Offshore wind power operation and maintenance mechanical gripper
The offshore wind power operation and maintenance mechanical gripper driven by electro-shaped shape memory materials and electrorheological elastomers solves the problems of complex structure, heavy weight and poor flexibility of traditional grippers, and achieves a lightweight and flexible gripping effect.
Patent Information
- Application Number
- CN202422856540.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-22
- Publication Date
- 2025-09-23
- Estimated Expiration
- 2034-11-22
AI Technical Summary
Traditional rigid offshore wind power operation and maintenance mechanical grippers have complex structures, heavy weight and poor flexibility, and cannot meet the performance requirements of lightweight and flexibility.
Electro-shaped memory materials and electrorheological elastomers are used to control the movement of the robotic fingers, combined with a time-delay relay control circuit to achieve flexible grasping of the robotic gripper.
The applicability and flexibility of the offshore wind power operation and maintenance mechanical gripper are improved. It has small size, light weight, flexible movement, good environmental adaptability and fast response speed.
Smart Images
Figure CN223369447U_ABST
Abstract
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 increasingly being applied to various fields of production and life, and mechanical grippers are one of the most important actuators for robots. Currently, the widely used mechanical grippers for offshore wind turbine operation and maintenance are mostly constructed of rigid materials and are typically driven by motors, pneumatics, or hydraulics. While traditional rigid mechanical grippers offer strong stability and reliability, they suffer from complex structures, heavy weight, and poor flexibility, failing to meet the performance requirements of lightweight and flexible systems. Utility Model Content
[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 part, the mechanical gripper includes a connecting arm and multiple mechanical fingers, the multiple 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 part includes an electrogenic shape memory material, a wire and a control device, the electrogenic shape memory material extends along the length direction of the mechanical finger and is connected to the first finger joint, the electrogenic 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 electrogenic 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 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.
[0007] In an optional solution, the control device includes a time delay relay, the time delay relay includes a time delay control circuit, the time delay control circuit has a signal input end, a signal output end and a signal delay control end; the electro-type shape memory material is electrically connected to the signal output end through the wire, and the electro-rheological elastomer is electrically connected to the signal delay control end 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 electrogenic shape memory material also extends to the second finger joint, and the electrogenic shape memory material is connected to the second finger joint.
[0010] In an optional solution, the mechanical gripper further 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 this application controls the movement of the mechanical fingers through electro-type shape memory materials, thereby making the offshore wind power operation and maintenance mechanical gripper more applicable and flexible; in addition, electro-type shape memory materials are used instead of thermo-type shape memory materials, etc. Compared with other materials, electro-type 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 merely illustrative and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS
[0014] Figure 1 A schematic structural diagram of a specific embodiment of the offshore wind power operation and maintenance mechanical gripper provided in this application;
[0015] Figure 2 for Figure 1 Schematic diagram of the structure 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 offshore wind power operation and maintenance mechanical gripper;
[0017] Figure 4 Delay control flow chart of the control unit provided in 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, bolt and nut 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 embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other technical solutions obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0023] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" 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 otherwise.
[0024] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects 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 based on 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 should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also be indirectly connected to the other element "on" or "under" through an intermediate element.
[0026] like Figure 1-5 As shown, an embodiment of the present application provides an offshore wind power operation and maintenance mechanical gripper, which includes a mechanical gripper and a control unit. The mechanical gripper includes a connecting arm 1 and a plurality of mechanical fingers, the plurality of mechanical fingers being arranged at intervals along the circumference of the connecting arm 1, the mechanical fingers including 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 being connected to the connecting arm 1, the first finger skeleton 3 being connected to the arm claw connection joint 2, and the first finger joint 5 being connected to 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 extending along the length direction of the mechanical finger and connected to the first finger joint 5, the electro-type shape memory material 6 being able to expand and contract according to the power-on state to drive the first finger joint 5 to move, the first finger joint 5 being able to drive the second finger skeleton 4 to rotate relative to the first finger skeleton 3, and the electro-type shape memory material 6 being electrically connected to the control device 8 via 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, thereby making the offshore wind power operation and maintenance mechanical gripper more applicable and more flexible. In addition, the use of electro-type shape memory material 6 rather than thermo-type shape memory material, etc., electro-type shape memory material 6 is easier to control, can be remotely driven, and has a fast response speed compared to other materials. Overall, 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 to traditional structures, making up for the shortcomings of traditional rigid offshore wind power operation and maintenance mechanical gripper mechanisms that are limited in certain areas.
[0028] As a smart material, shape memory polymers possess a shape memory effect and superelasticity not found in ordinary materials. While ordinary materials undergo plastic deformation under stress, this deformation is irreversible. However, shape memory materials undergo a certain amount of plastic deformation under stress and can be restored to their original shape after some processing, which is described as the shape memory effect. When the shape memory material is heated above its phase transition temperature, the finger joints exhibit very little stiffness, making them more susceptible to bending under external forces. When there is no bending force, the fingers return to their original shape due to the shape recovery stress of the thermotropic shape memory material. Through an improved 3D printing process, a new type of offshore wind power operation and maintenance mechanical gripper can be made from thermotropic shape memory materials.
[0029] Thermotropic shape memory composites are susceptible to environmental factors such as external heat sources, and their further application remains challenging. Adding a conductive material to a shape memory polymer matrix can produce an electrotropic shape memory polymer. This material can be activated by an electric current, generating heat that raises the system's temperature and allows for deformation recovery. The typical electrotropic shape memory process involves raising the temperature above the shape memory polymer's glass transition temperature (Tg). Applying an external force to the material causes deformation; maintaining the external force constant and lowering the temperature "freezes" the stress and deformation. Applying a voltage to the material causes it to conduct electricity. The heat generated by the current flowing through the material's internal conductive network raises the material's temperature above its Tg, reducing the "frozen" stress and restoring the material to its pre-deformation state. The electrotropic shape memory effect offers advantages such as ease of control, remote actuation, and rapid response, making it particularly suitable for use in 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 one specific embodiment, the control device 8 includes a time delay relay, which includes a time delay control circuit 10. 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 via a wire 7, and the electro-rheological elastomer 9 is electrically connected to the signal delay control terminal via a wire 7. Specifically, the time delay control circuit 10 includes a time delay relay power supply, a secondary power supply, a delay operation unit, a drive unit, and an execution relay unit. The time delay relay power supply unit is capable of voltage transformation, rectification, and filtering.
[0032] like Figure 1-3 As shown, in a specific embodiment, the robotic 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-shaped memory material 6 also extends to the second finger joint 12 and is connected to the second finger joint 12. In addition, the robotic gripper further includes an arm connecting end 13, a connecting flange 14, and a bolt and nut 15. The connecting flange 14 is respectively provided on the connecting arm 1 and the arm connecting end 13. The bolt and nut 15 securely connect the connecting flange 14 on the connecting arm 1 and the arm connecting end 13.
[0033] like Figure 1-3As shown, during operation, the electro-shaped shape memory material 6 has a memory function, allowing it to be pre-set in length and then bound to the first and second finger joints 5, 12. When power is applied, the electro-shaped shape memory material 6 triggers the shape memory effect and returns to the set length (shortening). Because it is bound to the first and second finger joints 5, 12 made of metal material, the entire structure resists shortening, resulting in out-of-plane bending, thus achieving the closed grasping state of the entire gripper.
[0034] At this point, the stiffness of the electro-shape memory material 6 decreases significantly. The gripping state of the offshore wind power operation and maintenance mechanical gripper is then maintained by the electro-rheological elastomer 9. After the delay control of the delay relay, the electro-rheological effect within the electro-rheological elastomer 9 is triggered, and the stiffness of the contracted electro-rheological elastomer 9 increases significantly, thereby securing the object in the offshore wind power operation and maintenance mechanical gripper. The gripping process of the offshore wind power operation and maintenance mechanical gripper is achieved in two stages: the electro-shape memory material 6 drives the finger joints to bend, and the electro-rheological elastomer 9 hardens. After the power is removed from the wire 7, the electro-shape memory material 6 and the electro-rheological elastomer 9 return to their initial state, and the offshore wind power operation and maintenance mechanical gripper changes from closed to open, ready for the next grasping operation.
[0035] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application.
Claims
1. A mechanical gripper for offshore wind power operation and maintenance, characterized in that: It includes a mechanical gripper and a control part, the mechanical gripper includes a connecting arm and multiple mechanical fingers, the multiple 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 is connected to the first finger skeleton and the second finger skeleton; the control part 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 delay relay, the delay relay includes a delay control circuit, and the delay control circuit has a signal input end, a signal output end and a signal delay control end; the electro-shaped memory material is electrically connected to the signal output end through the wire, and the electro-rheological elastomer is electrically connected to the signal delay control end 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 includes 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 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 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 fix the connecting arm and the connecting flange on the arm connecting end.