Multifunctional bionic mechanical pincer with autonomously-distributed power

Abstract

The invention relates to a multifunctional bionic mechanical pincer with autonomously-distributed power. The multifunctional bionic mechanical pincer comprises a pincer joint, a pincer shield joint and joints, and is further provided with a connecting frame, a power device, a saw and an electric control device; and the connecting frame, the pincer joint and the pincer shield joint are connected insequence through the joints, the power device is fixed into a cavity of the pincer joint or/and the pincer shield joint, the electric control device is fixed into the connecting frame or/and the cavity of the pincer joint or/and the pincer shield joint and is electrically connected with the power device and the joints, and the saw is fixed to the pincer shield joint. By means of the multifunctional bionic mechanical pincer, fixed connection and communication of the multifunctional bionic mechanical gripper and a bionic robot body can be achieved only through the connecting frame and an electric insertion piece, the structure is simple, and installation and detachment are facilitated; the working reliability is high, the charging efficiency is high, and dependency on the external energy resource is small; and the multifunctional bionic mechanical pincer is multiple in function and facilitates use of the bionic pincer in multiple aspects including earthquake rescue, security protection,military science investigation, outdoor expedition and the like.

Description

technical field [0001] The invention relates to the technical field of bionic robots, in particular to a multifunctional bionic mechanical pincer with autonomously distributed power. Background technique [0002] The research and development of bionic intelligent machinery is a hot topic that modern society pays more and more attention to. [0003] Inspired by the structure or structure of organisms with unique characteristics evolved by natural organisms, biomimicry researchers often imitate the structure of organisms to develop practical intelligent machines or robots. [0004] The scorpion's pincers have multiple degrees of freedom, good flexibility, and a shield-shaped defense structure, which has obvious advantages in daily detection, feeding, attack, and defense; Activities, such as earthquake rescue, security protection, underwater construction, military investigation, field exploration and other fields, have strong bionic significance. [0005] At present, there ar...

AI Technical Summary

Problems solved by technology

[0006] In the 12th issue of "Mechanics and Electronics" in 2009, a paper titled "Design and Realization of Bionic Crab Robot" was published. The bionic crab robot reported in this article has 2 claws, and each claw has 3 joints. Driven by 3 servo motors, it can realize functions such as picking up and transporting; however, this type of bionic pliers has the following defects: First, it only has the functions of bionic pliers for gripping, and has not realized the full sense of pliers and multiple defenses. The function is bionic; the second is that this kind of bionic pliers has no power of its own, and the power is concentrated on the main frame of the robot, which needs to be transmitted to the bionic pliers through cables, and it is easy to be paralyzed by the wear and tear of the connecting cables due to frequent movements; the third is its integral centralized The power supply has the problems of long charging time and low charging efficiency; fourth, this type of bionic pliers is connected to the power on the main frame, and installation and maintenance are mostly inconvenient

[0007] CN201610277479.2 discloses a multipurpose bionic crab robot, which includes a right clamp module and a left clamp module; the right clamp module is driven by a right clamp drive motor, a right clamp drive pinion, a right clamp drive gear, Right tong swivel arm, right tong primary drive hydraulic lever, right pivot pin, right tong primary drive arm, right tong secondary drive hydraulic lever, right tong secondary drive arm, right Side clamp third-stage drive hydraulic rod, right clamp third-stage drive arm, rotary cutting blade, auxiliary camera, flat-blade automatic screwdriver, cross automatic screwdriver, rotary cutting blade driving eccentric disk, rotary cutting blade driving disc motor, rotary The cutting blade drives the first connecting rod, the rotary cutting blade drives the second connecting rod, and the rotary cutting knife teeth; the left clamp module adopts a similar structure to realize the function of stretching the saw blade; the patent uses mechanical and hydraulic methods to realize the sawing of the bionic pincers. It has the characteristics of large clamping force and strong sawing ability, but it has the following defects: First, the power source is concentrated on the main frame of the bionic machine, and the hydraulic power system on the main frame of the robot needs to provide the joints of the claws. Hydraulic power is easily paralyzed due to wear and tear caused by frequent movement of connecting cables or hydraulic pipes; second, its integrated centralized power supply is arranged on the main body of the bionic robot, which has the problems of long charging time and low charging efficiency; third, the use of linear The joint motion of the oil cylinder and the driver present a nonlinear relationship, which leads to a complex control system; fourth, the bionic pliers and the connecting cables or / and hydraulic pipes arranged in it must be directly connected to the main frame of the robot, which is extremely inconvenient for disassembly and maintenance

[0008] CN201410581468.4 discloses a bionic crab robot, wherein the claw system includes a rack, and a claw main body is respectively installed at the symmetrical positions on the left and right sides of the rack, and each claw main body is composed of a fixed frame, a motor frame, swing steering gear, two connecting cards, tray, grabbing steering gear, two key-shaped gear rods, two claw rods and two connecting rods. This patent uses the mechanical method of the connecting rod mechanism to realize the bionic claw The clamping function has the following problems: First, the power source is concentrated on the main frame of the bionic machine, and a multi-part mechanical structure is used to transmit power, which is complicated in structure and poor in reliability; second, the movement mode is single, with few degrees of freedom, and only the clamping function is realized , the ability to adapt to complex working conditions is poor; the third is that its integrated centralized power supply is arranged on the main body of the bionic robot, which has the problems of long charging time and low charging efficiency; fourth, it is inconvenient to install and maintain

There are no research and practical reports on bionic claws with self-distributed power, which can be clamped, sawed, clamped, etc.

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