Multi-joint bionic mechanical chela pincer with autonomous hydraulic power distribution function

Abstract

A multi-joint bionic mechanical chela pincer with an autonomous hydraulic power distribution function comprises a chela joint, a three-dimensional joint, a two-dimensional joint, a chela shield jointand a pincer joint and is further provided with a connecting frame, a pincer moving device, integrated hydraulic power systems and intelligent electric control devices. The three-dimensional joint isfixed to the connecting frame and connected with the chela joint. The chela joint is connected with the chela shield joint through the two-dimensional joint. The chela shield joint is connected with the pincer joint through the pincer moving device. The integrated hydraulic power systems are fixed into a cavity / cavities of the chela joint or / and the chela shield joint and connected with hydraulicconnectors of the three-dimensional joint, the two-dimensional joint and the pincer moving device through hydraulic pipelines correspondingly. The intelligent electric control devices are fixed into acavity / cavities of the connecting frame or / and the chela joint or / and the chela shield joint and electrically connected with the integrated hydraulic power systems, the three-dimensional joint, the two-dimensional joint and the pincer moving device correspondingly. The multi-joint bionic mechanical chela pincer is simple in structure, convenient to disassemble and assemble, large in joint torqueand high in charging efficiency.

Description

technical field

[0001] The invention relates to the technical field of intelligent bionic robots, in particular to a multi-joint bionic pincer with autonomous hydraulic power distribution. Background technique

[0002] With the needs of production and the development of science and technology, since the 1950s, people have realized that the biological system is one of the main ways to develop new technologies, and consciously regard the biological world as a variety of technical ideas, design principles and inventions. source of. People use chemical, physical, mathematical and technical models to carry out in-depth research on biological systems, which promotes the great development of biology, and the research on the functional mechanism of living organisms has also made rapid progress. Begin to use the knowledge gained from the biological world to improve old or create new engineering and technological devices. Biology began to step into the ranks of technological innovat...

Examples

Embodiment 1

[0032] refer to figure 1 , figure 2 In this embodiment, the multi-joint bionic mechanical pliers with independent hydraulic power distribution mainly includes a connecting frame 1, a three-dimensional joint 2, a claw joint A, a two-dimensional joint I3, a claw joint B, a two-dimensional joint II4, a claw-shield joint C, Clamp moving device 7, clamp joint D, integrated hydraulic power system 5, intelligent electric control device 6; the three-dimensional joint 2 is fixed on the connecting frame 1 and connected with the jaw joint A, and the jaw joint A is connected with the jaw joint B through the two-dimensional joint I3 , the chela-shield B is connected with the chela-shield C through the two-dimensional joint II4, and the chela-shield C is connected with the chela-shield D through the clamp device 7, and the integrated hydraulic power system 5 is fixed on the claw A, the claw B and the claw-shield C In the cavity, it is respectively connected with the hydraulic ports of the...

Embodiment 2

[0040] refer to image 3 , Figure 4 , the multi-joint bionic mechanical pincers with independent hydraulic power distribution in this embodiment differs from Embodiment 1 only in that: the mechanical pincers are additionally provided with a circular saw 8, which is fixed at the middle and lower part of the pincer-shield joint C; The connecting frame 1 adopts the form of a card slot and a fixed pin hole for quick connection; the claw joint A and the claw joint B are special-shaped components made of titanium alloy with cavities; wherein the outer surfaces of the claw joint A and the claw joint B are also provided with There are solar film parts ⅠA4 and solar film parts ⅡB4, which are used to collect solar energy to supply power to the bionic legs; the ends of the claw joint A and the claw joint B are provided with elastic stretchable protective sleeves A5 and elastic stretchable protective sleeves B5 for joint protection; the claw joints The shield section C adopts a shield s...

Embodiment 3

[0042] refer to Figure 5 , Image 6 , the difference between the multi-joint bionic mechanical pliers with independent hydraulic distribution power in this embodiment and embodiment 1 is only that a chain saw 8 is added on the mechanical pliers, which is fixed in the middle part of the claw-shield joint C; the chain saw 8 includes a drive motor 801, a chain saw disc 802, and a swing cylinder 803, wherein the swing cylinder 803 controls the swing of the chain saw disc 802, and when the chain saw is not working, the chain saw disc swings to the side of the upper jaw C4. The upper clamp section C4 and the clamp section D form a clamp, which is driven by the clamp hydraulic cylinder 701 to clamp the object, and is sawed off with the chain saw 8; the power device 5 is arranged in the claw section A, and Claw-shield joint C adopts shield type.

technical field

[0001] The invention relates to the technical field of intelligent bionic robots, in particular to a multi-joint bionic pincer with autonomous hydraulic power distribution. Background technique

[0002] With the needs of production and the development of science and technology, since the 1950s, people have realized that the biological system is one of the main ways to develop new technologies, and consciously regard the biological world as a variety of technical ideas, design principles and inventions. source of. People use chemical, physical, mathematical and technical models to carry out in-depth research on biological systems, which promotes the great development of biology, and the research on the functional mechanism of living organisms has also made rapid progress. Begin to use the knowledge gained from the biological world to improve old or create new engineering and technological devices. Biology began to step into the ranks of technological innovat...

Examples

Embodiment 1

[0032] refer to figure 1 , figure 2 In this embodiment, the multi-joint bionic mechanical pliers with independent hydraulic power distribution mainly includes a connecting frame 1, a three-dimensional joint 2, a claw joint A, a two-dimensional joint I3, a claw joint B, a two-dimensional joint II4, a claw-shield joint C, Clamp moving device 7, clamp joint D, integrated hydraulic power system 5, intelligent electric control device 6; the three-dimensional joint 2 is fixed on the connecting frame 1 and connected with the jaw joint A, and the jaw joint A is connected with the jaw joint B through the two-dimensional joint I3 , the chela-shield B is connected with the chela-shield C through the two-dimensional joint II4, and the chela-shield C is connected with the chela-shield D through the clamp device 7, and the integrated hydraulic power system 5 is fixed on the claw A, the claw B and the claw-shield C In the cavity, it is respectively connected with the hydraulic ports of the...

Embodiment 2

[0040] refer to image 3 , Figure 4 , the multi-joint bionic mechanical pincers with independent hydraulic power distribution in this embodiment differs from Embodiment 1 only in that: the mechanical pincers are additionally provided with a circular saw 8, which is fixed at the middle and lower part of the pincer-shield joint C; The connecting frame 1 adopts the form of a card slot and a fixed pin hole for quick connection; the claw joint A and the claw joint B are special-shaped components made of titanium alloy with cavities; wherein the outer surfaces of the claw joint A and the claw joint B are also provided with There are solar film parts ⅠA4 and solar film parts ⅡB4, which are used to collect solar energy to supply power to the bionic legs; the ends of the claw joint A and the claw joint B are provided with elastic stretchable protective sleeves A5 and elastic stretchable protective sleeves B5 for joint protection; the claw joints The shield section C adopts a shield s...

Embodiment 3

[0042] refer to Figure 5 , Image 6 , the difference between the multi-joint bionic mechanical pliers with independent hydraulic distribution power in this embodiment and embodiment 1 is only that a chain saw 8 is added on the mechanical pliers, which is fixed in the middle part of the claw-shield joint C; the chain saw 8 includes a drive motor 801, a chain saw disc 802, and a swing cylinder 803, wherein the swing cylinder 803 controls the swing of the chain saw disc 802, and when the chain saw is not working, the chain saw disc swings to the side of the upper jaw C4. The upper clamp section C4 and the clamp section D form a clamp, which is driven by the clamp hydraulic cylinder 701 to clamp the object, and is sawed off with the chain saw 8; the power device 5 is arranged in the claw section A, and Claw-shield joint C adopts shield type.

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