprises the following steps:
The intelligent controller sends a preparation work instruction, the heater starts to work, the temperature of the working medium in the hot gas-liquid working medium working chamber is quickly increased, the working medium is converted from a liquid state to a gas state, the pressure in the hot gas-liquid working medium working chamber starts to be increased, and preparation is made for the fingers of the dexterous hand of the artificial muscle type robot to be thermally driven by the carbon nano tube fiber spiral yarn composite elastic tube; the intelligent controller sends a grabbing work instruction, a hot gas-liquid working medium pipeline control valve assembled in one or more hot gas-liquid working medium interface pipelines is opened according to the instruction, under the action of high-temperature hot gas pressure in a hot gas-liquid working medium working chamber, hot gas-liquid working medium is transmitted through a heat-insulating telescopic hose, enters one or more carbon nanotube fiber spiral yarn composite elastic tubes of a dexterous robot and thermally drives artificial muscle type finger joints, and enters carbon nanotube fiber spiral yarn composite elastic tubes to thermally drive artificial muscles; hot gas-liquid working medium is respectively assembled with a hot gas-liquid working medium pipeline control valve and a hot gas-liquid working medium interface pipeline from one or more upper end covers, and respectively enters one or more carbon nano tube fiber spiral yarns to be embedded in the surface layer of the elastic tube to form the inner cavity of the composite elastic tube; under the regulation and control of a hot gas-liquid working medium pipeline control valve, one or more carbon nanotube fiber spiral yarns are embedded in the surface layer of the elastic pipe to form a composite elastic pipe, the composite elastic pipe is respectively filled with hot gas-liquid working mediums with different quantities, and the temperature is quickly increased; the carbon nano tube fiber spiral yarn has the functions of restraining radial expansion of the elastic tube and reinforcing ribs, and the elastic tube can only extend and deform in the axial direction; the carbon nano tube fiber spiral yarn is also axially elongated and deformed under the action of high temperature; at the moment, the carbon nanotube fiber spiral yarns and the elastic tube cooperate to generate an expansion superposition elongation driving effect under the action of thermal working medium, and drive the finger joint linkage mechanism to bend; under the instruction of the intelligent controller, the carbon nano tube fiber spiral yarn composite elastic tube thermally drives different finger joints of one or more fingers of the dexterous hand of the artificial muscle type robot to form certain-angle bending, and the grabbing work of the object is cooperatively completed.
In the process of grabbing a dexterous hand of the thermal-driven artificial muscle type robot by the carbon nano tube fiber spiral yarn composite elastic tube, the dexterous hand is assembled in a finger, a palm, a hot gas and liquid working medium working chamber, a heater, a hot gas and liquid working medium interface pipeline, a temperature sensor, a pressure sensor, an angle sensor, a grip force sensor, a tension sensor and a fluid sensor in a hot gas and liquid working medium pipeline control valve, and data information detected by different sensors is transmitted to an intelligent controller respectively; the chip of the intelligent controller is used for instructing the hot gas-liquid working medium working chamber, the heater and the hot gas-liquid working medium pipeline control valve to open and cooperate with regulation and control work, so that the hot gas-liquid working medium flow in the hot-driven artificial muscle of the carbon nanotube fiber spiral yarn composite elastic tube or tubes of the dexterous robot hand is regulated and controlled, the bending angle and the shape of the finger joint of the dexterous robot hand are controlled, and articles in different shapes can be stably and reliably grabbed.
After the object grabbing work of the dexterous hand of the artificial muscle robot is driven by the heat of the carbon nano tube fiber spiral yarn composite elastic tube is completed, the intelligent controller instructs the heat of the carbon nano tube fiber spiral yarn composite elastic tube to drive the object releasing work of the dexterous hand of the artificial muscle robot; under the instruction of the intelligent controller, the heater stops heating, the temperature of the working medium in the hot gas-liquid working chamber is rapidly reduced, and the working medium is changed from a gas state to a liquid state; the pressure of the hot gas-liquid working medium working chamber is rapidly reduced, and the hot gas-liquid working medium working chamber stops providing new hot gas-liquid working medium for the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle in the one or more carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type knuckle; the temperature of the hot gas-liquid working medium in the artificial muscle thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube is also rapidly reduced, and the hot gas-liquid working medium in the artificial muscle thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube is also changed from a gas state to a liquid state; the liquid working medium in the carbon nano tube fiber spiral yarn composite elastic tube thermally-driven artificial muscle is transmitted back to the working chamber of the gas-liquid working medium through the heat-insulating telescopic hose for storage and standby; at the moment, the fingers of the dexterous hand of the artificial muscle type robot are thermally driven by the carbon nano tube fiber spiral yarn composite elastic tube to loosen the object, and the object is released, so that the cyclic work of grabbing and releasing the object is completed.
(2) the working process of the dexterous hand of the thermal-driven artificial muscle type robot with the carbon nano tube fiber grid yarn composite elastic tube comprises the following steps:
The intelligent controller sends a preparation work instruction, the heater starts to work, the temperature of the working medium in the hot gas-liquid working medium working chamber is quickly increased, the working medium is converted from a liquid state to a gas state, the pressure in the hot gas-liquid working medium working chamber starts to be increased, and preparation is made for the fingers of the dexterous hand of the artificial muscle type robot to be thermally driven by the carbon nano tube fiber grid yarn composite elastic tube; the intelligent controller sends a grabbing work instruction, a hot gas-liquid working medium pipeline control valve assembled in a hot gas-liquid working medium interface pipeline is opened, under the action of high-temperature hot gas pressure in a hot gas-liquid working medium working chamber, a hot gas-liquid working medium is transmitted through a heat insulation telescopic hose, enters a carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint of a dexterous robot hand, and enters a carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle; the hot gas-liquid working medium is respectively assembled with a hot gas-liquid working medium pipeline control valve and a hot gas-liquid working medium interface pipeline from the upper end cover and enters the inner cavity of the elastic pipe; the carbon nano tube fiber grid yarns are arranged on the surface layer of the elastic tube to form a composite elastic tube, and are filled with hot gas-liquid working medium, and the temperature is rapidly increased; the carbon nano tube fiber grids are in cooperation with the elastic tubes to expand in the radial direction and contract and deform in the axial direction to drive; at the moment, the carbon nano tube fiber grid yarns and the elastic tube cooperate to generate an axial superposition shrinkage driving effect under the action of thermal working medium; the carbon nano tube fiber grid yarn composite elastic tube thermally-driven artificial muscle is connected with the knuckle linkage mechanism and the knuckle sections through one end of a cable; the other end of the cable is connected with a return spring; under the instruction of the intelligent controller, the carbon nano tube fiber grid yarn composite elastic tube thermally drives the artificial muscle to cooperate with the knuckle linkage mechanism, the cable and the plurality of knuckles to form bending at a certain angle, so that the grabbing work of the article is completed.
In the process of grabbing by a dexterous hand of a thermal-driven artificial muscle type robot with a carbon nano tube fiber grid yarn composite elastic tube, a temperature sensor, a pressure sensor, an angle sensor, a grip force sensor, a tension sensor and a fluid sensor which are arranged in a finger, a palm, a hot gas and liquid working medium working chamber, a heater, a hot gas and liquid working medium interface pipeline and a hot gas and liquid working medium pipeline control valve are respectively used for transmitting data information detected by different sensors to an intelligent controller; the chip of the intelligent controller instructs the hot gas-liquid working medium working chamber, the heater and the hot gas-liquid working medium pipeline control valve to work in a cooperative manner through the operation processing of information data, so that the hot gas-liquid working medium flow rate in the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint of the dexterous hand of the robot is regulated, the hot gas-liquid working medium flow rate in the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint is regulated, the bending angle and the shape of the finger joint of the dexterous hand of the robot are controlled, and articles in different shapes can be stably and reliably grabbed.
After the work of grabbing articles by the dexterous hand of the artificial muscle robot is driven by the carbon nano tube fiber grid yarn composite elastic tube heat, the intelligent controller instructs the carbon nano tube fiber grid yarn composite elastic tube heat to drive the releasing articles of the dexterous hand of the artificial muscle robot to work; under the instruction of the intelligent controller, the heater stops heating, the temperature of the working medium in the hot gas-liquid working chamber is rapidly reduced, and the working medium is changed from a gas state to a liquid state; the pressure of the hot gas-liquid working medium working chamber is rapidly reduced, and the hot gas-liquid working medium working chamber stops providing new hot gas-liquid working medium for the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle in the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle knuckle; the temperature of the hot gas-liquid working medium in the artificial muscle thermally driven by the carbon nano tube fiber grid yarns and the composite elastic tubes is rapidly reduced, and the hot gas-liquid working medium in the artificial muscle thermally driven by the carbon nano tube fiber grid yarns and the composite elastic tubes is changed from a gas state to a liquid state; liquid working media in the artificial muscle thermally driven by the carbon nano tube fiber grid yarn composite elastic tube are transmitted back to the working chamber of the gas-liquid working media through the heat insulation telescopic hose for storage and standby; at the moment, under the synergistic action of the reset spring, the fingers of the dexterous hand of the artificial muscle type robot are driven by the carbon nano tube fiber grid yarn composite elastic tube to loosen the object and release the object, so that the cyclic work of grabbing and releasing the object is completed.
The utility model discloses a dexterous hand of artificial muscle type robot of carbon nanotube fiber yarn thermal drive has following beneficial effect:
a. The finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermal-driven artificial muscle type robot adopts the carbon nanotube fiber spiral yarn thermal-driven artificial muscle to embed the carbon nanotube fiber spiral yarn in the surface layer of the elastic tube to form the composite elastic tube; the carbon nano tube fiber spiral yarn has the functions of restraining radial expansion of the elastic tube and reinforcing ribs; the carbon nano tube fiber spiral yarn is combined with the elastic tube, and has the functions of cooperative expansion, extension superposition and drive enhancement under the action of thermal working medium.
b. The carbon nanotube fiber yarn thermally-driven artificial muscle type robot dexterous hand adopts the carbon nanotube fiber spiral yarn thermally-driven artificial muscle or the carbon nanotube fiber grid yarn thermally-driven artificial muscle to be combined with the finger joint linkage mechanism, adopts thermal working medium drive, can overcome a micro motor and a complex mechanical device required by the dexterous hand of the traditional robot, and overcomes a compressor and a numerous and complicated pneumatic device required by the traditional pneumatic artificial muscle; the utility model discloses a device compact structure, thermal drive is efficient, and its working medium can recycle.
c. the utility model discloses the dexterous hand of artificial muscle type robot of carbon nanotube fiber yarn thermal drive has adopted new thermal drive mode: a heater; the heater can be respectively selected and configured with a laser heater, a controllable resistance heater, an electromagnetic heater, a microwave heater, a chemical reaction heater and an electric spark heater according to different environments and different conditions, thereby expanding the application range of dexterous robots.
Drawings
The invention will be further explained with reference to the drawings and examples, wherein:
FIG. 1 is a schematic diagram of a finger structure of a heat-driven artificial muscle type robot dexterous hand with a composite elastic tube of carbon nanotube fiber spiral yarns;
FIG. 2 is a schematic structural diagram of a carbon nanotube fiber spiral yarn composite elastic tube thermally driven artificial muscle type knuckle;
FIG. 3 is a schematic structural diagram of a thermal-driven artificial muscle made of a composite elastic tube of carbon nanotube fiber spiral yarns;
FIG. 4 is a schematic diagram of a finger structure of a heat-driven artificial muscle type robot dexterous hand with a composite elastic tube of carbon nanotube fiber mesh yarns;
FIG. 5 is a schematic diagram of the structure and working principle of a carbon nanotube fiber mesh yarn composite elastic tube thermally driven artificial muscle type knuckle;
Fig. 6 is a structural schematic diagram of the artificial muscle thermally driven by the composite elastic tube of the carbon nanotube fiber mesh yarn.
wherein, the finger 1 of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand, the finger joint 3 of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type finger joint, the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4, the palm 5, the hot gas liquid working medium working chamber 6, the heater 7, the intelligent controller 8, the near knuckle 9, the middle knuckle 10, the last knuckle 11, the heat insulation telescopic hose 12, the finger joint linkage mechanism 13, the carbon nanotube fiber spiral yarn 14, the elastic tube 15, the upper end cover 16, the lower end cover 17, the hot gas liquid working medium interface pipeline 18, the hot gas liquid working medium pipeline control valve 19, the hollow structure 20, the fluid sensor 21, the pressure sensor 22, the temperature sensor 23, the connecting rod 24, the rotating shaft 25, the connecting piece 26, the finger 2 of the carbon nanotube fiber mesh yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand, the finger joint, the heat, The device comprises a carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle 27, a proximal knuckle 28, a middle knuckle 29, a distal knuckle 30, a cable 31, a reset spring 32, a knuckle shaft 33, a cable shaft 34, a joint connecting piece 35, carbon nano tube fiber grid yarns 36, an elastic tube 37, an upper end cover 38, a lower end cover 39, a hot gas-liquid working medium interface pipeline 40 and a hot gas-liquid working medium pipeline control valve 41.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, embodiments of the present invention will be further described below with reference to the accompanying drawings.
Example 1 thermal-driven Artificial muscle robot dexterous hand made of carbon nanotube fiber spiral yarn composite elastic tube
The finger 1 of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermally-driven artificial muscle type robot of the embodiment of the utility model is schematically shown in figure 1; a schematic structural diagram of the artificial muscle type knuckle 3 thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube (see fig. 2); the structure of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4 is schematically shown in figure 3.
The utility model discloses the dexterous hand of carbon nanotube fiber spiral yarn composite elastic tube thermal drive artificial muscle type robot, include: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives fingers 1, a palm 5, a hot gas-liquid working medium working chamber 6, a heater 7, a working medium and an intelligent controller 8 of the dexterous hand of the artificial muscle type robot; finger 1 of the dexterous hand of the thermal drive artificial muscle type robot of the composite elastic tube of the carbon nanotube fiber spiral yarn comprises: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives an artificial muscle type knuckle 3 (shown in figure 2), a proximal knuckle 9, a middle knuckle 10, a distal knuckle 11 and a heat insulation telescopic hose 12; carbon nanotube fiber spiral yarn composite elastic tube thermal drive artificial muscle type knuckle 3 includes: the artificial muscle 4 (shown in figure 3) and the finger joint linkage mechanism 13 are thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube; the thermal driving artificial muscle 4 of the carbon nanotube fiber spiral yarn composite elastic tube comprises: the device comprises carbon nano tube fiber spiral yarns 14, an elastic tube 15, an upper end cover 16, a lower end cover 17, a hot gas-liquid working medium interface pipeline 18, a hot gas-liquid working medium pipeline control valve 19 and a sensor; the elastic tube 15 is a hollow structure 20; the carbon nano tube fiber spiral yarn 14 is embedded in the surface layer of the elastic tube 15 to form a composite elastic tube; the carbon nano tube fiber spiral yarn 14 has the functions of restraining radial expansion and reinforcing ribs of the elastic tube 15 and has the function of driving extension by cooperating with the expansion and superposition of the elastic tube 15 under the action of a thermal working medium; the upper end cover 16 is provided with a hot gas-liquid working medium interface pipeline 18 and a hot gas-liquid working medium pipeline control valve 19; a fluid sensor 21 is arranged in the hot gas-liquid working medium interface pipeline 18, and a pressure sensor 22 and a temperature sensor 23 are arranged in a hollow structure 20 in the elastic pipe 15 (see figure 3); one end of a composite elastic tube, embedded in the elastic tube 15, of the carbon nano tube fiber spiral yarn 14 is connected with the upper end cover 16, the other end of the composite elastic tube, embedded in the elastic tube 15, of the carbon nano tube fiber spiral yarn 14 is connected with the lower end cover 17, and the integrated carbon nano tube fiber spiral yarn composite elastic tube thermal driving artificial muscle 4 is formed; the knuckle linkage mechanism 13 (see fig. 2) employed in the present embodiment 1 includes: a connecting rod 24, a rotating shaft 25 and a connecting piece 26 (see fig. 2); the two ends of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4 are respectively connected with the two ends of the knuckle linkage mechanism 13 to form a carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type knuckle 3 (see fig. 2); this embodiment 1 finger 1 of the dexterous hand of compound elasticity pipe heat drive artificial muscle type robot of carbon nanotube fibre spiral yarn includes: the artificial muscle knuckle 3 and 3 knuckles (a proximal knuckle 9, a middle knuckle 10 and a distal knuckle 11) are thermally driven by the 3 carbon nanotube fiber spiral yarn composite elastic tube (see fig. 1); the 3 carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle type knuckle 3 is respectively connected with the head of the 3 knuckles to form a finger 1 (shown in figure 1) of the carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand; the hot gas-liquid working medium working chamber 6, the heater 7 and the intelligent controller 8 are all assembled in the palm 5; the working medium in the hot gas-liquid working medium working chamber 6 adopts water; the hot gas-liquid working medium working chamber 6 is respectively connected with the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4 in the finger 1 of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand through a heat-insulation telescopic hose 12, provides a heated working medium for conveying, and can also recover and store a backflow working medium after a heat driving effect; the heater 7 adopts a controllable resistance heater and is connected with the hot gas-liquid working medium working chamber 6 to provide heat energy for changing the working medium water from a liquid state to a gas state for the working medium in the hot gas-liquid working medium working chamber 6; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fiber spiral yarn includes: 5, thermally driving fingers 1 of the dexterous hand of the artificial muscle type robot by the carbon nanotube fiber spiral yarn composite elastic tube; the tail ends of the fingers 1 of the heat-driven artificial muscle type robot dexterous hand with the 5 carbon nano tube fiber spiral yarns and the composite elastic tube are respectively connected with the palm 5 to form the heat-driven artificial muscle type robot dexterous hand with the carbon nano tube fiber spiral yarns and the composite elastic tube.
Example 1. the working process of the dexterous hand of the thermal-driven artificial muscle type robot of the carbon nanotube fiber spiral yarn composite elastic tube is as follows:
The intelligent controller 8 sends a preparation work instruction, the heater 7 starts to work, the temperature of the working medium water in the hot gas-liquid working medium working chamber 6 is quickly increased, the working medium water is changed from a liquid state to a gas state, the pressure in the hot gas-liquid working medium working chamber 6 starts to be increased, and preparation is made for the fingers 1 of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot to work; the intelligent controller 8 sends a grabbing work instruction, a hot gas-liquid working medium pipeline control valve 19 assembled in a hot gas-liquid working medium interface pipeline 18 is opened according to the instruction, under the action of high-temperature hot gas pressure in a hot gas-liquid working medium working chamber 6, hot gas-liquid working medium is transmitted through a heat insulation telescopic hose 12, enters a plurality of carbon nano tube fiber spiral yarn composite elastic tubes of a dexterous robot hand to thermally drive an artificial muscle type finger joint 3, and enters a carbon nano tube fiber spiral yarn composite elastic tube to thermally drive an artificial muscle 4; hot gas-liquid working media are respectively assembled with a hot gas-liquid working medium pipeline control valve 19 and a hot gas-liquid working medium interface pipeline 18 from a plurality of upper end covers 16, respectively enter a plurality of carbon nano tube fiber spiral yarns 14 and are embedded in the surface layer of the elastic pipe 15 to form a composite elastic pipe inner cavity hollow structure 20 (see figure 3); under the regulation and control of the hot gas-liquid working medium pipeline control valve 19, a plurality of carbon nano tube fiber spiral yarns 14 are embedded in the surface layer of the elastic pipe 15 to form a composite elastic pipe, the composite elastic pipe is respectively filled with hot gas-liquid working mediums with different quantities, and the temperature is quickly increased; the carbon nanotube fiber spiral yarn 14 has the functions of restraining radial expansion of the elastic tube 15 and reinforcing ribs, and the elastic tube 15 can only extend and deform in the axial direction; the carbon nanotube fiber spiral yarn 15 is also axially elongated and deformed under the action of high temperature; at the moment, the carbon nanotube fiber spiral yarn 14 and the elastic tube 15 cooperate to generate an expansion superposition elongation driving effect under the action of thermal working medium, and drive the finger joint linkage mechanism 13 to bend; under the instruction of the intelligent controller 8, the different finger joints of a plurality of fingers of the dexterous hand of the artificial muscle type robot are driven by the carbon nano tube fiber spiral yarn composite elastic tube heat to form certain angle bending, and the grabbing work of the object is completed in cooperation.
In the grabbing process of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand, the fingers 1, the palm 5, the hot gas-liquid working medium working chamber 6, the heater 7, the hot gas-liquid working medium interface pipeline 18, the temperature sensor, the pressure sensor, the angle sensor, the grip force sensor, the tension sensor and the fluid sensor which are assembled in the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand, and the temperature sensor, the pressure sensor, the angle sensor, the grip force sensor, the tension sensor and the fluid sensor in the hot gas-liquid working medium pipeline control valve 19 respectively transmit data information detected by different sensors to the intelligent controller 8; the chip of the intelligent controller 8 instructs the hot gas-liquid working medium working chamber 6, the heater 7 and the hot gas-liquid working medium pipeline control valve 19 to carry out cooperative regulation and control work through data processing so as to regulate and control the flow of the hot gas-liquid working medium entering the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4 and regulate the actions of a plurality of carbon nanotube fiber spiral yarn composite elastic tubes of the dexterous robot to heat-drive the artificial muscle type knuckle 13; the heat of the composite elastic tube of the carbon nano tube fiber spiral yarn drives the hot gas liquid working medium flow in the artificial muscle 4 to control the bending angle and the shape of the finger 1 joint of the dexterous hand of the artificial muscle robot driven by the heat of the composite elastic tube of the carbon nano tube fiber spiral yarn, so that objects with different shapes can be stably and reliably grabbed.
When the grabbing work of the dexterous hand of the artificial muscle robot is driven by the heat of the carbon nano tube fiber spiral yarn composite elastic tube is completed, the intelligent controller 8 instructs the heat of the carbon nano tube fiber spiral yarn composite elastic tube to drive the releasing work of the dexterous hand of the artificial muscle robot; under the instruction of the intelligent controller 8, the heater 7 stops heating, the temperature of the working medium in the hot gas-liquid working chamber 6 is rapidly reduced, and the working medium is changed from a gas state to a liquid state; the pressure of the hot gas-liquid working medium working chamber 6 is rapidly reduced, and the hot gas-liquid working medium working chamber 6 stops providing new hot gas-liquid working medium for the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle 4 in the plurality of carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type knuckle 3; the temperature of the hot gas-liquid working medium in the artificial muscle 4 thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube is also rapidly reduced, and the hot gas-liquid working medium in the artificial muscle 4 thermally driven by the carbon nanotube fiber spiral yarn composite elastic tube is also changed from a gas state to a liquid state; the liquid working medium in the carbon nano tube fiber spiral yarn composite elastic tube thermal driving artificial muscle 4 is transmitted back to the hot gas-liquid working medium working chamber 6 through the heat insulation telescopic hose 12 to be stored for later use; at the moment, the fingers 1 of the dexterous hand of the artificial muscle type robot are thermally driven by the carbon nano tube fiber spiral yarn composite elastic tube to loosen the object, and the object is released, so that the cyclic work of grabbing and releasing the object is completed.
Example 2 thermal-driven artificial muscle type robot dexterous hand with carbon nanotube fiber grid yarns and composite elastic tubes
The finger 2 of the dexterous hand of the carbon nanotube fiber mesh yarn composite elastic tube thermally driven artificial muscle type robot of the embodiment 2 of the utility model is schematically shown in figure 4; the structure and the working principle schematic diagram of the artificial muscle type knuckle thermally driven by the carbon nanotube fiber grid yarn composite elastic tube; (see FIG. 5); the structure of the artificial muscle 27 thermally driven by the carbon nanotube fiber mesh yarn and the elastic tube (see fig. 6).
The utility model discloses the dexterous hand of compound elasticity pipe thermal drive artificial muscle type robot of carbon nanotube fibre net yarn, include: the method comprises the following steps: the finger 2, the palm, the hot gas-liquid working medium working chamber, the heater, the working medium and the intelligent controller of the dexterous hand of the artificial muscle type robot are thermally driven by the carbon nano tube fiber grid yarn composite elastic tube; finger 2 of the dexterous hand of the thermal drive artificial muscle type robot of the composite elastic tube of the carbon nanotube fiber mesh yarn includes: the artificial muscle 27 driven by the composite elastic tube heat of the carbon nano tube fiber grid yarn, the knuckle linkage mechanism, the proximal knuckle 28, the middle knuckle 29, the distal knuckle 30, the cord 31 and the reset spring 32; a knuckle linkage mechanism comprising: knuckle shaft 33, cable shaft 34, knuckle connector 35 (see fig. 4); the proximal knuckle 28, the middle knuckle 29 and the distal knuckle 30 are respectively connected with the knuckle linkage mechanism through cables 31, and two ends of each cable 31 are respectively connected with a return spring 32 to form a finger 2 (see figure 4) of the smart hand of the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot; the carbon nanotube fiber mesh yarn composite elastic tube thermally-driven artificial muscle 27 (see fig. 6) includes: the device comprises carbon nano tube fiber grid yarns 36, an elastic tube 37, an upper end cover 38, a lower end cover 39, a hot gas-liquid working medium interface pipeline 40, a hot gas-liquid working medium pipeline control valve 41 and a sensor; the carbon nanotube fiber mesh yarn 36 is a mesh made of carbon nanotube fibers; the outside of the elastic tube 37 is provided with carbon nano tube fiber grid yarns 36, and a composite elastic tube with a composite structure is formed; the upper end cover 38 is provided with a hot gas-liquid working medium interface pipeline 40 and a hot gas-liquid working medium pipeline control valve 41; sensors are respectively assembled in the hot gas-liquid working medium interface pipeline 40 and the elastic pipe 37; one end of the composite elastic tube composed of the elastic tube 37 and the carbon nanotube fiber mesh yarn 36 is an upper end cover 38, the other end of the composite elastic tube composed of the elastic tube 37 and the carbon nanotube fiber mesh yarn 36 is a lower end cover 39, and the composite elastic tube form the carbon nanotube fiber mesh yarn thermal driving artificial muscle 27 with an integrated structure; the hot gas-liquid working medium working chamber, the heater and the intelligent controller are all assembled in the palm; the hot gas-liquid working medium working chamber is respectively connected with the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle 27 in the finger 2 of the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand through a heat-insulation telescopic hose, provides a heated working medium for conveying, and can also recover and store a backflow working medium after a heat driving effect; the heater is connected with the hot gas-liquid working medium working chamber and provides heat energy for changing the working medium from a liquid state to a gas state for the working medium in the hot gas-liquid working medium working chamber; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fiber net yarn includes: 3, thermally driving the fingers 2 of the dexterous hand of the artificial muscle type robot by the carbon nanotube fiber grid yarn composite elastic tube; the tail ends of the fingers 2 of the heat-driven artificial muscle type robot dexterous hand with the carbon nano tube fiber grid yarns and the composite elastic tubes are respectively connected with the palm, so that the heat-driven artificial muscle type robot dexterous hand with the carbon nano tube fiber grid yarns and the composite elastic tubes is formed.
Example 2. the working process of the dexterous hand of the thermal-driven artificial muscle type robot of the composite elastic tube of the carbon nano tube fiber grid yarn is as follows:
The intelligent controller sends a preparation work instruction, the heater starts to work, the temperature of the working medium water in the hot gas-liquid working medium working chamber is quickly increased, the working medium water is converted from a liquid state to a gas state, the pressure in the hot gas-liquid working medium working chamber starts to be increased, and preparation is made for the fingers 2 of the dexterous hand of the carbon nanotube fiber mesh yarn composite elastic tube thermally-driven artificial muscle type robot to work; the intelligent controller sends a grabbing work instruction, a hot gas-liquid working medium pipeline control valve 41 assembled in a hot gas-liquid working medium interface pipeline 40 is opened, and under the action of high-temperature hot gas pressure in a hot gas-liquid working medium working chamber, a hot gas-liquid working medium is transmitted through a heat insulation telescopic hose, enters a carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint of a dexterous robot hand, and enters a carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle 27; the hot gas-liquid working medium is respectively assembled with a hot gas-liquid working medium pipeline control valve 41 and a hot gas-liquid working medium interface pipeline 40 from the upper end cover 38 and enters the inner cavity of the elastic pipe; the carbon nano tube fiber grid yarns 36 are arranged on the surface layer of the elastic tube 37 to form a composite elastic tube, and are filled with hot gas-liquid working medium, and the temperature is rapidly increased; the carbon nanotube fiber mesh is in cooperation with the radial expansion of the elastic tube, and is driven by the axial contraction deformation to drive the cable 31 to move, and the cable 31 drives the carbon nanotube fiber mesh yarn composite elastic tube to thermally drive the artificial muscle type knuckle to move; at this time, the carbon nanotube fiber mesh yarn 36 and the elastic tube 37 cooperate to generate an axial superimposed shrinkage driving effect under the action of the thermal working medium; the artificial muscle 27 thermally driven by the carbon nanotube fiber grid yarn composite elastic tube is connected with the knuckle linkage mechanism and 3 knuckles through one end of a cord 31; the other end of the cable 31 is connected with a return spring 32; under the instruction of the intelligent controller, the artificial muscle 27 driven by the carbon nanotube fiber grid yarn composite elastic tube heat cooperates with the knuckle linkage mechanism, the cable 31 and the plurality of knuckles to form bending at a certain angle, so that the grabbing work of the object is completed.
In the process of grabbing a dexterous hand of the artificial muscle robot thermally driven by the carbon nano tube fiber grid yarn composite elastic tube, a temperature sensor, a pressure sensor, an angle sensor, a grip sensor, a tension sensor and a fluid sensor which are arranged in a finger, a palm, a hot gas and liquid working medium working chamber, a heater, a hot gas and liquid working medium interface pipeline 40 and a hot gas and liquid working medium pipeline control valve 41 are assembled, and data information detected by different sensors is transmitted to an intelligent controller respectively; the chip of the intelligent controller instructs the hot gas-liquid working medium working chamber, the heater and the hot gas-liquid working medium pipeline control valve 41 to work in a cooperative manner through the operation processing of information data, so that the hot gas-liquid working medium flow in the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint of the dexterous hand of the robot is regulated, the hot gas-liquid working medium flow in the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint 27 is regulated, the bending angle and the shape of the finger 2 joint of the dexterous hand of the robot are controlled through the control of the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type finger joint, and articles with different shapes can.
After the work of grabbing articles by the dexterous hand of the artificial muscle robot is driven by the carbon nano tube fiber grid yarn composite elastic tube heat, the intelligent controller instructs the carbon nano tube fiber grid yarn composite elastic tube heat to drive the releasing articles of the dexterous hand of the artificial muscle robot to work; under the instruction of the intelligent controller, the heater stops heating, the temperature of the working medium in the hot gas-liquid working chamber is rapidly reduced, and the working medium is changed from a gas state to a liquid state; the pressure of the hot gas liquid working medium working chamber is rapidly reduced, and the hot gas liquid working medium working chamber stops providing new hot gas liquid working medium for the carbon nanotube fiber mesh yarn composite elastic tube heat-driven artificial muscle 27 in the carbon nanotube fiber mesh yarn composite elastic tube heat-driven artificial muscle type knuckle; the temperature of the hot gas-liquid working medium in the artificial muscle 27 thermally driven by the carbon nanotube fiber mesh yarn composite elastic tube is rapidly reduced, and the hot gas-liquid working medium in the artificial muscle 27 thermally driven by the carbon nanotube fiber mesh yarn composite elastic tube is changed from a gas state to a liquid state; the liquid working medium in the carbon nano tube fiber grid yarn composite elastic tube thermal driving artificial muscle 27 is transmitted back to the working chamber of the gas-liquid working medium through the heat insulation telescopic hose for storage and standby; at this time, under the synergistic action of the reset spring 32, the fingers 2 of the dexterous hand of the artificial muscle type robot are thermally driven by the composite elastic tube of the carbon nano tube fiber grid yarns to loosen the object and release the object, so that the cyclic work of grabbing and releasing the object is completed.
in this document, the terms front, back, upper and lower are used to define the components in the drawings and the positions of the components relative to each other, and are used for clarity and convenience of the technical solution. It is to be understood that the use of the directional terms should not be taken to limit the scope of the claims.
The features of the embodiments and embodiments described herein above may be combined with each other without conflict.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included within the protection scope of the present invention.
Claims (9)
1. The utility model provides a dexterous hand of carbon nanotube fibre yarn thermal drive artificial muscle type robot which characterized in that includes: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives the artificial muscle type robot dexterous hand or the carbon nanotube fiber grid yarn composite elastic tube thermally drives the artificial muscle type robot dexterous hand; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fibre spiral yarn includes: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives fingers, palms, hot gas and liquid working medium working chambers, heaters, working media and an intelligent controller of the dexterous hand of the artificial muscle type robot; the finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type robot comprises: the carbon nano tube fiber spiral yarn composite elastic tube thermally drives the artificial muscle type knuckle, knuckle and heat-insulating telescopic hose; the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type knuckle comprises: the carbon nanotube fiber spiral yarn composite elastic tube thermally drives the artificial muscle and the finger joint linkage mechanism; the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle comprises: the device comprises carbon nano tube fiber spiral yarns, an elastic tube, an upper end cover, a lower end cover, a hot gas-liquid working medium interface pipeline, a hot gas-liquid working medium pipeline control valve and a sensor; the carbon nano tube fiber spiral yarns are embedded in the surface layer of the elastic tube to form a composite elastic tube; the upper end cover is provided with a hot gas-liquid working medium interface pipeline and a hot gas-liquid working medium pipeline control valve; the hot gas-liquid working medium interface pipeline and the elastic pipe are internally provided with sensors; the carbon nano tube fiber spiral yarns are embedded at two ends of a composite elastic tube formed by the elastic tube and are respectively connected with the upper end cover and the lower end cover to form an integrated carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle; the two ends of the carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle are respectively connected with the two ends of the finger joint linkage mechanism to form a carbon nano tube fiber spiral yarn composite elastic tube heat-driven artificial muscle type finger joint; the finger of the dexterous hand of the carbon nanotube fiber spiral yarn composite elastic tube thermal driving artificial muscle type robot comprises: one or more carbon nanotube fiber spiral yarn composite elastic tubes thermally drive the artificial muscle type knuckle and one or more knuckles; the one or more carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type finger joints are respectively connected with one or more knuckles to form fingers of the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand; the hot gas-liquid working medium working chamber, the heater and the intelligent controller are all assembled in the palm; the hot gas-liquid working medium working chamber is respectively connected with one or more carbon nano tube fiber spiral yarn composite elastic tubes and thermally driven artificial muscles of fingers of the dexterous robot hand by the heat-insulating telescopic hose; the heater is connected with the hot gas-liquid working medium working chamber; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fibre spiral yarn includes: one or more carbon nanotube fiber spiral yarn composite elastic tubes thermally drive fingers of the dexterous hand of the artificial muscle type robot; the tail ends of the fingers of the one or more carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hands are respectively connected with the palm, so that the carbon nanotube fiber spiral yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand is formed.
2. the carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1, wherein the carbon nanotube fiber mesh yarn composite elastic tube thermally actuated artificial muscle robotic dexterous hand comprises: the device comprises fingers, palms, a working chamber of hot gas-liquid working medium, a heater, working medium and an intelligent controller, wherein the fingers, palms, hot gas-liquid working medium working chamber, the heater, the working medium and the intelligent controller are thermally driven by a carbon nanotube fiber grid yarn composite elastic tube; the finger of the dexterous hand of the carbon nanotube fiber mesh yarn composite elastic tube thermal driving artificial muscle type robot comprises: the carbon nano tube fiber grid yarn composite elastic tube thermally drives artificial muscles, a knuckle linkage mechanism, a plurality of knuckles, a cable and a reset spring; the carbon nanotube fiber grid yarn composite elastic tube thermal driving artificial muscle comprises: the device comprises carbon nano tube fiber grid yarns, an elastic tube, an upper end cover, a lower end cover, a hot gas-liquid working medium interface pipeline, a hot gas-liquid working medium pipeline control valve and a sensor; the carbon nano tube fiber grid yarn is formed by carbon nano tube fibers; the carbon nano tube fiber grid yarns are arranged outside the elastic tube, and a composite elastic tube with a composite structure is formed; the upper end cover is provided with a hot gas-liquid working medium interface pipeline and a hot gas-liquid working medium pipeline control valve; the hot gas-liquid working medium interface pipeline and the elastic pipe are internally provided with sensors; the two ends of the composite elastic tube are respectively provided with an upper end cover and a lower end cover which form the carbon nano tube fiber grid yarn composite elastic tube thermal driving artificial muscle with an integrated structure; the carbon nano tube fiber grid yarn composite elastic tube thermally-driven artificial muscle is connected with the knuckle linkage mechanism and the knuckle sections through one end of a cord; the other end of the cable is connected with a return spring; the hot gas-liquid working medium working chamber, the heater and the intelligent controller are all assembled in the palm; the hot gas-liquid working medium working chamber is connected with the carbon nano tube fiber grid yarn composite elastic tube heat-driven artificial muscle through a heat-insulation telescopic hose; the heater is connected with the hot gas-liquid working medium working chamber; the dexterous hand of artificial muscle type robot of compound elasticity pipe heat drive of carbon nanotube fiber net yarn includes: one or more carbon nanotube fiber mesh yarns are combined with the elastic tube to thermally drive the fingers of the dexterous hand of the artificial muscle type robot; the tail ends of the fingers of the one or more carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand are respectively connected with the palm, so that the carbon nanotube fiber grid yarn composite elastic tube heat-driven artificial muscle type robot dexterous hand is formed.
3. The carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1 or 2, wherein the carbon nanotube fiber yarn comprises: a plurality of single carbon nanotubes, carbon nanotube aggregation bundle fibers or carbon nanotube composite fibers are stranded to form a multi-strand fiber yarn; the carbon nanotube composite fiber includes: is formed by compounding carbon nanotube fibers and fibers different from the carbon nanotube fibers.
4. The carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1 or 2, wherein the heater comprises: one of a laser heater, a controllable resistance heater, an electromagnetic heater, a microwave heater, a chemical reaction heater, an electric spark heater, or a combustible ice heater.
5. The carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1 or 2, wherein the working fluid comprises: one of pure water, an aqueous solution, an inorganic solvent, an organic solution, a polyvalent inorganic mixture, a polyvalent organic mixture, a thermally expansive liquid, a thermally expansive gas, or a solid substance having sublimation by heating.
6. The carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1 or 2, wherein the sensor comprises: one or more of a temperature sensor, a pressure sensor, an angle sensor, a grip force sensor, a tension sensor, or a fluid sensor.
7. The carbon nanotube fiber yarn thermally actuated artificial muscle robotic dexterous hand of claim 1 or 2, wherein the elastic tube comprises: one of an organic heat-resistant elastic tube, an inorganic heat-resistant elastic tube, a composite heat-resistant elastic tube or an inorganic-organic hybrid heat-resistant elastic tube; the elastic tube further includes: a heat-insulating elastic tube; the heat-insulating elastic tube includes: one of heat-insulating organic heat-resistant elastic pipe, heat-insulating inorganic heat-resistant elastic pipe, heat-insulating composite material heat-resistant elastic pipe or heat-insulating inorganic organic hybrid material heat-resistant elastic pipe.
8. The carbon nanotube fiber yarn thermally-actuated artificial muscle type robot dexterous hand of claim 1 or 2, wherein the intelligent controller is respectively connected with the sensor, the hot gas-liquid working medium pipeline control valve, the heater and the hot gas-liquid working medium working chamber.
9. the carbon nanotube fiber yarn thermally-driven artificial muscle type robot dexterous hand of claim 1, wherein the carbon nanotube fiber spiral yarn and the composite elastic tube thermally-driven carbon nanotube fiber spiral yarn in the artificial muscle type robot dexterous hand can be replaced by graphene fiber spiral yarn and composite fiber spiral yarn; the carbon nanotube fiber mesh yarns in the dexterous hand of the thermal-driven artificial muscle type robot of the carbon nanotube fiber mesh yarns and the composite elastic tubes can be replaced by graphene fiber mesh yarns and composite fiber spiral yarns.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591003A (en) * | 2019-01-08 | 2019-04-09 | 中国地质大学（武汉） | Carbon nano-tube fibre yarn thermal drivers artificial-muscle humanoid robot Dextrous Hand |
| CN111360857A (en) * | 2020-04-14 | 2020-07-03 | 李月峰 | Pneumatic manipulator based on Kinect remote control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109591003A (en) * | 2019-01-08 | 2019-04-09 | 中国地质大学（武汉） | Carbon nano-tube fibre yarn thermal drivers artificial-muscle humanoid robot Dextrous Hand |
| CN109591003B (en) * | 2019-01-08 | 2023-09-22 | 中国地质大学（武汉） | Carbon nanotube fiber yarn heat driven artificial muscle type robot smart hand |
| CN111360857A (en) * | 2020-04-14 | 2020-07-03 | 李月峰 | Pneumatic manipulator based on Kinect remote control |
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