Multi-degree-of-freedom multi-joint bionic power mechanism device

Abstract

The utility model discloses a multi-degree-of-freedom multi-joint bionic power mechanism device which comprises at least two six-degree-of-freedom platforms, and the adjacent six-degree-of-freedom platforms are connected in series through hinges. The six-degree-of-freedom platform comprises an upper platform, a lower platform and six electro-hydraulic actuators arranged between the upper platform and the lower platform, each electro-hydraulic actuator comprises a hydraulic cylinder, a hydraulic pump, a balance valve, a one-way valve, an overflow valve, a servo motor and a valve block, and a cylinder body and a cylinder rod of each hydraulic cylinder are connected with the upper platform and the lower platform through universal joints respectively. An output shaft of the servo motor penetrates through a center hole of the valve block and is connected with an input shaft of the hydraulic pump through a coupler, the hydraulic pump is connected with the hydraulic cylinder, the hydraulic cylinder is connected with the balance valve, the one-way valve and the overflow valve, and the balance valve, the one-way valve and the overflow valve are installed on the valve block. According to the multi-degree-of-freedom multi-joint bionic power mechanism device, on the basis that the bionic property of the device is achieved, the free swing of the multi-degree-of-freedom multi-joint and the stable output of force can meet the requirements.

Description

Technical Field

[0001] This utility model relates to the field of mechanical engineering technology, and in particular to a multi-degree-of-freedom, multi-joint bionic power mechanism device. Background Technology

[0002] A single EHA (electro-hydraulic actuator) parallel platform can achieve six degrees of freedom (6 degrees of freedom) in space, consisting of three translational and three rotational degrees of freedom. It can output parameters such as angle and force within a limited range. However, the current platform has a significant limitation: it cannot achieve multi-degree-of-freedom, multi-joint motion, thus failing to meet the requirements for large-angle swinging, strong forces, and other complex movements. Due to its inherent characteristics, it is difficult to fully support these key technologies. This limitation has severely impacted the implementation of related projects. Summary of the Invention

[0003] To address the shortcomings of the existing technology, the technical problem to be solved by this patent application is how to provide a multi-degree-of-freedom, multi-joint bionic power mechanism that can output the required angle and force while achieving bionic motion of multi-degree-of-freedom, multi-joint motion. By precisely controlling the action of the actuator through servo control and synchronous control, various complex motion states are simulated and the bionic motion of multi-degree-of-freedom, multi-joint motion is achieved. The multi-degree-of-freedom, multi-joint bionic power mechanism is evaluated and debugged to achieve the stability of the power mechanism.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A multi-degree-of-freedom, multi-joint biomimetic power mechanism includes at least two six-degree-of-freedom platforms connected in series by hinges. Each six-degree-of-freedom platform includes an upper platform, a lower platform, and six electro-hydraulic actuators disposed between the upper and lower platforms. Each electro-hydraulic actuator includes a hydraulic cylinder, a hydraulic pump, a balance valve, a check valve, a relief valve, a servo motor, and a valve block. The cylinder body and cylinder rod of the hydraulic cylinder are connected to the upper and lower platforms respectively via universal joints. The output shaft of the servo motor passes through the central hole of the valve block and is connected to the input shaft of the hydraulic pump via a coupling. The hydraulic pump is connected to the hydraulic cylinder, and the hydraulic cylinder is connected to the balance valve, the check valve, and the relief valve. The balance valve, the check valve, and the relief valve are mounted on the valve block.

[0006] The upper platform is fixedly equipped with a connecting seat for hinge connection.

[0007] A position sensor is installed on the hydraulic cylinder.

[0008] A bell-shaped cover is fixedly installed between the servo motor and the valve block.

[0009] A transition block is fixedly installed between the valve block and the hydraulic cylinder.

[0010] The multi-degree-of-freedom, multi-joint bionic power mechanism connects individual EHA six-degree-of-freedom platforms in series using hinges. Through advanced control technology for multi-degree-of-freedom, multi-joint parallel mechanisms and linkage control technology for different motion modes, these platforms are synchronously managed. Output force and stroke are set for each platform. By utilizing the conversion efficiency of individual platforms and the overall conversion efficiency in coordination, a stable output of the required force is achieved, while simultaneously realizing bionic motion of its own multi-degree-of-freedom, multi-joint mechanism. This connection and control method enables multiple platforms to operate collaboratively, forming a highly coordinated power system. It provides a reliable solution for achieving complex multi-degree-of-freedom, multi-joint bionic motion and precise force output, expanding its application potential in various fields.

[0011] In summary, this multi-degree-of-freedom, multi-joint biomimetic dynamic mechanism, while achieving biomimetic properties, meets the requirements for free swinging of multiple joints and stable force output. It not only enhances the functionality of a six-degree-of-freedom platform but also broadens its applications in various fields, providing a new method and direction for biomimetic research and mechanical design. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the structure of a single six-degree-of-freedom platform of a multi-degree-of-freedom, multi-joint bionic power mechanism device according to the present invention.

[0013] Figure 2 This is a schematic diagram of the structure after multiple six-degree-of-freedom platforms are connected in series.

[0014] Figure 3 This is a block diagram illustrating the servo control principle of a single six-degree-of-freedom platform.

[0015] Figure 4 A block diagram illustrating the synchronous control principle of multiple six-degree-of-freedom platforms. Detailed Implementation

[0016] The present invention will now be described in further detail with reference to the accompanying drawings. In the description of the present invention, it should be understood that directional terms such as "upper," "lower," "top," and "bottom" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. These terms are used only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0017] like Figure 1As shown, a multi-degree-of-freedom, multi-joint bionic power mechanism device includes at least two six-degree-of-freedom platforms, adjacent six-degree-of-freedom platforms connected in series by hinges; each six-degree-of-freedom platform includes an upper platform 2, a lower platform 8, and six electro-hydraulic actuators disposed between the upper platform 2 and the lower platform 8. Each electro-hydraulic actuator includes a hydraulic cylinder 4, a hydraulic pump 5, a balance valve 6, a check valve 7, an overflow valve 10, a servo motor 11, and a valve block 12. The cylinder body and cylinder rod of the hydraulic cylinder 4 are connected to the upper platform 2 and the lower platform 8 respectively through universal joints 3. The output shaft of the servo motor 11 passes through the central hole of the valve block 12 and is connected to the input shaft of the hydraulic pump 5 through a coupling. The hydraulic pump 5 is connected to the hydraulic cylinder 4, and the hydraulic cylinder 4 is connected to the balance valve 6, the check valve 7, and the overflow valve 10. The balance valve 6, the check valve 7, and the overflow valve 10 are mounted on the valve block 12.

[0018] Specifically, a connecting seat 1 for hinge connection is fixedly installed on the upper platform 2.

[0019] Specifically, a position sensor 9 is installed on the hydraulic cylinder 4.

[0020] Specifically, a bell-shaped cover 13 is fixedly installed between the servo motor 11 and the valve block 12.

[0021] Specifically, a transition block 14 is fixedly installed between the valve block 12 and the hydraulic cylinder 4.

[0022] The extension and retraction of the hydraulic cylinder can output force to the upper platform and adjust the platform angle. It is connected between the upper and lower platforms through a universal joint. Each hydraulic cylinder is equipped with a position sensor to provide real-time feedback of the hydraulic cylinder's displacement signal. The connecting seat is used to connect with the lower platform of the next six-degree-of-freedom platform, which serves as a series connection.

[0023] like Figure 2As shown, a multi-degree-of-freedom, multi-joint bionic power mechanism device can be created by stacking individual six-degree-of-freedom platforms according to specific practical needs, thereby further satisfying the user's requirements. During the movement, some hydraulic cylinders 4 in the first six-degree-of-freedom platform extend, while others retract. Through this combination of different actions, the upper platform 2 can be tilted. While the first six-degree-of-freedom platform tilts, the other six-degree-of-freedom platforms are synchronously controlled, and with the assistance of the flexible rotation of the universal joint 3, a multi-degree-of-freedom, multi-joint bionic motion is presented in a whole through the coordinated actions of each platform. This allows for arbitrary swinging movements and stable output force, achieving a kind of bionic motion. The extension or retraction of the hydraulic cylinders 4 is achieved by the forward or reverse rotation of the hydraulic pump 5 driven by the servo motor 11. When the servo motor 11 rotates forward, the hydraulic pump 5 delivers hydraulic oil to the rodless chamber of the hydraulic cylinder, causing the hydraulic cylinder 4 to extend; when the servo motor 11 rotates in reverse, the hydraulic pump 5 changes the flow direction of the hydraulic oil, causing the hydraulic oil to enter the rodless chamber of the hydraulic cylinder, thus retracting the hydraulic cylinder 4. Hydraulic valves play multiple important roles in the system, including overflow and self-locking. The overflow valve's overflow function comes into play when the system pressure is too high. When the pressure exceeds a set value, the hydraulic valve opens the overflow channel to drain excess hydraulic oil back to the tank, thus protecting the system from damage caused by excessive pressure. The balance valve 6 has a self-locking function, which can lock the state of the hydraulic system under certain conditions to prevent accidental actions and improve system safety. The check valve 7 can change the direction of hydraulic oil flow in the system. Displacement sensors 9 are installed on each hydraulic cylinder 4 to constantly detect the extension or retraction displacement of the cylinder, forming a closed loop for precise control.

[0024] By employing electro-hydraulic servo control and synchronization control, close coordination between various platforms is achieved, ensuring both positional accuracy and motion harmony. The servo control principle block diagram is shown below. Figure 3 As shown, the input command signal drives the servo motor 11 to rotate, moving the hydraulic cylinder 4 to the designated position. The position sensor 9 then provides feedback and compares it with the input signal. If the deviation signal is zero, the system does not need adjustment. If the deviation signal is positive or negative, the system needs to automatically adjust to meet the requirements. Synchronous control uses parallel control, acquiring signals from each actuator and feeding them back through feedback elements. These signals are then compared with the initially set ideal value to track the output, thus achieving synchronous control. The block diagram of the synchronous control principle is shown below. Figure 4 As shown.

[0025] Finally, it should be noted that those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. A multi-degree-of-freedom, multi-joint biomimetic power mechanism device, characterized in that, It includes at least two six-degree-of-freedom platforms, with adjacent six-degree-of-freedom platforms connected in series via hinges; The six-degree-of-freedom platform includes an upper platform, a lower platform, and six electro-hydraulic actuators disposed between the upper and lower platforms. Each electro-hydraulic actuator includes a hydraulic cylinder, a hydraulic pump, a balance valve, a check valve, a relief valve, a servo motor, and a valve block. The cylinder body and cylinder rod of the hydraulic cylinder are connected to the upper and lower platforms respectively via universal joints. The output shaft of the servo motor passes through the central hole of the valve block and is connected to the input shaft of the hydraulic pump via a coupling. The hydraulic pump is connected to the hydraulic cylinder, and the hydraulic cylinder is connected to the balance valve, the check valve, and the relief valve. The balance valve, the check valve, and the relief valve are mounted on the valve block.

2. The multi-degree-of-freedom, multi-joint bionic power mechanism device according to claim 1, characterized in that, A connecting seat for hinge connection is fixedly installed on the upper platform.

3. The multi-degree-of-freedom, multi-joint bionic power mechanism device according to claim 2, characterized in that, A position sensor is installed on the hydraulic cylinder.

4. The multi-degree-of-freedom, multi-joint bionic power mechanism device according to claim 1, characterized in that, A bell-shaped cover is fixedly installed between the servo motor and the valve block.

5. The multi-degree-of-freedom, multi-joint bionic power mechanism device according to claim 1, characterized in that, A transition block is fixedly installed between the valve block and the hydraulic cylinder.

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