CN107225587A - It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon - Google Patents
It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon Download PDFInfo
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- CN107225587A CN107225587A CN201710511946.8A CN201710511946A CN107225587A CN 107225587 A CN107225587 A CN 107225587A CN 201710511946 A CN201710511946 A CN 201710511946A CN 107225587 A CN107225587 A CN 107225587A
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- Prior art keywords
- finger
- joint
- main shaft
- module
- shell
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
Abstract
It is used for the lossless form adaptive manipulator mechanism fished for of benthon the invention discloses a kind of, mainly for existing paw under water, when capturing the marine growths such as sea cucumber, shape adaptability is not strong, the shortcomings of crawl is unreliable or easily scratches sea cucumber, the multifinger hand pawl mechanism of one motor combination worm-and-wheel gear driving of design, then the linkage of each finger is driven, pass through periphery envelope of the multifinger hand pawl mechanism to sea cucumber, the crawl motion of shape adaptability, completes flexible, lossless, the reliable crawl to marine growths such as sea cucumbers.The manipulator of the present invention is main to be combined by assemblings such as shoulder joint module, rotatable armed lever module, elbow joint module, wrist joint module, form adaptive paw mechanism and two polypropylene extension jib levers.The present invention has the advantages that crawl is reliable, shape adaptability is good, group velocity fast, be easy to underwater sealing.
Description
Technical field
The invention belongs to underwater operation robotic technology field, be related to it is a kind of be used for the lossless shape fished for of benthon from
Adaptation mechanical hand structure.
Background technology
The inshore fishing of the marine growths such as traditional sea cucumber, scallop is completed by water operation under diver mostly, operating cost
High, water temperature is low, diver faces sick and wounded and life threat, and especially when depth of implements is more than 20m, the working time of diver is big
It is big to shorten.And use robot to replace diver significantly to improve the activity duration, reduce and fish for cost, reduce diver's
It is sick and wounded, improve the security fished for.
At present, robot fishes for marine growth and mainly completed by aspirating and capturing two ways.Patent document " precious marine product
Fish robot (CN201410686861.X) " be related to fish under water robot mainly by aspirator by suction tube by sea
In treasure suction collection vessel, although fishing for for the biology such as sea cucumber can also be completed, but in actual use easily by seabed
The debris such as silt, reef, pasture and water also inspiration collection vessel, or even block suction tube.Underwater manipulator is that robot is completed under water
Target captures institute's usual way with operation.A kind of patent document " deep-sea manipulator with Open architecture
" and " underwater operation robot and its method of work (CN20151035070732.8) " water for being related to (CN200910224334.6)
Lower manipulator drives nut for linear motion by being driven the screw rod of shaft end, completes the open and close movement of finger.Although can be complete
Operation is captured into target under water, but sea cucumber is biological for the long tubular of smooth pliable, it is difficult to complete reliable and lossless crawl.
The present invention devise it is a kind of be used for the lossless form adaptive robot manipulator structure fished for of benthon such as sea cucumber, pass through
The rigid link structure that one motor combination worm gear structure driving multifinger hand refers to, is completed to the complicated shape marine growth such as sea cucumber
Periphery envelope, flexible self-adapting grasping.The invention is with crawl is reliable, shape adaptability is good, group velocity fast, be easy under water
The advantages of sealing.
The content of the invention
The purpose of the present invention, which is that design is a kind of, is used for the lossless form adaptive robot manipulator structure fished for of benthon, mainly
For existing finger under water, when capturing the marine growths such as sea cucumber, shape adaptability is not strong, captures unreliable or sea cucumber sensitive for damages
The shortcomings of, the multifinger hand for devising a motor combination whirlpool worm gear structure driving grabs structure and drives each finger and finger
Bar linkage structure, shape adaptability crawl is carried out to the periphery envelope of sea cucumber by referring to structure more and moved, so as to complete to sea cucumber
Deng flexible, lossless, the reliable crawl of marine growth.
In order to solve the above technical problems, the present invention is adopted the following technical scheme that：
It is a kind of to be used for the lossless form adaptive robot manipulator structure fished for of benthon, it is characterised in that：By carrier frame,
Sea cucumber fishes for case, three freedom degree manipulator arm and form adaptive finger module composition；Three freedom degree manipulator arm includes shoulder joint
Save module, elbow joint module, rotatable armed lever module, wrist joint module and two polypropylene extension jib levers；Three Degree Of Freedom machine
The carrier frame of tool hand is mounted in the bottom of underwater robot, and form adaptive finger is mechanical using Three Degree Of Freedom is bolted to
The front end of hand, sea cucumber fishes for that case is parallel with three freedom degree manipulator to be fixed in carrier frame；Manipulator includes shoulder and ancon
Two pitching joints and large arm a cradle head.
Described is a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, described shoulder joint mould
Block, it is characterised in that shoulder joint module includes shoulder joint shell, shoulder joint end cap, shoulder joint motor reducer all-in-one, shoulder joint
Save the shoulder joint connector that main shaft and shoulder joint main shaft coordinate；Shoulder joint shell main shaft counterface installs general plug envelope, and utilizes
General plug envelope is pressed on shoulder joint shell by general plug capping and bolt fixation；Utilize two stainless steel bearing inner rings and shoulder joint master
Axle coordinates, and outer ring coordinates with shoulder joint shell and the capping of general plug respectively.
Described is a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, described elbow joint mould
Block, it is characterised in that elbow joint module elbow joint shell, elbow joint end cap, the elbow joint electricity of the fixed elbow joint enclosure of assembling
The elbow joint connector that the elbow joint main shaft and elbow joint main shaft that machine, assembling are fixed on elbow joint motor coordinate, ancon pitching
Joint is connected with polypropylene extension jib lever.
Described is a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, described rotatable armed lever
Module, it is characterised in that rotatable armed lever module include armed lever shell, armed lever end cap, the armed lever motor being fixed on inside armed lever,
The armed lever connector that the stainless steel axle sleeve and stainless steel axle sleeve being engaged with armed lever motor are engaged, armed lever module is in armed lever electricity
Rotational motion is carried out under the driving of machine.
Described is a kind of for lossless form adaptive manipulator mechanisms fished for of benthon such as sea cucumbers, and its feature exists
In described wrist joint module is specifically included:Wrist joint shell, wrist joint end cap, the wrist pass for being fixed on wrist joint enclosure
Section motor, the wrist joint main shaft being fixed on wrist joint motor；The motion that wrist joint hand is grabbed is by wrist joint motor control, finger base
Seat is arranged in the plane of wrist joint shell one end, is bolted；Wrist joint motor is fixed on wrist joint enclosure；Wrist is closed
Section main shaft is connected with wrist joint motor, and wrist joint motor drives wrist joint main axis；Wrist joint main shaft has a flat key and snail
Flat key formation interference fits in bar, wrist joint main axis drives worm screw synchronous axial system；Worm screw drives worm gear to turn when rotating
Dynamic, the axis hole of worm gear circle centre position has a flat key, and the flat key of worm gear axis hole and the flat key of finger actuation main shaft are interference fits, snail
Wheel rotation can drive finger actuation main shaft to follow rotation.
Described is a kind of for lossless form adaptive manipulator mechanisms fished for of benthon such as sea cucumbers, and its feature exists
In the adaptive microgripper is specifically included:Self-adapting grasping finger module finger with finger base and finger base
Be equipped with drive shaft, turbine and worm component, finger actuation connecting rod and torsion spring fixed mount, torsion spring fixed mount customization torsion spring,
Fast envelope flexible finger is constituted；Torsion spring fixed mount and finger actuation connecting rod are assemblied in finger actuation main shaft by interference fits
On, the axis hole of torsion spring fixed mount has a flat key to be engaged with the flat key of finger actuation main shaft；Force on finger actuation connecting rod
Bearing pin stretches out end in contact with torsion spring.
Described is a kind of for lossless form adaptive manipulator mechanisms fished for of benthon such as sea cucumbers, and its feature exists
In described adaptive multifinger hand refers to module and specifically included：Adaptive multifinger hand refers to the fast envelope flexible finger of module by hand
Refer to drive link, finger actuation pitman pin, finger side plate, finger rubber front shroud, the finger envelope of two pieces of aluminum alloy materials
The remote finger joint rubber sleeve of the remote finger joint of connecting rod, finger, finger, the remote finger joint main shaft of finger, the remote finger joint bearing pin of finger, the nearly finger joint connecting rod of finger
Bearing pin；Three fast envelope flexible fingers per side share a finger actuation main shaft, the snail fixed by finger actuation main shaft
Wheel and hand are grabbed worm screw fixed in drive shaft and are meshed；Finger actuation connecting rod is fixed on by finger actuation pitman pin one end
On finger side plate, the other end rotates on finger actuation main shaft；One end of finger envelope connecting rod passes through the nearly finger joint link pin of finger
Axle is fixed in finger base, and the other end is fixed in the remote finger joint of finger by the remote finger joint bearing pin of finger；The remote finger joint rubber of finger
Set and finger rubber front shroud are separately fixed on finger side plate and the remote finger joint of finger.
Described is a kind of for lossless form adaptive manipulator mechanisms fished for of benthon such as sea cucumbers, described adaptive
Capture finger module, it is characterised in that：Model close up with during opening movement, nearly finger joint and remote finger joint and horizontal plane
Variable angle is linear relationship；Joint, which is equipped with servomotor, each joint end cap, is equipped with O-ring, each joint main shaft
Place is equipped with general plug envelope and general plug capping.
Described is a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, it is characterised in that：Shoulder joint
Shoulder joint shell end face, elbow joint shell, wrist joint shell, rotatable armed lever shell shoulder joint shell end face are provided with section module
Corresponding o-ring groove simultaneously installs O-ring seal additional, recycles bolt and nut and shoulder joint end cap immovable fitting；Outside elbow joint
Shell, wrist joint shell, rotatable armed lever shell are provided with corresponding general plug envelope and general plug capping.
Brief description of the drawings
Fig. 1 is lossless to fish for form adaptive robot manipulator structure structure chart；
Fig. 2 is cable control underwater robot overall construction drawing；
Fig. 3 is lossless to fish for form adaptive mechanical arm section of structure；
Fig. 4 is that wrist joint hand grabs profile；
Fig. 5 is that form adaptive multifinger hand refers to structure chart；
Fig. 6 is fast envelope flexible finger cut-away view；
Fig. 7 is finger bar linkage structure driving principle curve map.
Embodiment
More detailed description is done to the present invention below in conjunction with drawings and the specific embodiments：
The present invention, which by carrier frame, sea cucumber fishes for case, three freedom degree manipulator arm and form adaptive multifinger hand and referred to, to be constituted.
Wherein three freedom degree manipulator arm include shoulder joint module 1, elbow joint module 2, rotatable armed lever module 3, wrist joint module 4 with
And two polypropylene extension jib levers 6.The bottom of underwater robot can be mounted in by installing the carrier frame of three freedom degree manipulator,
Form adaptive multifinger hand refers to 5 using the front end for being bolted to three freedom degree manipulator, and sea cucumber fishes for case and Three Degree Of Freedom machine
Tool hand is parallel to be fixed in carrier frame.One rotation in two pitching joints of the manipulator comprising shoulder and ancon and large arm is closed
Section；Realize that manipulator forward downward deploys by two pitching joints during fishing for, sea is completed under the assistance of cradle head
Biological fishes for；The folding of manipulator is realized after the completion of fishing for based on the cradle head, the marine growth captured is discharged into and caught
Case is dragged for, case lid is fished for and the automatic closing after release is realized by stage clip.
Form adaptive multifinger hand refers to by motor reducer one 1-3, finger motor seal shell, finger actuation main shaft 5-
1st, it is general plug envelope 1-7, general plug capping 1-8, general plug envelope bearing, finger base 5-2, worm gear 5-3, worm screw 5-4, worm bearing, six
Fast envelope flexible finger, finger actuation main shaft 5-1, the composition such as torsion spring fixed mount 5-6, torsion spring 5-7, torsion spring alignment pin.Its
Middle finger actuation main shaft is fixed on motor reducer all-in-one, and general plug capping 1-8 is fixed on finger motor seal shell, is led to
Cross dynamic sealing of the general plug envelope 1-7 realizations to motor reducer all-in-one；In finger actuation main shaft 5-1 general plug capping 1-8 one end
Bearing is sealed by general plug respectively with the main the tip of the axis of finger actuation and worm bearing realizes that the axial location of finger actuation main shaft is consolidated
It is fixed, so that it is guaranteed that the dynamic sealing of general plug envelope is effective；Six fast envelope flexible fingers are fixed on finger electricity by finger base 5-2
The both sides of machine sealing shell, form the periphery envelope to target；Three fast envelope flexible fingers per side share a finger
Drive shaft 5-1, is meshed by the finger actuation main shaft 5-1 worm gear 5-3 fixed and worm screw 5-4 with finger base 5-2；Wherein
The positive engagement of finger base worm screw and both sides worm gear is ensured to realize by finger base 5-1；It is solid on every finger actuation main shaft 5-1
Surely there are three torsion spring fixed mount 5-6, the motion of three fingers is corresponded to respectively；Each torsion spring fixed mount 5-6 passes through torsion spring and torsion spring
Alignment pin driving finger actuation connecting rod 5-5 motions, each fast envelope flexible finger is by finger actuation connecting rod 5-5 as actively
Connecting rod drives it to move.So finger actuation main shaft drives finger actuation main shaft, finger actuation master by worm gear 5-3 worm screws 5-4
Axle drives torsion spring fixed mount 5-6 to be synchronized with the movement, when any one finger in six fast envelope flexible fingers is hindered,
Other fingers will continue envelope object, so as to realize stable adaptive periphery envelope to the marine growth of complicated shape.
Fast envelope flexible finger by torsion spring fixed mount 5-6, finger actuation connecting rod 5-5, finger actuation pitman pin 5-8,
Finger side plate 5-9, finger rubber front shroud 5-10, finger envelope connecting rod 5-11, the remote finger joint 5-12 of finger, the remote finger joint rubber of finger
Cover the nearly finger joint pitman pin 5-16 compositions of 5-13, the remote finger joint main shaft 5-14 of finger, the remote finger joint bearing pin 5-15 of finger, finger.Wherein,
Torsion spring fixed mount 5-6 drives three fast envelope flexible fingers of the finger actuation connecting rod 5-5 realizations per side by torsion spring 5-7
Synchronous envelope movement, finger actuation connecting rod 5-5 is fixed on finger side plate 5-9 by finger actuation pitman pin 5-8 one end, separately
One end rotates on finger actuation main shaft 5-1；One end of the nearly finger joint connecting rod of finger is solid by the nearly finger joint pitman pin 5-16 of finger
It is scheduled on finger base 5-1, the other end is fixed in the remote finger joint of finger by the remote finger joint bearing pin 5-15 of finger；The remote finger joint rubber of finger
Gum cover 5-13 and finger rubber front shroud 5-10 are separately fixed on finger side plate 5-9 and the remote finger joint of finger.Such fast envelope
Flexible finger will be driven by finger actuation connecting rod 5-5, finger envelope connecting rod 5-11, finger side plate by finger actuation connecting rod 5-5
The envelope while four-bar linkage structure of 5-9 and the remote finger joint 5-12 compositions of finger realizes nearly finger joint and remote finger joint to target；Also, ginseng
According to the current feedback of motor reducer all-in-one, 5-10 pairs of the remote finger joint rubber sleeve 5-13 of finger and finger rubber front shroud will be realized
The control of target flexibility grasp force.
Illustrate present embodiment with reference to Fig. 1 to Fig. 2.As shown in figure 1, the artificial open-shelf ROV of cable control underwater,
Wherein fabric is work layer, is mainly equipped with multiple degrees of freedom underwater manipulator and sea cucumber fishes for case.Underwater manipulator is utilized
Bolts assemblies are fixed on the medium position of underwater robot lower floor framework noseplate, and noseplate centre position can allow provided with opening
Watertight cable is connected through noseplate with the control cabinet of underwater robot.Sea cucumber fishes for case utilization and is bolted to whole bottom plate
Right positions, its position grabs to hold row level with both hands and can catch underwater manipulator with the manipulator withdrawn can just be put into sea cucumber after sea cucumber
Fish in case.
As shown in Fig. 2 the underwater manipulator of the present invention possesses 4 frees degree, including shoulder joint 1 elevating movement, can turn
Rotational motion, the elevating movement of elbow joint 2, the crawl campaign of finger of semaphore 3.Two polyacrylic extension jib levers 6 then may be used
Significantly increase stretching up to scope for submarine mechanical hand finger end.According to the requirement of sea cucumber fishing operation, pass through underwater robot
Visually-perceptible system discovery simultaneously positions target sea cucumber position, then controls underwater robot to move near target sea cucumber.Now
Manipulator is started working, and shoulder joint module carries out elevating movement under the driving of motor moves down armed lever module, alignment target sea
Ginseng, armed lever module carries out rotational motion under the driving of armed lever motor, while elbow joint module is bowed under the driving of motor
Motion is faced upward, the wrist joint of manipulator is turned to by gathering posture stretchs out posture, and hand is grabbed module and reached and alignment target sea cucumber,
Then underwater manipulator hand grabs module self-adaptive non-loss under the driving of wrist joint motor and captures target sea cucumber.As shown in figure 1, grabbing
Take after the completion of process, shoulder joint module proceeds elevating movement and moves to specified location to armed lever module, then armed lever module
Rotational motion is carried out under the driving of armed lever motor, while elbow joint module carries out elevating movement under the driving of motor, makes water
Lower manipulator returns to rounding state by extended state, and wrist joint fishes for case parallel position in ginseng off sea, and finger module is in wrist
By the crawl posture of adaptive envelope hand is converted under the driving of joint motor grabs module adaptively opening posture, sea cucumber is delivered
Fished for sea cucumber in case.Then shoulder joint module, elbow joint module carry out elevating movement, respectively on move to specified location, sea cucumber
Fish for case lid under the effect of spring extending force automatically to close up, a sea cucumber fishes for crawl, the complete procedure of dispensing and finished.
Illustrate present embodiment with reference to Fig. 3 to Fig. 4.As shown in Fig. 3 mechanical arm profile, one kind is applied to sub-sea
The lossless adaptive Multi-freedom-degreemanipulator manipulator fished for of ginseng, its joint module for being equipped with servomotor be required for ensureing static seal and
O-ring 1-6 is equipped with dynamic sealing ability, each joint end cap and ensures static seal, be equipped with each joint main shaft general plug envelope 1-7 and
General plug capping 1-8 ensures the dynamic sealing ability in each joint.Each joint motor is by weather proof receptacle and watertight cable and underwater robot
Watertight control cabinet connection, for transmitting electric energy and control signal.
Wrist joint hand such as Fig. 4 is grabbed shown in profile, and it is main by wrist joint electricity with adaptive envelope that hand grabs opening for module
Machine is controlled.Three fast envelope flexible fingers per side share a finger actuation main shaft, are fixed by finger actuation main shaft
Fixed worm screw 5-4 is meshed on worm gear 5-3 and finger actuation main shaft 5-1；Wherein finger base worm screw and both sides worm gear can
Ensured to realize by finger base 5-1 by engaging；Three torsion spring fixed mounts are fixed with every finger actuation main shaft, three are corresponded to respectively
The motion of individual finger；Each torsion spring fixed mount 5-6 drives finger actuation pitman pin 5- by torsion spring 5-7 and torsion spring alignment pin
8 motions, each fast envelope flexible finger drives it to move by finger actuation connecting rod 5-6 as drive connecting rod.So finger drives
Dynamic main shaft drives finger actuation main shaft by worm gear 5-3 worm screws 5-4, and finger actuation main shaft 4-4 drives torsion spring fixed mount 5-6 synchronous
Motion, torsion spring fixed mount 5-6 drives three fast envelope flexible fingers of the finger actuation connecting rod realization per side by torsion spring
Synchronous envelope movement, when any one finger in six fast envelope flexible fingers is hindered, other fingers will continue
Envelope object, so as to realize stable adaptive periphery envelope to the marine growth of complicated shape.
When underwater manipulator prepares sea cucumber crawl operation, hand grabs module and is in open configuration and close to target sea cucumber, wrist
Joint motor 4-3 is rotated, and drives wrist joint main shaft 4-4 synchronous axial systems, and worm screw 5-4 follows wrist joint main shaft 4-4 synchronous axial systems, snail
Bar 5-4, which is rotated, drives worm gear 5-3 to follow rotation, drives finger actuation main shaft 5-1 and worm gear 5-3 to keep synchronous axial system, driving six
Root finger module realizes adaptive envelope movement, captures sea cucumber.Also, will with reference to the current feedback of motor reducer all-in-one
Realize the control of finger remote finger joint rubber sleeve 5-13 and finger rubber front shroud 5-10 to target flexibility grasp force.Preparing sea
Ginseng deliver fish for case to sea cucumber operation process in, wrist joint motor reversal, make wrist joint main shaft 4-4, worm gear 5-3 worm screws 5-4,
Finger actuation main shaft 5-1 is rotated backward successively, and finger module is adaptively opened, and sea cucumber automatically falls into sea cucumber and fished in case, sea cucumber
Operation is delivered to complete.
Illustrate present embodiment with reference to Fig. 5 to Fig. 6.As shown in figure 5, finger module is main by symmetrical 6 fingers
To realize adaptive envelope movement, grasping movement is completed.Finger module is equipped with finger actuation connecting rod 5-5 and finger envelope connecting rod
And customization torsion spring 5-7 is equipped with torsion spring fixed mount 5-6, torsion spring fixed mount 5-6.Torsion spring fixed mount 5-7 and finger actuation connect
Bar 5-5 is assembled on finger actuation main shaft 5-1, and is interference fits, and torsion spring fixed mount 5-6 axis hole has a flat key and hand
The flat key for referring to drive shaft is engaged, and torsion spring fixed mount 5-6 is followed finger actuation main shaft 5-1 synchronous axial systems.
As shown in fig. 6, the adaptive envelope movement implementation process of finger module is as follows：Finger actuation main shaft 5-1 is rotated can band
Dynamic torsion spring fixed mount 5-6 synchronous axial systems, when torsion spring fixed mount 5-6 is rotated, the backing pin on torsion spring fixed mount 5-6 promotes customization torsion spring
5-7 stress, torsion spring compression makes another external part of torsion spring promote the backing pin on finger actuation connecting rod, finger actuation connecting rod
5-5 follows the nearly knuckle portion for rotating drive and the nearly finger joint bearing pin 5-16 fixing assemblings of finger to grab system centre plane to hand and carried out
Adaptive closing movement.The closing movement of nearly finger joint drives the link motion of finger envelope to promote remote finger joint realization to follow envelope to transport
It is dynamic.When any one finger in six fast envelope flexible fingers is hindered, other fingers will continue envelope object, from
And stable adaptive periphery envelope is realized to the marine growth of complicated shape.Hand grabs each three fingers in module both sides while progress pair
The adaptive envelope movement of finger of title can be achieved with the crawl operation to target object.Because the front shroud of microgripper is poly- third
Alkene material, finger tip is natural rubber material, and quality is relatively soft, therefore can realize that hand grabs the self-adaptive non-loss crawl of system.
When underwater manipulator needs to carry out sea cucumber dispensing operation, finger actuation main shaft is in embodiment two is described
Wrist joint motor reversal drives finger actuation main shaft 5-1 to invert always, drives torsion spring fixed mount 5-6 synchronous backwards to rotate, torsion spring
When fixed mount 5-6 is rotated backward, the backing pin on torsion spring fixed mount 5-6 promotes customization torsion spring 5-7 stress, and torsion spring stress deformation makes
Torsion spring another external part promotes the backing pin on finger actuation connecting rod 5-5, finger actuation connecting rod 5-5 follow rotate backward drive with
The nearly knuckle portion of the nearly finger joint bearing pin 5-16 fixing assemblings of finger carries out adaptive opening movement.The opening movement of nearly finger joint drives
The link motion of finger envelope promotes remote finger joint to realize and follows opening movement.Hand grabs each three fingers in module both sides while carrying out symmetrical
The adaptive opening movement of finger can be achieved with dispensing operation to target sea cucumber.So far once complete sea cucumber crawl, deliver
Operation process is completed.
Illustrate present embodiment with reference to Fig. 7.The hand that the linkage process of nearly finger joint and remote finger joint is described in embodiment three
Referring to drive link 5-5 follows the nearly knuckle portion for rotating drive and the nearly finger joint bearing pin 5-16 fixing assemblings of finger to be grabbed to hand in system
Heart plane carries out adaptive closing movement.The closing movement of nearly finger joint drives the remote finger joint of finger envelope connecting rod 5-11 movement progress real
Now follow envelope movement.Finger connecting rod driving principle curve map as shown in Figure 7, abscissa is nearly finger joint and finger base level
Face angle, ordinate is remote finger joint and finger base horizontal plane angle, and the nearly finger joint and remote finger joint for obtaining Fig. 7 are calculated by formula
The variable angle relation of linkage process.When nearly finger joint and finger base horizontal plane are in 110 ° of angles, remote finger joint and finger base
Horizontal plane is in 60 ° of angles, and finger model is in envelope closed configuration；When nearly finger joint and horizontal plane are in 160 ° of angles, remote finger joint and
Horizontal plane is in 15 ° of angles, and finger model is in adaptive open configuration.Finger model close up with during opening movement, closely
Finger joint and remote finger joint and the variable angle of horizontal plane are linear relationships, it is ensured that finger nearly finger joint when carrying out grasping movement
The envelope movement coordinated with remote finger joint is rapid and coherent, so ensure the crawl of whole sea cucumber process it is quick, stably, can
Lean on.
One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area
Those of ordinary skill can make according to these technical inspirations disclosed by the invention various does not depart from the other each of essence of the invention
Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.
Claims (9)
1. a kind of be used for the lossless form adaptive robot manipulator structure fished for of benthon, it is characterised in that：By carrier frame, sea
Ginseng fishes for case, three freedom degree manipulator arm and form adaptive multifinger hand pawl module composition；Three freedom degree manipulator arm includes shoulder
Joint module, elbow joint module, rotatable armed lever module, wrist joint module and two polypropylene extension jib levers；Three Degree Of Freedom
The carrier frame of manipulator is mounted in the bottom of underwater robot, and form adaptive multifinger hand pawl is free using being bolted to three
The front end of manipulator is spent, sea cucumber fishes for that case is parallel with three freedom degree manipulator to be fixed in carrier frame；Manipulator includes shoulder
Two pitching joints and a cradle head of large arm with ancon.
2. according to claim 1 a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, it is special
Levy and be, described shoulder joint module is specially：
Shoulder joint module includes shoulder joint shell, shoulder joint end cap, shoulder joint motor reducer all-in-one, shoulder joint main shaft, shoulder
Joint connector；Shoulder joint shell main shaft counterface installs general plug envelope, and is sealed general plug using general plug capping and bolt fixation
It is pressed on shoulder joint shell；Coordinated using two stainless steel bearing inner rings and shoulder joint main shaft, outer ring respectively with outside shoulder joint
Shell and the capping of general plug coordinate.
3. according to claim 1 a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, it is special
Levy and be, described elbow joint module is specially：
Elbow joint module includes elbow joint shell, elbow joint end cap, elbow joint motor, elbow joint main shaft, elbow joint connector；Elbow
Portion pitching joint is connected with polypropylene extension jib lever.
4. according to claim 1 a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, it is special
Levy and be, described rotatable armed lever module is specially：
Rotatable armed lever module includes armed lever shell, armed lever end cap, armed lever motor, stainless steel axle sleeve, armed lever connector；Armed lever mould
Block carries out rotational motion under the driving of armed lever motor.
5. it is according to claim 1 a kind of for the mechanical mobile phone of the lossless form adaptive fished for of the benthons such as sea cucumber
Structure, it is characterised in that described wrist joint module is specially：
Wrist joint module includes wrist joint shell, wrist joint end cap, wrist joint motor, wrist joint main shaft；Wrist joint motor is fixed
In wrist joint enclosure；Wrist joint main shaft is connected with wrist joint motor, and wrist joint motor drives wrist joint main axis；Wrist is closed
Section main shaft has the flat key formation interference fits in a flat key and worm screw, and wrist joint main axis drives worm screw synchronous axial system；Snail
Bar drives worm gear wheel when rotating, and the axis hole of worm gear circle centre position has a flat key, the flat key of worm gear axis hole and finger actuation master
The flat key of axle is interference fits, and worm gear wheel can drive finger actuation main shaft to follow rotation.
6. it is according to claim 1 a kind of for the mechanical mobile phone of the lossless form adaptive fished for of the benthons such as sea cucumber
Structure, it is characterised in that the adaptive microgripper is specially：
Self-adapting grasping finger module is by finger base, finger actuation main shaft, worm and gear component finger actuation connecting rod and torsion
Spring fixed mount is constituted, and customization torsion spring, fast envelope flexible finger are equipped with torsion spring fixed mount；Finger base is arranged on wrist joint
In the plane of shell one end, it is bolted；Torsion spring fixed mount and finger actuation connecting rod are assemblied in finger by interference fits and driven
On dynamic main shaft, the axis hole of torsion spring fixed mount has a flat key to be engaged with the flat key of finger actuation main shaft；On finger actuation connecting rod
Bearing pin and torsion spring stretch out end in contact.
7. it is according to claim 1 a kind of for the mechanical mobile phone of the lossless form adaptive fished for of the benthons such as sea cucumber
Structure, it is characterised in that described adaptive multifinger hand pawl module is specially：
The fast envelope flexible finger of adaptive multifinger hand pawl module by finger actuation connecting rod, finger actuation pitman pin, two pieces
The finger side plate of aluminum alloy material, finger rubber front shroud, finger envelope connecting rod, the remote finger joint of finger, the remote finger joint rubber sleeve of finger,
The nearly finger joint pitman pin composition of the remote finger joint main shaft of finger, the remote finger joint bearing pin of finger, finger；Three fast envelope flexible hands per side
Refer to and share a finger actuation main shaft, the worm gear and worm screw fixed by finger actuation main shaft are meshed with finger base；Finger
Drive link is fixed on finger side plate by finger actuation pitman pin one end, and the other end rotates on finger actuation main shaft；
One end of finger envelope connecting rod is fixed in finger base by the nearly finger joint pitman pin of finger, and the other end passes through the remote finger joint of finger
Bearing pin is fixed in the remote finger joint of finger；The remote finger joint rubber sleeve of finger and finger rubber front shroud are separately fixed at finger side plate and hand
Refer in remote finger joint.
8. it is according to claim 1 a kind of for the mechanical mobile phone of the lossless form adaptive fished for of the benthons such as sea cucumber
Structure, it is characterised in that the self-adapting grasping finger module is specially：
In closing up with during opening movement for model, nearly finger joint and remote finger joint and the variable angle of horizontal plane are linear relationships
's；Joint, which is equipped with servomotor, each joint end cap, is equipped with O-ring, general plug envelope is equipped with each joint main shaft and general
Plug capping.
9. according to claim 1 a kind of for the lossless form adaptive manipulator mechanism fished for of benthon, it is special
Levy and be：
Shoulder joint shell end face, elbow joint shell, wrist joint shell, rotatable armed lever shell shoulder joint shell in shoulder joint module
End face is provided with corresponding o-ring groove and installs O-ring seal additional, recycles bolt and nut and shoulder joint end cap immovable fitting；Elbow
Articular shell, wrist joint shell, rotatable armed lever shell are provided with corresponding general plug envelope and general plug capping.
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|---|---|---|---|
| CN201710511946.8A CN107225587B (en) | 2017-06-27 | 2017-06-27 | Shape self-adaptive manipulator structure for nondestructive fishing of benthos |
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| CN112706153A (en) * | 2021-01-22 | 2021-04-27 | 北京航空航天大学 | Exoskeleton wearing mechanism |
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| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN107912144A (en) * | 2018-01-02 | 2018-04-17 | 西南林业大学 | A kind of electric fruit picker machinery claw |
| CN108323480A (en) * | 2018-04-09 | 2018-07-27 | 上海得枢智能科技有限公司 | A kind of submarine fishing robot |
| CN108789364A (en) * | 2018-05-28 | 2018-11-13 | 哈尔滨工程大学 | A kind of seven functional electric submarine mechanical arm systems |
| CN108902064A (en) * | 2018-06-19 | 2018-11-30 | 安阳师范学院 | A kind of shellfish finishing device based on machine vision technique |
| CN108902064B (en) * | 2018-06-19 | 2023-12-01 | 安阳师范学院 | Shellfish fishing device based on machine vision technology |
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| CN109176586B (en) * | 2018-09-18 | 2021-11-12 | 哈尔滨工业大学（深圳） | Self-adaptive flexible paw based on torsion spring and robot |
| CN109329230A (en) * | 2018-11-28 | 2019-02-15 | 大连海洋大学 | A kind of precious marine product fishes and collection device |
| CN109551507A (en) * | 2019-01-15 | 2019-04-02 | 中国海洋大学 | A kind of software manipulator based on machine learning |
| CN110402901A (en) * | 2019-01-16 | 2019-11-05 | 上海海洋大学 | A kind of bionical squid living body acquisition equipment and control method |
| IT201900005564A1 (en) * | 2019-04-10 | 2020-10-10 | Qbrobotics S R L | ROBOTIC HAND |
| IT201900005562A1 (en) * | 2019-04-10 | 2020-10-10 | Qbrobotics S R L | ROBOTIC HAND |
| CN109986531A (en) * | 2019-04-28 | 2019-07-09 | 新乡市永安机械设备有限公司 | A kind of marine maintenance cooperation manipulator |
| CN110881445A (en) * | 2019-05-30 | 2020-03-17 | 哈尔滨工程大学 | Lossless sea cucumber sucking and collecting device |
| CN111716367B (en) * | 2020-06-29 | 2021-11-12 | 中国船舶科学研究中心 | Device for measuring rotation angle of end clamp of underwater mechanical arm based on vision |
| CN111716367A (en) * | 2020-06-29 | 2020-09-29 | 中国船舶科学研究中心 | Device for measuring rotation angle of end clamp of underwater mechanical arm based on vision |
| CN112314542A (en) * | 2020-08-06 | 2021-02-05 | 北京工业大学 | Polyhedral paw for catching marine organisms |
| CN112140125A (en) * | 2020-09-23 | 2020-12-29 | 哈尔滨工程大学 | Underwater flexible target grabbing system and accurate force sensing method thereof |
| CN112119986A (en) * | 2020-09-23 | 2020-12-25 | 哈尔滨工程大学 | Under-actuated multi-finger manipulator for adaptive lossless grabbing of marine organism shape |
| CN112140125B (en) * | 2020-09-23 | 2022-01-14 | 哈尔滨工程大学 | Underwater flexible target grabbing system and accurate force sensing method thereof |
| CN112119986B (en) * | 2020-09-23 | 2022-06-21 | 哈尔滨工程大学 | Under-actuated multi-finger manipulator for adaptive lossless grabbing of marine organism shape |
| CN112706153A (en) * | 2021-01-22 | 2021-04-27 | 北京航空航天大学 | Exoskeleton wearing mechanism |
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