Offshore wind power operation and maintenance mechanical gripper

Abstract

The offshore wind power operation and maintenance mechanical gripper comprises a mechanical gripper body and a control part, the mechanical gripper body comprises a connecting arm and a plurality of mechanical fingers, the multiple mechanical fingers are arranged in the circumferential direction of the connecting arm at intervals, each mechanical finger comprises an arm claw connecting joint, a first finger framework, a second finger framework and a first finger joint, and the arm claw connecting joints are connected with the connecting arm; the first finger skeleton is connected with the arm claw connecting joint, and the first finger joint is connected with the first finger skeleton and the second finger skeleton; the control part comprises an electrogenerated shape memory material, a wire and a control device, the electrogenerated shape memory material extends in the length direction of the mechanical finger and is connected with the first finger joint, and the electrogenerated shape memory material can stretch out and draw back according to the power-on state to drive the first finger joint to move; the first finger joint can drive the second finger skeleton to rotate relative to the first finger skeleton, and the electrogenerated shape memory material is electrically connected with the control device through a wire. The offshore wind power operation and maintenance mechanical gripper is higher in applicability and flexibility.

Description

Technical Field

[0001] The present application relates to the technical field of offshore wind power operation and maintenance, and specifically to an offshore wind power operation and maintenance mechanical gripper. Background Art

[0002] With the development of intelligent technology, robots are gradually being applied to various fields of production and life, and mechanical grippers are one of the most important motion actuators of robots. From the perspective of the currently widely used offshore wind power operation and maintenance mechanical gripper structures, most of them are still made of rigid materials, and the driving methods generally adopt motors, pneumatics, hydraulics, etc. Although the traditional rigid offshore wind power operation and maintenance mechanical gripper structure has strong stability and reliability, it has the disadvantages of complex structure, heavy weight and poor flexibility, and cannot meet the performance requirements of light weight and flexibility. Summary of the invention

[0003] The present application provides an offshore wind power operation and maintenance mechanical gripper, which can make the offshore wind power operation and maintenance mechanical gripper more applicable and more flexible.

[0004] The offshore wind power operation and maintenance mechanical gripper provided in the present application includes a mechanical gripper and a control unit, the mechanical gripper includes a connecting arm and a plurality of mechanical fingers, the plurality of mechanical fingers are arranged at intervals along the circumference of the connecting arm, the mechanical finger includes an arm claw connecting joint, a first finger skeleton, a second finger skeleton and a first finger joint, the arm claw connecting joint is connected to the connecting arm, the first finger skeleton is connected to the arm claw connecting joint, and the first finger joint connects the first finger skeleton and the second finger skeleton; the control unit includes an electro-type shape memory material, a wire and a control device, the electro-type shape memory material extends along the length direction of the mechanical finger and is connected to the first finger joint, the electro-type shape memory material can be expanded and contracted according to the power-on state to drive the first finger joint to move, the first finger joint can drive the second finger skeleton to rotate relative to the first finger skeleton, and the electro-type shape memory material is electrically connected to the control device through the wire.

[0005] In addition, the offshore wind power operation and maintenance mechanical gripper provided in this application may also have the following additional technical features:

[0006] In an optional solution, the control unit also includes an electrorheological elastomer, which is located between two adjacent mechanical fingers and connects two adjacent second finger skeletons. The electrorheological elastomer is electrically connected to the control device through the wire.

[0007] In an optional scheme, the control device includes a delay relay, the delay relay includes a delay control circuit, the delay control circuit has a signal input terminal, a signal output terminal and a signal delay control terminal; the electro-type shape memory material is electrically connected to the signal output terminal through the wire, and the electro-rheological elastomer is electrically connected to the signal delay control terminal through the wire.

[0008] In an optional solution, the delay control circuit includes a delay relay power supply part, a secondary power supply part, a delay working part, a driving part and an execution relay part, and the delay relay power supply part can perform voltage transformation, rectification and filtering.

[0009] In an optional solution, the robotic finger also includes a third finger skeleton and a second finger joint, the second finger joint connects the third finger skeleton and the second finger skeleton, the electrotropic shape memory material also extends to the second finger joint, and the electrotropic shape memory material is connected to the second finger joint.

[0010] In an optional solution, the mechanical gripper also includes an arm connecting end, a connecting flange and bolts and nuts, wherein the connecting flanges are respectively arranged on the connecting arm and the arm connecting end, and the bolts and nuts fix the connecting arm and the connecting flange on the arm connecting end.

[0011] The beneficial effects of this application are:

[0012] The offshore wind power operation and maintenance mechanical gripper in the present application controls the movement of the mechanical fingers through electro-induced shape memory materials, thereby making the offshore wind power operation and maintenance mechanical gripper more applicable and more flexible; in addition, electro-induced shape memory materials are used instead of thermo-induced shape memory materials, etc. Compared with other materials, electro-induced shape memory materials are easier to control, can be remotely driven, and have a fast response speed.

[0013] It should be understood that the foregoing general description and the following detailed description are exemplary only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of a specific embodiment of the offshore wind power operation and maintenance mechanical gripper provided in this application;

[0015] Figure 2 for Figure 1 The structural diagram of the offshore wind power operation and maintenance mechanical gripper in the grasping state;

[0016] Figure 3 for Figure 1 Schematic diagram of the structure of the mechanical fingers in the mechanical gripper of offshore wind power operation and maintenance;

[0017] Figure 4 Delay control flow chart of the control unit provided for this application;

[0018] Figure 5 This is a delay control circuit diagram of the control unit provided in this application.

[0019] Figure numerals: connecting arm 1, arm claw connecting joint 2, first finger skeleton 3, second finger skeleton 4, first finger joint 5, electro-shaped shape memory material 6, wire 7, control device 8, electrorheological elastomer 9, delay control circuit 10, third finger skeleton 11, second finger joint 12, arm connecting end 13, connecting flange 14, bolts and nuts 15.

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application. DETAILED DESCRIPTION

[0021] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0022] It should be clear that the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other technical solutions obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0023] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the present application. The singular forms "a", "said" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0024] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0025] It should be noted that the directional words such as "upper", "lower", "left", and "right" described in the embodiments of the present application are described at the angles shown in the accompanying drawings and should not be understood as limiting the embodiments of the present application. In addition, in the context, it is also necessary to understand that when it is mentioned that an element is connected to another element "upper" or "lower", it can not only be directly connected to another element "upper" or "lower", but also indirectly connected to another element "upper" or "lower" through an intermediate element.

[0026] like Figure 1-5 As shown, the embodiment of the present application provides an offshore wind power operation and maintenance mechanical gripper, which includes a mechanical gripper and a control unit. Among them, the mechanical gripper includes a connecting arm 1 and a plurality of mechanical fingers, and the plurality of mechanical fingers are arranged at intervals along the circumference of the connecting arm 1. The mechanical finger includes an arm claw connection joint 2, a first finger skeleton 3, a second finger skeleton 4 and a first finger joint 5. The arm claw connection joint 2 is connected to the connecting arm 1, the first finger skeleton 3 is connected to the arm claw connection joint 2, and the first finger joint 5 connects the first finger skeleton 3 and the second finger skeleton 4; the control unit includes an electro-type shape memory material 6, a wire 7 and a control device 8. The electro-type shape memory material 6 extends along the length direction of the mechanical finger and is connected to the first finger joint 5. The electro-type shape memory material 6 can be extended and retracted according to the power-on state to drive the first finger joint 5 to move. The first finger joint 5 can drive the second finger skeleton 4 to rotate relative to the first finger skeleton 3. The electro-type shape memory material 6 is electrically connected to the control device 8 through the wire 7.

[0027] The offshore wind power operation and maintenance mechanical gripper in this embodiment controls the movement of the mechanical fingers through the electro-type shape memory material 6, so that the offshore wind power operation and maintenance mechanical gripper has stronger applicability and higher flexibility; in addition, the electro-type shape memory material 6 is used instead of the thermo-type shape memory material, etc. The electro-type shape memory material 6 is easier to control than other materials, can be remotely driven, and has a fast response speed. In general, the offshore wind power operation and maintenance mechanical gripper structure composed of or driven by smart materials (electro-type shape memory material 6) has the advantages of small size, light weight, flexible movement and good environmental adaptability compared with the traditional structure, which makes up for the shortcomings of the traditional rigid offshore wind power operation and maintenance mechanical gripper mechanism that is limited in some fields.

[0028] As a smart material, shape memory polymers have shape memory effects and superelasticity that ordinary materials do not have. After ordinary materials are subjected to force and produce plastic deformation, this deformation is irreversible, while shape memory materials can be restored to their original shape after some treatment after being subjected to force and producing a certain amount of plastic deformation, which is the shape memory effect described. When the shape memory material is heated to a temperature higher than the phase transition temperature, the finger joint will produce very little stiffness, so it is easier to bend under external force. When there is no bending force, the finger will return to its original shape due to the shape recovery stress of the thermotropic shape memory material. Through the improved 3D printing process, a new type of offshore wind power operation and maintenance mechanical gripper can be obtained from the thermotropic shape memory material.

[0029] Thermotropic shape memory composite materials are easily restricted by environmental factors such as external heat sources, and there are still many problems in their further application. Adding conductive materials to the shape memory polymer matrix can obtain electrotropic shape memory polymers. This material can use electric current as an activation mechanism, and the system temperature can be increased by current heat generation to achieve deformation recovery. Its typical electrotropic shape memory process is: raise the temperature to above the glass transition temperature of the shape memory polymer, apply external force to the material to deform it; keep the external force unchanged, and lower the temperature to "freeze" the stress and deformation; apply voltage to the material to make it conductive, and the heat generated by the current passing through the conductive network inside the material can raise the temperature of the material above the glass transition temperature, reduce the "frozen" stress, and restore the material to the state before denaturation. The electrotropic shape memory effect has the advantages of easy control, remote drive, and fast response speed, and is particularly suitable for the field of smart materials.

[0030] like Figure 1-2 As shown, in a specific embodiment, the control unit also includes an electrorheological elastomer 9, which is located between two adjacent mechanical fingers, and the electrorheological elastomer 9 connects two adjacent second finger skeletons 4, and the electrorheological elastomer 9 is electrically connected to the control device 8 through a wire 7.

[0031] like Figure 3-5 As shown, in a specific embodiment, the control device 8 includes a time delay relay, the time delay relay includes a time delay control circuit 10, and the time delay control circuit 10 has a signal input terminal, a signal output terminal and a signal delay control terminal; the electro-shaped memory material 6 is electrically connected to the signal output terminal through a wire 7, and the electro-rheological elastomer 9 is electrically connected to the signal delay control terminal through a wire 7. Specifically, the time delay control circuit 10 includes a time delay relay power supply part, a secondary power supply part, a delay working part, a driving part and an execution relay part, and the time delay relay power supply part can perform voltage transformation, rectification and filtering.

[0032] like Figure 1-3 As shown, in a specific embodiment, the mechanical finger further includes a third finger skeleton 11 and a second finger joint 12, the second finger joint 12 connects the third finger skeleton 11 and the second finger skeleton 4, the electro-type shape memory material 6 also extends to the second finger joint 12, and the electro-type shape memory material 6 is connected to the second finger joint 12. In addition, the mechanical gripper further includes an arm connection end 13, a connection flange 14 and a bolt nut 15, the connection flange 14 is respectively provided on the connecting arm 1 and the arm connection end 13, and the bolt nut 15 is fixedly connected to the connecting arm 1 and the connection flange 14 on the arm connection end 13.

[0033] like Figure 1-3As shown, when the offshore wind power operation and maintenance mechanical gripper is working, since the electro-shaped memory material 6 has a memory function, it can be edited in length in advance, and then bound and connected to the first finger joint 5 and the second finger joint 12. When the power is turned on, the electro-shaped memory material 6 is triggered to have a shape memory effect and returns to the set length (shortened). Since it is bound to the first finger joint 5 and the second finger joint 12 made of metal material, the entire structure will resist shortening, thereby bending out of the plane, thereby achieving a closed grasping state of the entire gripper.

[0034] At this time, the stiffness of the electro-shaped memory material 6 will drop significantly, and then the grasping state of the offshore wind power operation and maintenance mechanical gripper will be maintained by the electro-rheological elastomer 9. After the delay control of the delay relay, the electro-rheological effect inside the electro-rheological elastomer 9 is triggered, and the stiffness of the electro-rheological elastomer 9 after contraction is greatly improved, so that the object can be fixed in the offshore wind power operation and maintenance mechanical gripper. The grasping process of the offshore wind power operation and maintenance mechanical gripper is realized by two stages: the electro-shaped memory material 6 drives the bending of the finger joints and the hardening of the electro-rheological elastomer 9. After the wire 7 is powered off, the electro-shaped memory material 6 and the electro-rheological elastomer 9 return to the initial state, and the offshore wind power operation and maintenance mechanical gripper changes from closed to unfolded, ready for the next grasping.

[0035] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An offshore wind power operation and maintenance mechanical gripper, characterized in that: It includes a mechanical gripper and a control unit, the mechanical gripper includes a connecting arm and a plurality of mechanical fingers, the plurality of mechanical fingers are arranged at intervals along the circumference of the connecting arm, the mechanical finger includes an arm claw connecting joint, a first finger skeleton, a second finger skeleton and a first finger joint, the arm claw connecting joint is connected to the connecting arm, the first finger skeleton is connected to the arm claw connecting joint, and the first finger joint connects the first finger skeleton and the second finger skeleton; the control unit includes an electrotype shape memory material, a wire and a control device, the electrotype shape memory material extends along the length direction of the mechanical finger and is connected to the first finger joint, the electrotype shape memory material can expand and contract according to the power-on state to drive the first finger joint to move, the first finger joint can drive the second finger skeleton to rotate relative to the first finger skeleton, and the electrotype shape memory material is electrically connected to the control device through the wire.

2. The offshore wind power operation and maintenance mechanical gripper according to claim 1 is characterized in that: The control unit further includes an electrorheological elastomer, which is located between two adjacent mechanical fingers and connects two adjacent second finger skeletons. The electrorheological elastomer is electrically connected to the control device through the wire.

3. The offshore wind power operation and maintenance mechanical gripper according to claim 2 is characterized in that: The control device includes a time delay relay, and the time delay relay includes a time delay control circuit. The time delay control circuit has a signal input terminal, a signal output terminal and a signal delay control terminal; the electro-type shape memory material is electrically connected to the signal output terminal through the wire, and the electro-rheological elastomer is electrically connected to the signal delay control terminal through the wire.

4. The offshore wind power operation and maintenance mechanical gripper according to claim 3 is characterized in that: The delay control circuit comprises a delay relay power supply part, a secondary power supply part, a delay working part, a driving part and an execution relay part. The delay relay power supply part can perform voltage transformation, rectification and filtering.

5. The offshore wind power operation and maintenance mechanical gripper according to any one of claims 1 to 4, characterized in that: The mechanical finger also includes a third finger skeleton and a second finger joint, the second finger joint connects the third finger skeleton and the second finger skeleton, the electro-type shape memory material also extends to the second finger joint, and the electro-type shape memory material is connected to the second finger joint.

6. The offshore wind power operation and maintenance mechanical gripper according to claim 5 is characterized in that: The mechanical gripper also includes an arm connecting end, a connecting flange and bolts and nuts. The connecting flanges are respectively arranged on the connecting arm and the arm connecting end. The bolts and nuts are fixedly connected to the connecting arm and the connecting flange on the arm connecting end.

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