Electrically controlled hydraulic bionic driving group

Abstract

The application discloses an electric control hydraulic bionic driving group, which comprises a driving mechanism and a control line, the driving mechanism is arranged in a first pipeline, the control line is arranged in a second pipeline, the second pipeline is communicated with the first pipeline, the second pipeline is a hose, and the first pipeline and the second pipeline are filled with a driving solution; when a movable end of the driving mechanism moves, the driving solution can be promoted to flow; when the driving solution is forced to flow into the second pipeline, the deformed second pipeline can be quickly opened, so that the fingers are stretched; when the driving solution is pushed into the first pipeline, the driving solution in the second pipeline can also be attracted to flow into the first pipeline, so that the fingers are bent; the electric control driving of the fingers of a mechanical hand is realized through the driving mechanism and the control line; the driving mechanism and the control line are arranged in the pipelines, and the pipelines are filled with the driving solution; the flow of the driving solution can also promote the fingers of the mechanical hand to quickly respond to actions; thus, the movement of the mechanical hand is faster, more natural and more powerful.

Description

Technical Field

[0001] This application relates to the field of robotic arm technology, and in particular to an electro-hydraulic bionic drive assembly. Background Technology

[0002] With the advancement of Industry 4.0 and intelligent manufacturing, the demand for robotic arms in the manufacturing industry continues to grow, and they are widely used in fields such as automobile manufacturing, electronic equipment, food and beverage, logistics and distribution, and pharmaceuticals.

[0003] Currently, conventional robotic hands mostly achieve finger bending and extension through hydraulic or pneumatic drive stations. In addition to using drive stations to directly drive the fingers, some robotic hands also use wired connections to the fingers, with the drive station pulling the wires to drive the fingers. With such a setup, the finger movements mainly rely on the mechanical interconnection of the knuckle structure. When applied to bionic robotic hands, this often results in problems such as slow finger movement response speed, weak finger movements, and mechanical jamming. Summary of the Invention

[0004] The purpose of this application is to overcome the shortcomings of the existing technology and provide an electro-hydraulic bionic drive group.

[0005] To achieve the above technical objectives, this application provides an electro-hydraulic bionic drive assembly, comprising: a drive mechanism; a first pipe, in which the drive mechanism is disposed; a control line connecting the drive mechanism and the finger of the robotic arm; a second pipe, in which the control line is disposed, the second pipe being connected to the first pipe, the second pipe being a flexible hose; and a drive solution, in which the first and second pipes are filled; during operation, the drive mechanism can control the finger movement by pulling the control line; when the drive mechanism pulls back the control line, the finger bends, the second pipe deforms, and the drive solution in the second pipe flows into the first pipe; when the drive mechanism releases the control line, the drive solution in the first pipe flows into the second pipe, the second pipe returns to its original position, and the finger extends.

[0006] Furthermore, the drive mechanism includes multiple electromagnetic units arranged sequentially; each electromagnetic unit includes an iron core and a coil, with the coil surrounding the iron core. When the coil is energized, the electromagnetic unit becomes magnetic; this causes the electromagnetic units to attract each other, allowing the drive mechanism to pull back the control line; and it causes the electromagnetic units to repel each other, allowing the drive mechanism to release the control line.

[0007] Furthermore, the drive mechanism is powered by two sets of power supplies; the odd-numbered electromagnetic units are powered by one set of power supplies, and the even-numbered electromagnetic units are powered by the other set of power supplies.

[0008] Furthermore, three sets of torsion springs are arranged between any two adjacent electromagnetic units. The three sets of torsion springs are distributed in a triangular pattern, and the two ends of any set of torsion springs are arranged at an angle and staggered.

[0009] Furthermore, the driving solution uses a non-conductive liquid.

[0010] Furthermore, the first pipe is made of plexiglass.

[0011] Furthermore, the control line is made of carbon fiber or high-strength fishing line.

[0012] Furthermore, the electro-hydraulic bionic drive unit also includes a liquid tank, which is connected to the first pipe, enabling the drive solution to flow between the liquid tank, the first pipe, and the second pipe.

[0013] Furthermore, a valve is installed between the liquid tank and the first pipeline.

[0014] Furthermore, the electro-hydraulic bionic drive assembly also includes a pressure detection element, which is used to detect the hydraulic pressure in the second pipe.

[0015] This application provides an electro-hydraulic bionic drive assembly, including a drive mechanism and a control line. The drive mechanism is located inside a first pipe, and the control line is located inside a second pipe. The second pipe is connected to the first pipe and is a flexible hose. Both the first and second pipes are filled with a drive solution. When the movable end of the drive mechanism moves, it can promote the flow of the drive solution. When the drive solution is forcefully pushed into the second pipe, it can quickly open up the deformed second pipe to facilitate finger extension. When the drive solution is pushed into the first pipe, it can also attract the drive solution in the second pipe to flow into the first pipe to facilitate finger bending. The first pipe and drive solution configuration can achieve vibration reduction and noise reduction for the drive mechanism. The flow of the liquid can also act as a natural damping agent to assist finger movements, making them more natural, reliable, and stable. The drive mechanism generates heat during operation, and the heat is transferred through the drive solution, which helps dissipate heat from the drive mechanism and prevents the surface of the robotic hand from becoming cold, making it suitable for use in environments requiring hand temperature or for simulating human hand temperature. This application achieves electronically controlled drive of the robotic hand's fingers through the drive mechanism and control lines. By arranging the drive mechanism and control lines in a pipe and filling the pipe with drive solution, the flow of the drive solution can promote rapid response of the robotic hand's fingers. Thus, the robotic hand moves faster, more naturally, and more powerfully. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of an electro-hydraulic bionic drive assembly provided in this application;

[0017] Figure 2 A schematic diagram of a drive mechanism provided in this application;

[0018] Figure 3 This is a schematic diagram of the structure of a robotic finger provided in this application. Detailed Implementation

[0019] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0020] This application provides an electro-hydraulic bionic drive assembly, comprising: a drive mechanism 10; a first pipe 1, in which the drive mechanism 10 is disposed; a control line 2, connecting the drive mechanism 10 and the fingers of a robotic hand; a second pipe 3, in which the control line 2 is disposed, and the second pipe 3 is connected to the first pipe 1, the second pipe 3 being a flexible hose; and a drive solution, in which the first pipe 1 and the second pipe 3 are filled; during operation, the drive mechanism 10 can control the movement of the fingers by pulling the control line 2;

[0021] When the drive mechanism 10 pulls back the control line 2, the finger bends, the second pipe 3 deforms, and the drive solution in the second pipe 3 flows to the first pipe 1; when the drive mechanism 10 releases the control line 2, the drive solution in the first pipe 1 flows to the second pipe 3, the second pipe 3 returns to its original state, and the finger extends.

[0022] The drive mechanism 10 can be a cylinder, hydraulic cylinder, module, etc. The movable end of the drive mechanism 10 is connected to one end of the control line 2, and the other end of the control line 2 is connected to the finger of the robot hand. When the drive mechanism 10 pulls back the control line 2, the control line 2 pulls the finger and makes the finger bend. When the drive mechanism 10 pushes the control line 2 outward, the control line 2 no longer pulls the finger and the finger can return to its original position.

[0023] By setting the drive mechanism 10 inside the first pipe 1, the first pipe 1 can not only limit the installation position of the drive mechanism 10 and play the role of hiding and protecting the drive mechanism 10, but also limit the driving direction of the drive mechanism 10, ensuring that the drive mechanism 1 can reliably and accurately pull the control line 2.

[0024] By setting the control line 2 inside the second pipe 3, the second pipe 3 can not only limit the installation position of the control line 2 and hide and protect the control line 2, but also limit the movement direction of the control line 2, ensuring that the control line 2 moves in the preset direction and preventing the control line 2 from interfering with finger movements.

[0025] In one embodiment, the second pipe 3 is disposed inside the finger; when the finger is bent, it will compress the second pipe 3. Since the second pipe 3 is a flexible tube, the flexible tube will deform under force and the driving solution inside the tube will be forced into the first pipe 1; after the driving mechanism 10 unloads the force, the control line 2 will no longer tighten the finger. In order to balance the hydraulic pressure in the first pipe 1 and the second pipe 3, the driving solution will flow back to the second pipe 3, thereby pushing away the bent finger.

[0026] In another embodiment, the second conduit 3 is disposed in the center or back of the finger. For example, the wall of the center or back of the finger is provided with a groove or hole, and the second conduit 3 is embedded in the groove or hole; at this time, the groove or hole can also hold the second conduit 3 in place and limit the second conduit 3; so that when the second conduit 3 is disposed in the center or back of the finger, the finger can be opened more quickly and forcefully when the solution is driven to flow back to the second conduit 3.

[0027] Since the drive mechanism 10 is located inside the first pipe 1, when the movable end of the drive mechanism 10 moves, it can also promote the flow of the drive solution. For example, when the drive mechanism 10 pushes the control line 2 towards the finger, the control line 2 is released and no longer pulls the finger. The drive solution in the first pipe 1 is pushed towards the second pipe 3. The drive solution is forced into the second pipe 3 and can quickly open the deformed second pipe 3 so that the finger can extend. Similarly, when the drive mechanism 10 pulls the control line 2 away from the finger, the drive mechanism 10 pushes the drive solution in the first pipe 1 inward, thereby attracting the drive solution in the second pipe 3 to flow into the first pipe 1 so that the finger can bend.

[0028] The arrangement of the first conduit 1 and the driving solution also enables vibration damping and noise reduction for the driving mechanism 10. Specifically, the driving solution encapsulates the driving mechanism 10. When the driving mechanism 10 is operating, the driving solution flows under force, reducing the vibration inertia of the driving mechanism 10 and thus protecting the first conduit 1. It also prevents the first conduit 1 from being subjected to high-frequency vibration, thereby ensuring the stability and precision of finger movements. Because the driving mechanism 10 is encapsulated by the driving solution, the noise generated by the driving mechanism 10 during operation is blocked, resulting in quieter finger movements.

[0029] In addition, the flow of the driving solution can also act as a natural damping force to assist finger movement. With the help of the driving solution, the force applied to the finger by the drive mechanism 10 through the control line 2 is more stable and smoother, which makes the finger movement more natural, reliable and stable.

[0030] It should also be noted that the drive mechanism 10 generates heat during operation. Since the drive mechanism 10 is located inside the pipe and is surrounded by the drive solution, the drive solution will heat up due to heat transfer. At this time, the drive solution can help the drive mechanism 10 dissipate heat. The heat can also be further transferred to the pipe and the robotic arm through the drive solution. In this way, the robotic arm can not only assist in heat dissipation but also have its own temperature. The water temperature makes the surface of the robotic arm no longer cold, which makes it convenient for the robotic arm to be used in environments that require hand temperature, or to make it convenient for the robotic arm to simulate the temperature of a human hand.

[0031] In summary, this application realizes the electronically controlled drive of the robotic hand's fingers through the drive mechanism 10 and the control line 2. By arranging the drive mechanism 10 and the control line 2 in a pipe and filling the pipe with a drive solution, the flow of the drive solution can promote the rapid response of the robotic hand's fingers to the action; thus, the robotic hand moves faster, more naturally, and more powerfully.

[0032] In one embodiment, the drive mechanism 10 includes a plurality of electromagnetic units 11 arranged sequentially; each electromagnetic unit 11 includes an iron core and a coil, the coil is arranged around the iron core, and the electromagnetic unit 11 becomes magnetic after the coil is energized; the electromagnetic units 11 attract each other, and the drive mechanism 10 can pull back the control line 2; the electromagnetic units 11 repel each other, and the drive mechanism 10 can release the control line 2.

[0033] For details, please refer to Figure 1 In the illustrated embodiment, the driving mechanism 10 includes a plurality of electromagnetic units 11 arranged sequentially in a vertical direction. Each electromagnetic unit 11 includes an iron core and a coil. Each electromagnetic unit 11 is equivalent to an electromagnet. When the coil is energized, the electromagnetic unit 11 will have magnetism. When the current direction in the coils of two adjacent electromagnetic units 11 is the same, their ends facing each other are opposite in polarity, and the two electromagnetic units 11 can attract each other. When the current direction in the coils of two adjacent electromagnetic units 11 is opposite, their ends facing each other are the same in polarity, and the two electromagnetic units 11 can repel each other. When the electromagnetic units 11 attract each other, the driving mechanism 10 can pull the control line 2, causing the control line 2 to move closer to the first pipe 1. When the electromagnetic units 11 repel each other, the driving mechanism 10 can push the control line 2 away, causing the control line 2 to move away from the first pipe 1.

[0034] The attraction and repulsion of the electromagnetic unit 11 are used to pull the control line 2. Micro-voltage and micro-current are sufficient to satisfy the finger movement of the robotic hand, making finger actuation safer. In addition, the degree of finger bending can be easily adjusted by regulating the current and voltage supplied to the coil.

[0035] This application does not limit the number of electromagnetic units 11.

[0036] It is easy to understand that when the finger is bent to its limit and stretched to its limit, the movement stroke of the control line 2 and the driving stroke of the drive mechanism 10 can be preset. When the number of electromagnetic units 11 is small, each electromagnetic unit 11 requires a large magnetic force to ensure that the drive mechanism 10 can reach the preset driving stroke to meet the needs of the finger's limit movement.

[0037] By increasing the number of electromagnetic units 11, the limiting magnetic force required for each electromagnetic unit 11 can be reduced. This not only improves the control accuracy and speed of the drive mechanism 10, but also enhances the control reliability of the drive mechanism 10 and avoids situations where excessive repulsive force prevents adjacent electromagnetic units 11 from attracting each other and returning to their positions.

[0038] When the drive mechanism 10 includes multiple electromagnetic units 11, controlling the number of energized electromagnetic units 11 can also quickly and precisely regulate the actual output stroke of the drive mechanism 10. In use, a preset number of electromagnetic units 11 can be energized as needed, resulting in a more diverse drive stroke of the drive mechanism 10, which in turn makes finger movements more precise and more adjustable.

[0039] In addition, the addition of electromagnetic units 11 can reduce the size of each electromagnetic unit 11, so that multiple sets of drive mechanisms 10 can be integrated into the robotic hand.

[0040] It should also be added that when the drive mechanism 10 uses multiple sets of electromagnetic units 11, the multiple sets of electromagnetic units 11 are installed in the first pipe 1. The first pipe 1 can effectively limit the relative position of each electromagnetic unit 11 and limit the direction of movement of the electromagnetic units 11 when they repel or attract each other, so that the electromagnetic units 11 can reliably pull the control line 2 to perform the preset movement, thereby ensuring the reliability of the robot's movement.

[0041] Optionally, the drive mechanism 10 is powered by two sets of power supplies; wherein the first, third, fifth, etc., odd-numbered electromagnetic units 11 are powered by one set of power supplies, and the second, fourth, sixth, etc., even-numbered electromagnetic units 11 are powered by the other set of power supplies.

[0042] At this time, any two adjacent electromagnetic units 11 are powered by different power sources, and any two electromagnetic units 11 separated by one electromagnetic unit 11 are powered by the same power source.

[0043] This configuration ensures that the first power supply remains constantly powered, and the magnetic direction of the odd or even number of electromagnetic units 11 connected to the first power supply remains unchanged. Simultaneously, it allows the direction of the output current from the second power supply to change, thus changing the magnetic direction of the even or odd number of electromagnetic units 11 connected to the second power supply. In use, aligning the output current directions of the two power supplies causes the electromagnetic units 11 to attract each other, allowing the finger to bend. When the finger needs to be extended, changing the direction of the current output from the second power supply changes the magnetic direction of the connected electromagnetic units 11, causing them to repel each other.

[0044] Two power supplies are set up, and the voltage and current of the odd-numbered and even-numbered electromagnetic units 11 can be controlled separately; when it is necessary to fine-tune the degree of finger bending, the voltage and current intensity of one of the power supplies can be changed.

[0045] Optionally, each electromagnetic unit 11 in the drive mechanism 10 is powered by an independent circuit; with this configuration, in actual use, an appropriate number and position of electromagnetic units 11 can be selected to work according to control needs; for example, only the two electromagnetic units 11 connected to the control line 2 can be energized, and the micro-displacement of the control line 2 can be achieved by using the two electromagnetic units 11.

[0046] This application does not limit the specific configuration of the drive mechanism 10.

[0047] In one specific embodiment, refer to Figure 1 The drive mechanism 10 includes multiple electromagnetic units 11, each with independently adjustable magnetic force. A control line 2 connects to the fingertip. When the electromagnetic units 11 attract each other, the drive mechanism 10 can drive the control line 2 downwards, pulling the finger and causing it to bend. When the electromagnetic units 11 repel each other, the drive mechanism 10 can drive the control line 2 upwards, releasing it and allowing the finger to extend. In use, if the robotic arm fails to grip the object and the finger needs to bend further, the attraction of at least some of the electromagnetic units 11 in the drive mechanism 10 can be increased. If the required force for gripping the object is uncertain, the attraction of each electromagnetic unit 11 can be increased gradually until the robotic arm grips the object. Thus, without damaging the object, the robotic arm achieves rapid and adjustable exploratory gripping force changes, resulting in higher safety and practicality.

[0048] Optionally, a torsion spring 12 may be provided between any two adjacent electromagnetic units 11.

[0049] The torsion spring 12 includes a helical elastic part, the two ends of which extend outward at an angle. When connecting two electromagnetic units 11, the helical elastic part is positioned outside the electromagnetic unit 11, and one end of the helical elastic part is connected to one electromagnetic unit 11 and the other end is connected to the other electromagnetic unit 11. Thus, only the ends of the torsion spring exist between the two electromagnetic units 11. When the two adjacent electromagnetic units 11 are in a fully retracted state, the two electromagnetic units 11 can press the ends of the torsion spring together. At this time, the distance between the two electromagnetic units 11 is extremely close.

[0050] The torsion spring 12 can connect the electromagnetic unit 11 and prevent the electromagnetic unit 11 from accidentally detaching. Because it has the characteristics of deformation under force and recovery after unloading force, it can also assist adjacent electromagnetic units 11 to repel or attract each other.

[0051] Since the torsion spring 12 is compressed between the two electromagnetic units 11, the distance between the two electromagnetic units 11 can be made extremely close. Therefore, the use of the torsion spring 12 can also make the length of the drive mechanism 10 in the fully retracted state extremely small. This makes it easy to optimize the size of the drive mechanism 10 and to fine-tune the finger.

[0052] Furthermore, when torsion springs 12 are placed between electromagnetic units 11, it is not necessary to adjust the current direction. For example, when electromagnetic units 11 are energized, they repel each other and pull torsion springs 12 apart; when the power is turned off, torsion springs 12 return to their original state and can actively pull electromagnetic units 11 back. Alternatively, when electromagnetic units 11 are energized, they attract each other and compress torsion springs 12; when the power is turned off, torsion springs 12 return to their original state and can actively push electromagnetic units 11 apart. Using torsion springs 12 simplifies circuit control.

[0053] For details, please refer to Figure 2 The illustration shows a drive mechanism 10 using torsion springs 12. The drive mechanism 10 includes multiple electromagnetic units 11 arranged sequentially in a vertical direction. Three sets of torsion springs 12 are arranged between any two adjacent electromagnetic units 11. The three sets of torsion springs 12 are arranged in a triangle, and the two ends of any set of torsion springs 12 are angled and staggered. When the coil is energized, when adjacent electromagnetic units 11 repel each other, the two ends of the torsion springs 12 are pulled apart and tend to return to their original state. When the coil is de-energized, the torsion springs 12 automatically return to their original state and can pull the electromagnetic units 11 back to their original positions. When adjacent electromagnetic units 11 are close to their limits, they can press the torsion springs 12 together, so that the six ends of the three sets of torsion springs 12 are pressed into the same plane.

[0054] The arrangement of three sets of torsion springs 12 at three points ensures that the elastic force of the torsion springs 12 acts stably on the electromagnetic unit 11, and also contributes to the structural stability of the connected electromagnetic units 11.

[0055] The driving solution can be water, oil, or other liquids. When the driving mechanism 10 uses an electromagnetic unit 11, the driving solution is a non-conductive liquid such as fluorinated liquid or hydraulic oil, thereby ensuring the safe use of the driving mechanism 10.

[0056] Optionally, a thickener is added to the driving solution.

[0057] Thickeners can be made of silicone, gelatin, etc. Adding a thickener can increase the buffering and damping effect of the driving solution, which is beneficial to driving stability and also to the natural effect of finger movements.

[0058] Optionally, the first pipe 1 is made of plexiglass.

[0059] Acrylic glass offers excellent transparency, facilitating easy verification of the control source's proper functioning within the pipe. Its high mechanical strength, tensile and impact resistance make it more reliable and durable when used in control sources involving telescopic movements. Acrylic glass is corrosion-resistant and possesses good insulation properties, making it safer when used with buffer solution to house the electromagnetic unit 11. Acrylic glass is non-flammable and self-extinguishing, preventing damage from high temperatures when wrapped around heat sources. Its low mass reduces the weight of the robotic arm, avoiding unnecessary additional weight.

[0060] Optionally, control line 2 can be made of carbon fiber or high-strength fishing line. Ensuring the strength of control line 2 and preventing it from easily stretching or deforming contributes to the reliability and lifespan of the robotic arm.

[0061] Optionally, the electro-hydraulic bionic drive assembly provided in this application also includes a liquid tank 4, which is connected to the first pipe 1, and the drive solution can flow between the liquid tank 4, the first pipe 1, and the second pipe 3.

[0062] The liquid reservoir 4 has a certain storage space for storing the driving solution; the liquid reservoir 4 is connected to the first pipe 1. When the finger is bent, the driving solution in the second pipe 3 flows to the first pipe 1 and can also flow into the liquid reservoir 4, thereby avoiding excessive solution from accumulating in the first pipe 1 and damaging the first pipe 1; when the driving solution needs to flow to the second pipe 3 to make the second pipe 3 open so that the finger can be extended, the liquid reservoir 4 can supply the driving solution to the first pipe 1, and then the driving mechanism 10 pushes the driving solution into the second pipe 3.

[0063] In addition, when the drive mechanism 10 generates heat during operation and the drive solution is heated, the drive solution in the liquid tank 4 is interconnected with the drive solution in the pipeline, which also helps to cool the drive solution and thus avoid overheating of the drive solution and the drive mechanism 10.

[0064] The liquid tank 4 can be installed inside the robotic arm, for example, inside the upper arm of the robotic arm, which can increase the weight of the upper arm and thus improve its stability. Alternatively, the liquid tank 4 can be installed outside the robotic arm and connected to the first pipe 1 via an external water pipe to drive the flow of the solution.

[0065] Optionally, a valve is provided between the liquid tank 4 and the first pipeline 1.

[0066] The valve can be opened and closed; when the valve is open, the liquid tank 4 and the first pipe 1 are connected to facilitate the exchange of driving solution; when the valve is closed, the liquid tank 4 and the first pipe 1 are no longer connected, which is beneficial for controlling the amount of driving solution in the first pipe 1 and the second pipe 3, ensuring that the fingers of the robotic arm maintain a stable bent or extended state, and facilitating the detection of hydraulic pressure in the first pipe 1 and the second pipe 3.

[0067] Optionally, the electro-hydraulic bionic drive assembly provided in this application also includes a pressure detection element, which is used to detect the hydraulic pressure in the second pipe 3.

[0068] The pressure detection components can include pressure gauges, hydraulic sensors, etc.

[0069] It is easy to understand that when the finger is bent or the second pipe 3 is deformed, the hydraulic pressure of the driving solution in the second pipe 3 will change. By detecting the hydraulic pressure in the second pipe 3, it is possible to confirm whether the finger is bent and to understand the degree of bending.

[0070] For details, please refer to Figure 3 In the illustrated embodiment, the finger includes multiple phalanges, and adjacent phalanges are rotatably connected; each phalange includes a central part and a back part, which are slidably connected, and a second channel 3 is disposed on the central part; when the finger presses on an object, the central part can slide toward the back part, and the central part presses against the second channel 3, causing the second channel 3 to deform under force, and the hydraulic pressure inside the second channel 3 changes. The pressure detection element confirms the pressure between the finger and the object based on the hydraulic pressure change.

[0071] More specifically, Figure 3 In the illustrated embodiment, a groove is provided on one of the finger's center and the back of the finger, extending along the thickness direction of the finger; a slider is provided on the other of the finger's center and the back of the finger, slidingly disposed within the groove; a spring is also connected between the finger's center and the back of the finger. When the finger is compressed, the finger's center moves towards the back of the finger, and the slider moves along the groove, causing the finger's thickness to decrease, compressing the spring and giving it a tendency to recover; after the finger is no longer compressed, the spring recovers, pushing the finger's center and the back of the finger back to their original positions.

[0072] When using a robotic arm to grasp an object, the pressure detection device can continuously monitor the hydraulic changes in the second pipe 3, and can also confirm whether the fingers have grasped the object and are holding it firmly.

[0073] The above embodiments merely illustrate several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An electro-hydraulic bionic drive assembly, characterized in that, include: Drive mechanism (10); The first pipe (1) is provided inside the first pipe (1); Control line (2) connects the drive mechanism (10) and the fingers of the robotic arm; The second pipe (3) is located inside the control line (2), and the second pipe (3) is connected to the first pipe (1). The second pipe (3) is made of flexible hose. The driving solution is filled in the first pipe (1) and the second pipe (3); During operation, the drive mechanism (10) can control the movement of the finger by pulling the control line (2); When the drive mechanism (10) pulls back the control line (2), the finger bends, the second pipe (3) deforms, and the drive solution in the second pipe (3) flows into the first pipe (1); When the drive mechanism (10) releases the control line (2), the drive solution in the first pipe (1) flows to the second pipe (3), the second pipe (3) is restored, and the finger extends.

2. The electro-hydraulic bionic drive assembly according to claim 1, characterized in that, The drive mechanism (10) includes multiple electromagnetic units (11), which are arranged sequentially. Each of the electromagnetic units (11) includes an iron core and a coil, the coil being arranged around the iron core, and the electromagnetic unit (11) having magnetism when the coil is energized; This causes the electromagnetic units (11) to attract each other, and the drive mechanism (10) can pull back the control line (2). This causes the electromagnetic units (11) to repel each other, and the drive mechanism (10) is able to release the control line (2).

3. The electro-hydraulic bionic drive assembly according to claim 2, characterized in that, The drive mechanism (10) is powered by two sets of power supplies; The odd-numbered electromagnetic units (11) are powered by one of the power sources, while the even-numbered electromagnetic units (11) are powered by the other power source.

4. The electro-hydraulic bionic drive assembly according to claim 2, characterized in that, Three sets of torsion springs (12) are provided between any two adjacent electromagnetic units (11). The three sets of torsion springs (12) are arranged in a triangular pattern, and the two ends of any set of torsion springs (12) are arranged at an angle and staggered.

5. The electro-hydraulic bionic drive assembly according to claim 2, characterized in that, The driving solution is a non-conductive liquid.

6. The electro-hydraulic bionic drive assembly according to claim 1, characterized in that, The first pipe (1) is made of plexiglass.

7. The electro-hydraulic bionic drive assembly according to claim 1, characterized in that, The control line (2) is made of carbon fiber or high-strength fishing line.

8. The electro-hydraulic bionic drive assembly according to claim 1, characterized in that, It also includes a liquid reservoir (4) connected to the first pipe (1), and the driving solution is able to flow between the liquid reservoir (4), the first pipe (1) and the second pipe (3).

9. The electro-hydraulic bionic drive assembly according to claim 8, characterized in that, A valve is provided between the liquid tank (4) and the first pipeline (1).

10. The electro-hydraulic bionic drive assembly according to any one of claims 1-9, characterized in that, It also includes a pressure detection device for detecting the hydraulic pressure within the second pipe (3).

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