CN107225587B - Shape self-adaptive manipulator structure for nondestructive fishing of benthos - Google Patents
Shape self-adaptive manipulator structure for nondestructive fishing of benthos Download PDFInfo
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- CN107225587B CN107225587B CN201710511946.8A CN201710511946A CN107225587B CN 107225587 B CN107225587 B CN 107225587B CN 201710511946 A CN201710511946 A CN 201710511946A CN 107225587 B CN107225587 B CN 107225587B
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- 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
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- 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
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- 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
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- 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
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Abstract
The invention discloses a shape self-adaptive manipulator mechanism for nondestructive fishing of benthos, which is mainly used for overcoming the defects that the existing underwater gripper is not strong in shape adaptability and unreliable in gripping or easily grips the benthos when gripping the benthos and other benthos, and is provided with a multi-finger gripper mechanism driven by a motor in combination with a worm gear mechanism, then a link mechanism for driving each finger is designed, the multi-finger gripper mechanism envelopes the periphery of the benthos, and performs shape adaptive gripping movement, so that the benthos and other benthos can be flexibly, nondestructively and reliably gripped. The manipulator is mainly formed by assembling and combining a shoulder joint module, a rotatable arm rod module, an elbow joint module, a wrist joint module, a shape self-adaptive paw mechanism, two polypropylene lengthened arm rods and the like. The invention has the advantages of reliable grabbing, good shape adaptability, high enveloping speed, easy underwater sealing and the like.
Description
Technical Field
The invention belongs to the technical field of underwater operation robots, and relates to a shape self-adaptive manipulator structure for nondestructive fishing of benthos.
Background
Most of the traditional offshore fishing of sea creatures such as sea cucumbers and scallops is completed by means of underwater operation of divers, the operation cost is high, the water temperature is low, the divers are in danger of injury and life, and especially when the operation depth exceeds 20m, the working time of the divers is greatly shortened. And the robot is adopted to replace a diver, so that the operation time can be greatly prolonged, the fishing cost is reduced, the injuries and the diseases of the diver are reduced, and the fishing safety is improved.
At present, the fishing of marine life by the robot is mainly completed by two modes of suction and grabbing. The patent document "precious marine product collecting robot (cn201410686861. x)" relates to an underwater collecting robot that sucks precious marine products into a collecting container through a suction pipe mainly by a suction device, and although it is possible to collect living organisms such as sea cucumbers, it is easy to suck impurities such as silt, reef, water plants and the like on the sea bottom into the collecting container in actual use, and even block the suction pipe. Underwater manipulators are a common way for robots to accomplish underwater object grabbing and work. Patent document "a deep sea operation manipulator (CN200910224334.6) with an open structure" and "an underwater operation robot and an operation method thereof (CN 20151035070732.8)" relate to an underwater manipulator which drives a nut to move linearly by a screw at the end of a transmission shaft, and completes opening and closing movements of fingers. Although underwater object grabbing operation can be completed, the sea cucumber is a smooth and soft long cylindrical organism, and reliable and nondestructive grabbing is difficult to complete.
The invention designs a shape self-adaptive manipulator structure for lossless catching of benthos such as sea cucumber, and the like, and the peripheral enveloping and flexible self-adaptive catching of complicated shape benthos such as sea cucumber and the like is completed by combining a motor with a worm gear structure to drive a rigid connecting rod structure of a multi-finger. The invention has the advantages of reliable grabbing, good shape adaptability, high enveloping speed, easy underwater sealing and the like.
Disclosure of Invention
The invention aims to design a shape self-adaptive manipulator structure for lossless capture of benthos, mainly aiming at the defects that the existing underwater fingers are not strong in shape adaptability and unreliable in capture when capturing benthos and other benthos or the benthos is easy to damage, and the like, a multi-finger hand-holding structure driven by a motor in combination with a worm and worm gear structure and a connecting rod structure driving each finger and finger are designed, and the multi-finger structure is used for carrying out shape adaptive capture motion on the peripheral envelope of the benthos, so that the benthos and other benthos can be flexibly, losslessly and reliably captured.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a shape self-adaptation manipulator structure that is used for harmless fishing of benthos which characterized in that: the sea cucumber catching device consists of a carrier frame, a sea cucumber catching box, three-degree-of-freedom mechanical arms and a shape self-adaptive finger module; the three-degree-of-freedom mechanical arm comprises a shoulder joint module, an elbow joint module, a rotatable arm rod module, a wrist joint module and two polypropylene lengthened arm rods; the carrier frame of the three-degree-of-freedom manipulator is carried at the bottom of the underwater robot, the shape self-adaptive fingers are fixed at the front end of the three-degree-of-freedom manipulator by using bolts, and the sea cucumber catching box and the three-degree-of-freedom manipulator are fixed in the carrier frame in parallel; the manipulator comprises two pitching joints of the shoulder and the elbow and one rotating joint of the large arm.
The shape self-adaptive manipulator mechanism for nondestructive fishing of the benthos is characterized in that the shoulder joint module comprises a shoulder joint shell, a shoulder joint end cover, a shoulder joint motor reducer all-in-one machine and a shoulder joint connector matched with a shoulder joint main shaft; the matched end surface of the shoulder joint shell main shaft is provided with a flood plug seal, and the flood plug seal is tightly pressed on the shoulder joint shell by utilizing a flood plug seal cover and bolt fixation; the inner rings of two stainless steel bearings are matched with the shoulder joint main shaft, and the outer rings of the two stainless steel bearings are respectively matched with the shoulder joint shell and the universal plug sealing cover.
A shape self-adaptation manipulator mechanism for benthon can't harm and catch, the elbow joint module, the inside elbow joint motor of its characterized in that elbow joint module elbow joint shell, elbow joint end cover, assembly fixed elbow joint shell, the assembly is fixed the elbow joint main shaft on the elbow joint motor and elbow joint main shaft complex elbow joint connector, elbow every single move joint and polypropylene extension armed lever link to each other.
The shape self-adaptive mechanical arm mechanism for nondestructive fishing of the benthos is characterized in that the rotatable arm lever module comprises an arm lever shell, an arm lever end cover, an arm lever motor fixed inside the arm lever, a stainless steel shaft sleeve matched with the arm lever motor and an arm lever connector matched with the stainless steel shaft sleeve, and the arm lever module is driven by the arm lever motor to rotate.
The shape self-adaptive manipulator mechanism for nondestructive fishing of benthos such as sea cucumbers and the like is characterized in that the wrist joint module specifically comprises a wrist joint shell, a wrist joint end cover, a wrist joint motor fixed in the wrist joint shell and a wrist joint spindle fixed on the wrist joint motor; the motion of the wrist joint gripper is controlled by a wrist joint motor, and the finger base is arranged on the plane at one end of the wrist joint shell and fixed by a bolt; the wrist joint motor is fixed inside the wrist joint shell; the wrist joint main shaft is connected with a wrist joint motor, and the wrist joint motor drives the wrist joint main shaft to rotate; the wrist joint main shaft is provided with a flat key which is in transition fit with the flat key in the worm, and the rotation of the wrist joint main shaft drives the worm to synchronously rotate; the worm drives the worm wheel to rotate when rotating, the shaft hole at the center of the worm wheel is provided with a flat key, the flat key in the shaft hole of the worm wheel is in transition fit with the flat key of the finger driving main shaft, and the worm wheel can drive the finger driving main shaft to rotate along with the finger driving main shaft.
The shape self-adaptive manipulator mechanism for lossless fishing of benthos such as sea cucumbers and the like is characterized in that the self-adaptive finger system specifically comprises a self-adaptive grabbing finger module, a shape self-adaptive grabbing finger module and a shape self-adaptive grabbing finger module, wherein the self-adaptive grabbing finger module consists of a finger base, a finger driving main shaft matched with the finger base, a worm and gear assembly, a finger driving connecting rod and a torsion spring fixing frame, and a customized torsion spring and a rapid enveloping flexible finger are assembled on the torsion spring fixing frame; the torsion spring fixing frame and the finger driving connecting rod are assembled on the finger driving main shaft in a transition fit mode, and a shaft hole of the torsion spring fixing frame is provided with a flat key matched with the flat key of the finger driving main shaft; the pin shaft on the finger driving connecting rod is forced to contact with the extending end of the torsion spring.
The shape self-adaptive mechanical arm mechanism for lossless fishing of benthos such as sea cucumbers is characterized in that the self-adaptive multi-finger module specifically comprises: the fast enveloping flexible finger of the self-adaptive multi-finger module comprises a finger driving connecting rod, a finger driving connecting rod pin shaft, two finger side plates made of aluminum alloy materials, a finger rubber front cover plate, a finger enveloping connecting rod, a finger far knuckle rubber sleeve, a finger far knuckle main shaft, a finger far knuckle pin shaft and a finger near knuckle connecting rod pin shaft; three rapid enveloping flexible fingers on each side share one finger driving main shaft, and a worm wheel fixed on the finger driving main shaft is meshed with a worm fixed on the gripper driving main shaft; one end of the finger driving connecting rod is fixed on the finger side plate through a finger driving connecting rod pin shaft, and the other end of the finger driving connecting rod rotates on the finger driving main shaft; one end of the finger enveloping connecting rod is fixed on the finger base through a finger proximal knuckle connecting rod pin shaft, and the other end of the finger enveloping connecting rod is fixed on a finger distal knuckle through a finger distal knuckle pin shaft; the finger far knuckle rubber sleeve and the finger rubber front cover plate are respectively fixed on the finger side plate and the finger far knuckle.
The shape self-adaptive mechanical arm mechanism for lossless fishing of benthos such as sea cucumbers is characterized in that the self-adaptive grabbing finger module comprises: in the process of closing and opening the model, the change of the included angles between the near knuckle and the far knuckle and the horizontal plane is in a linear relation; the joints are provided with servo motors, the joint end covers are provided with O-shaped rings, and the joint main shafts are provided with universal plug seals and universal plug seal covers.
The shape self-adaptive mechanical arm mechanism for nondestructive fishing of the benthos is characterized in that: the end surfaces of the shoulder joint shell, the elbow joint shell, the wrist joint shell and the rotatable arm lever shell in the shoulder joint module are provided with corresponding sealing ring grooves and O-shaped sealing rings, and then are tightly matched with the shoulder joint end cover by bolts and nuts; the elbow joint shell, the wrist joint shell and the rotatable arm rod shell are provided with corresponding flooding plug seals and flooding plug seal covers.
Drawings
FIG. 1 is a structural view of a nondestructive fishing shape adaptive manipulator;
FIG. 2 is a general structural diagram of a cable-controlled underwater robot;
FIG. 3 is a structural sectional view of a nondestructive fishing shape adaptive robot arm;
FIG. 4 is a cross-sectional view of the wrist grip;
FIG. 5 is a diagram of a shape adaptive multi-fingered finger structure;
FIG. 6 is a diagram of the interior structure of a fast enveloping flexible finger;
fig. 7 is a graph of the driving principle of the finger link structure.
Detailed Description
The invention is described in more detail below with reference to the following figures and specific embodiments:
the sea cucumber catching device consists of a carrier frame, a sea cucumber catching box, three-degree-of-freedom mechanical arms and shape-adaptive multi-finger fingers. The three-degree-of-freedom mechanical arm comprises a shoulder joint module 1, an elbow joint module 2, a rotatable arm rod module 3, a wrist joint module 4 and two polypropylene lengthened arm rods 6. The carrier frame provided with the three-degree-of-freedom manipulator can be carried at the bottom of the underwater robot, the multi-finger 5 with the self-adaptive shape is fixed at the front end of the three-degree-of-freedom manipulator by using a bolt, and the sea cucumber catching box and the three-degree-of-freedom manipulator are fixed in the carrier frame in parallel. The manipulator comprises two pitching joints of the shoulder and the elbow and a rotating joint of the large arm; the manipulator is unfolded towards the front lower part through the two pitching joints in the fishing process, and the marine life is fished with the assistance of the rotating joints; after fishing is finished, the mechanical arm is mainly folded by the rotary joint, captured marine organisms are released to the fishing box, and the fishing box cover is automatically closed after being released by the pressure spring.
The shape-adaptive multi-finger is composed of a motor reducer body 1-3, a finger motor sealing shell, a finger driving main shaft 5-1, a universal plug seal 1-7, a universal plug seal cover 1-8, a universal plug seal bearing, a finger base 5-2, a worm wheel 5-3, a worm 5-4, a worm bearing, six rapid enveloping flexible fingers, a finger driving main shaft 5-1, a torsion spring fixing frame 5-6, a torsion spring 5-7, a torsion spring positioning pin shaft and the like. The finger driving main shaft is fixed on the motor reducer all-in-one machine, the flooding plug sealing covers 1-8 are fixed on the finger motor sealing shell, and dynamic sealing of the motor reducer all-in-one machine is realized through the flooding plug sealing covers 1-7; the axial position of the finger driving main shaft is fixed at one end of a flooding plug sealing cover 1-8 of the finger driving main shaft 5-1 and the tail end of the finger driving main shaft through a flooding plug sealing bearing and a worm bearing respectively, so that the dynamic sealing effect of the flooding plug sealing is ensured; six fast enveloping flexible fingers are fixed on two sides of a finger motor sealing shell through a finger base 5-2 to form peripheral enveloping to a target; three rapid enveloping flexible fingers on each side share one finger driving main shaft 5-1, and a worm wheel 5-3 and a worm 5-4 fixed on the finger driving main shaft 5-1 are meshed with a finger base 5-2; wherein the reliable meshing of the worm of the finger base and the worm wheels at the two sides is ensured by the finger base 5-1; three torsional spring fixing frames 5-6 are fixed on each finger driving main shaft 5-1 and respectively correspond to the movement of three fingers; each torsional spring fixing frame 5-6 drives the finger driving connecting rod 5-5 to move through a torsional spring and a torsional spring positioning pin shaft, and each fast enveloping flexible finger is driven to move by taking the finger driving connecting rod 5-5 as a driving connecting rod. Therefore, the finger driving main shaft drives the finger driving main shaft through the worm wheel 5-3 and the worm 5-4, the finger driving main shaft drives the torsion spring fixing frame 5-6 to move synchronously, when any one finger of the six fast enveloping flexible fingers is blocked, other fingers continue to envelop objects, and therefore stable self-adaptive peripheral enveloping is achieved for marine organisms with complex shapes.
The fast enveloping flexible finger consists of 5-6 parts of a torsion spring fixing frame, 5-5 parts of a finger driving connecting rod, 5-8 parts of a finger driving connecting rod pin shaft, 5-9 parts of a finger side plate, 5-10 parts of a finger rubber front cover plate, 5-11 parts of a finger enveloping connecting rod, 5-12 parts of a finger far knuckle, 5-13 parts of a finger far knuckle rubber sleeve, 5-14 parts of a finger far knuckle main shaft, 5-15 parts of a finger far knuckle pin shaft and 5-16 parts of a finger near knuckle connecting rod pin shaft. Wherein, the torsional spring fixing frame 5-6 drives the finger driving connecting rod 5-5 to realize the synchronous enveloping motion of three fast enveloping flexible fingers at each side through a torsional spring 5-7, one end of the finger driving connecting rod 5-5 is fixed on the finger side plate 5-9 through a finger driving connecting rod pin shaft 5-8, and the other end rotates on the finger driving main shaft 5-1; one end of the finger proximal knuckle connecting rod is fixed on the finger base 5-1 through a finger proximal knuckle connecting rod pin shaft 5-16, and the other end of the finger proximal knuckle connecting rod is fixed on the finger distal knuckle through a finger distal knuckle pin shaft 5-15; the finger far knuckle rubber sleeves 5-13 and the finger rubber front cover plates 5-10 are respectively fixed on the finger side plates 5-9 and the finger far knuckles. Therefore, the fast enveloping flexible finger drives a four-bar structure consisting of the finger driving connecting rod 5-5, the finger enveloping connecting rod 5-11, the finger side plate 5-9 and the finger far knuckle 5-12 through the finger driving connecting rod 5-5 to realize the simultaneous enveloping of the near knuckle and the far knuckle to the target; and the control of the finger far knuckle rubber sleeve 5-13 and the finger rubber front cover plate 5-10 on the target flexible grabbing force is realized by referring to the current feedback of the motor reducer all-in-one machine.
The present embodiment will be described with reference to fig. 1 to 2. As shown in fig. 1, the cable-controlled underwater robot is an open-frame ROV, wherein the bottom layer structure is an operation layer and is mainly provided with a multi-degree-of-freedom underwater manipulator and a sea cucumber catching box. The underwater manipulator is assembled and fixed on the middle position of a front bottom plate of a lower-layer framework of the underwater robot by utilizing bolts, and an opening is formed in the middle position of the front bottom plate, so that a watertight cable can penetrate through the front bottom plate to be communicated with a control cabin of the underwater robot. The sea cucumber catching box is fixed at the right side of the whole bottom plate by bolts, and the position of the sea cucumber catching box is parallel to the grabbing end of the withdrawn manipulator, so that the underwater manipulator can grab the sea cucumbers and then just can place the sea cucumber catching box.
As shown in fig. 2, the underwater robot of the present invention has 4 degrees of freedom including a pitching motion of the shoulder joint 1, a rotating motion of the rotatable arm 3, a pitching motion of the elbow joint 2, and a finger gripping motion. The two polypropylene lengthened arm rods 6 can remarkably enlarge the reach range of the finger end of the underwater manipulator. According to the requirement of the sea cucumber catching operation, the position of the target sea cucumber is found and positioned through a visual perception system of the underwater robot, and then the underwater robot is controlled to move to the position near the target sea cucumber. At the moment, the manipulator starts to work, the shoulder joint module performs pitching motion under the driving of the motor to enable the arm rod module to move downwards to be aligned with the target sea cucumber, the arm rod module performs rotating motion under the driving of the arm rod motor, meanwhile, the elbow joint module performs pitching motion under the driving of the motor, the wrist joint of the manipulator rotates from a furled posture to an outstretched posture, the hand grasping module reaches and aligns the target sea cucumber, and then the underwater manipulator hand grasping module self-adaptively and nondestructively grasps the target sea cucumber under the driving of the wrist joint motor. As shown in fig. 1, after the grabbing process is completed, the shoulder joint module continues to perform pitching motion until the arm rod module moves up to a specified position, then the arm rod module performs rotation motion under the driving of the arm rod motor, meanwhile, the elbow joint module performs pitching motion under the driving of the motor, so that the underwater manipulator returns to a furled state from an extended state, the wrist joint is in a position parallel to the sea cucumber catching box, the grabbing gesture of the finger module under the driving of the wrist joint motor, which is self-adaptive to envelope, is converted into a self-adaptive opening gesture of the hand grabbing module, and the sea cucumbers are thrown into the sea cucumber catching box. Then the shoulder joint module and the elbow joint module perform pitching motion and respectively move up to the designated positions, the sea cucumber catching box cover automatically closes under the action of the extension force of the spring, and the whole process of catching, grabbing and throwing the sea cucumbers is completed.
The present embodiment will be described with reference to fig. 3 to 4. As shown in a sectional view of a mechanical arm in fig. 3, the self-adaptive multi-degree-of-freedom manipulator suitable for lossless capture of underwater sea cucumbers needs to ensure static sealing and dynamic sealing capabilities of joint modules provided with servo motors, O-rings 1-6 are assembled at end covers of each joint to ensure static sealing, and flooding plug seals 1-7 and flooding plug seals 1-8 are assembled at main shafts of each joint to ensure the dynamic sealing capabilities of each joint. Each joint motor is connected with a watertight control cabin of the underwater robot through a watertight plug and a watertight cable and is used for transmitting electric energy and control signals.
As shown in the wrist-grip cross-sectional view of fig. 4, the expansion and adaptive envelope of the hand-grip module is primarily controlled by the wrist motor. Three rapid enveloping flexible fingers on each side share one finger driving main shaft, and a worm wheel 5-3 fixed on the finger driving main shaft is meshed with a worm 5-4 fixed on the finger driving main shaft 5-1; wherein the reliable meshing of the worm of the finger base and the worm wheels at the two sides is ensured by the finger base 5-1; three torsional spring fixing frames are fixed on each finger driving main shaft and respectively correspond to the movement of three fingers; each torsional spring fixing frame 5-6 drives the finger to drive the connecting rod pin shaft 5-8 to move through the torsional spring 5-7 and the torsional spring positioning pin shaft, and each rapid enveloping flexible finger is driven to move by taking the finger driving connecting rod 5-6 as a driving connecting rod. Therefore, the finger driving main shaft drives the finger driving main shaft through the worm wheel 5-3 and the worm 5-4, the finger driving main shaft 4-4 drives the torsion spring fixing frame 5-6 to move synchronously, the torsion spring fixing frame 5-6 drives the finger driving connecting rod through the torsion spring to realize the synchronous enveloping motion of three rapid enveloping flexible fingers on each side, when any one finger of the six rapid enveloping flexible fingers is blocked, other fingers continue to envelop objects, and therefore stable self-adaptive peripheral enveloping is realized for marine organisms with complex shapes.
When the underwater manipulator prepares for sea cucumber grabbing operation, the hand grabbing module is in an open state and close to a target sea cucumber, the wrist joint motor 4-3 rotates to drive the wrist joint main shaft 4-4 to synchronously rotate, the worm 5-4 synchronously rotates along with the wrist joint main shaft 4-4, the worm 5-4 rotates to drive the worm wheel 5-3 to rotate along with the wrist joint main shaft, the finger driving main shaft 5-1 and the worm wheel 5-3 are driven to synchronously rotate, the six finger modules are driven to realize self-adaptive enveloping motion, and the sea cucumber is grabbed. And the control of the finger far knuckle rubber sleeve 5-13 and the finger rubber front cover plate 5-10 on the target flexible grabbing force is realized by referring to the current feedback of the motor reducer all-in-one machine. In the operation process of preparing to put the sea cucumbers into the sea cucumber catching box, the wrist joint motor rotates reversely, so that the wrist joint main shaft 4-4, the worm wheel 5-3, the worm 5-4 and the finger driving main shaft 5-1 rotate reversely in sequence, the finger module is opened in a self-adaptive mode, the sea cucumbers automatically fall into the sea cucumber catching box, and the sea cucumber putting operation is completed.
This embodiment will be described with reference to fig. 5 to 6. As shown in fig. 5, the finger module mainly uses 6 fingers that are bilaterally symmetric to realize the adaptive envelope motion, so as to complete the grabbing action. The finger module is provided with a finger driving connecting rod 5-5, a finger enveloping connecting rod and a torsional spring fixing frame 5-6, and the torsional spring fixing frame 5-6 is provided with a customized torsional spring 5-7. The torsion spring fixing frame 5-7 and the finger driving connecting rod 5-5 are both assembled on the finger driving main shaft 5-1 and are in transition fit, and a flat key is arranged in a shaft hole of the torsion spring fixing frame 5-6 and is matched with the flat key of the finger driving main shaft, so that the torsion spring fixing frame 5-6 can synchronously rotate along with the finger driving main shaft 5-1.
As shown in fig. 6, the implementation process of the adaptive envelope motion of the finger module is as follows: the finger driving main shaft 5-1 can drive the torsion spring fixing frame 5-6 to synchronously rotate, when the torsion spring fixing frame 5-6 rotates, the stop pin on the torsion spring fixing frame 5-6 pushes the customized torsion spring 5-7 to be stressed, the torsion spring is compressed and deformed, so that the other extending end of the torsion spring pushes the stop pin on the finger driving connecting rod, and the finger driving connecting rod 5-5 drives the near knuckle part fixedly assembled with the near knuckle pin shaft 5-16 of the finger to perform self-adaptive folding movement towards the central plane of the hand grasping system along with the rotation. The closing motion of the near knuckle drives the finger enveloping connecting rod to move to push the far knuckle to realize the enveloping motion. When any one of the six fast-enveloping flexible fingers is obstructed, the other fingers will continue to envelop the object, thereby realizing stable self-adaptive peripheral enveloping for marine life with complex shape. Three fingers on two sides of the hand grasping module simultaneously carry out symmetrical finger self-adaptive enveloping motion to realize the grasping operation of the target object. Because the front shroud of finger system is the polypropylene material, and the fingertip is the natural rubber material, and the texture is softer relatively, so can realize that the self-adaptation of grabbing the system can not harm and snatch.
When the underwater manipulator needs to carry out sea cucumber throwing operation, the finger driving main shaft drives the finger driving main shaft 5-1 to rotate reversely all the time by the reverse rotation of the middle wrist joint motor described in the second embodiment mode, the torsion spring fixing frame 5-6 is driven to rotate synchronously and reversely, when the torsion spring fixing frame 5-6 rotates reversely, the stop pin on the torsion spring fixing frame 5-6 pushes the customized torsion spring 5-7 to bear force, the torsion spring is stressed and deformed, the other extending end of the torsion spring pushes the stop pin on the finger driving connecting rod 5-5, and the finger driving connecting rod 5-5 drives the near knuckle part fixedly assembled with the finger near knuckle pin shaft 5-16 to carry out self-adaptive opening movement along with the reverse rotation. The expansion motion of the proximal knuckle drives the finger enveloping connecting rod to move to push the distal knuckle to realize the following expansion motion. Three fingers on two sides of the gripping module simultaneously perform symmetrical finger self-adaptive opening motion to realize the throwing operation of the target sea cucumbers. And finishing the complete sea cucumber grabbing and putting operation process.
This embodiment will be described with reference to fig. 7. In the linkage process of the near knuckle and the far knuckle, the finger driving connecting rod 5-5 described in the third embodiment drives the near knuckle part fixedly assembled with the near knuckle pin shaft 5-16 of the finger to perform self-adaptive folding movement towards the central plane of the hand grasping system. The folding motion of the near knuckle drives the finger enveloping connecting rod 5-11 to move to push the far knuckle to realize the following enveloping motion. As shown in the graph of the finger link driving principle of fig. 7, the abscissa is the angle between the proximal knuckle and the horizontal plane of the finger base, and the ordinate is the angle between the distal knuckle and the horizontal plane of the finger base, and the change relationship of the angles in the linkage process of the proximal knuckle and the distal knuckle of fig. 7 is obtained through formula calculation. When the near knuckle and the horizontal surface of the finger base form an included angle of 110 degrees, the far knuckle and the horizontal surface of the finger base form an included angle of 60 degrees, and the finger model is in an enveloping and folding state; when the near knuckle and the horizontal plane form an included angle of 160 degrees, the far knuckle and the horizontal plane form an included angle of 15 degrees, and the finger model is in a self-adaptive opening state. In the process of closing and opening the finger model, the change of the included angle between the near knuckle and the far knuckle and the horizontal plane is in a linear relation, so that the enveloping motion of the matching of the near knuckle and the far knuckle is ensured to be rapid and continuous when the fingers grab, and the whole sea cucumber grabbing process is further ensured to be rapid, stable and reliable.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (1)
1. The utility model provides a shape self-adaptation manipulator structure that is used for harmless fishing of benthos which characterized in that: the sea cucumber catching device consists of a carrier frame, a sea cucumber catching box, three-degree-of-freedom mechanical arms and a shape self-adaptive multi-finger gripper module; the three-degree-of-freedom mechanical arm comprises a shoulder joint module, an elbow joint module, a rotatable arm rod module, a wrist joint module and two polypropylene lengthened arm rods; the carrier frame provided with the three-degree-of-freedom mechanical arm is carried at the bottom of the underwater robot, the shape-adaptive multi-finger gripper module is fixed at the front end of the three-degree-of-freedom mechanical arm by using a bolt, and the sea cucumber catching box and the three-degree-of-freedom mechanical arm are fixed in the carrier frame in parallel; the three-degree-of-freedom mechanical arm further comprises a pitching joint of the shoulder joint module, a pitching joint of the elbow joint module and a rotating joint of the rotatable arm rod module;
the shoulder joint module specifically comprises:
the shoulder joint module comprises a shoulder joint shell, a shoulder joint end cover, a shoulder joint motor reducer all-in-one machine, a shoulder joint main shaft and a shoulder joint connector; the matched end surface of the shoulder joint shell main shaft is provided with a flood plug seal, and the flood plug seal is tightly pressed on the shoulder joint shell by utilizing a flood plug seal cover and bolt fixation; the inner rings of two stainless steel bearings are matched with a shoulder joint main shaft, and the outer rings of the two stainless steel bearings are respectively matched with a shoulder joint shell and a flooding plug sealing cover;
the elbow joint module specifically is:
the elbow joint module comprises an elbow joint shell, an elbow joint end cover, an elbow joint motor, an elbow joint main shaft and an elbow joint connector; the pitching joint of the elbow joint module is connected with the polypropylene lengthened arm rod;
the rotatable arm lever module specifically is:
the rotatable arm lever module comprises an arm lever shell, an arm lever end cover, an arm lever motor, a stainless steel shaft sleeve and an arm lever connector; the rotatable arm lever module is driven by the arm lever motor to rotate;
the wrist joint module specifically comprises:
the wrist joint module comprises a wrist joint shell, a wrist joint end cover, a wrist joint motor and a wrist joint main shaft; the wrist joint motor is fixed inside the wrist joint shell; the wrist joint main shaft is connected with a wrist joint motor, and the wrist joint motor drives the wrist joint main shaft to rotate; the wrist joint main shaft is provided with a flat key which is in transition fit with the flat key in the worm, and the rotation of the wrist joint main shaft drives the worm to synchronously rotate; the worm drives the worm wheel to rotate when rotating, a shaft hole at the circle center of the worm wheel is provided with a flat key, the flat key of the shaft hole of the worm wheel is in transition fit with the flat key of the finger driving main shaft, and the worm wheel can drive the finger driving main shaft to rotate along with the rotation;
the shape self-adaptive multi-finger paw module specifically comprises:
the shape-adaptive multi-finger paw module consists of a finger base, a finger driving main shaft, a worm gear assembly, a finger driving connecting rod and a torsion spring fixing frame, wherein the torsion spring fixing frame is provided with a customized torsion spring and a rapid enveloping flexible finger; the finger base is arranged on the plane at one end of the wrist joint shell and is fixed by a bolt; the torsion spring fixing frame and the finger driving connecting rod are assembled on the finger driving main shaft in a transition fit mode, and a shaft hole of the torsion spring fixing frame is provided with a flat key matched with the flat key of the finger driving main shaft; a pin shaft on the finger driving connecting rod is contacted with the extension end of the torsion spring;
the rapid enveloping flexible finger consists of a finger driving connecting rod, a finger driving connecting rod pin shaft, two finger side plates made of aluminum alloy materials, a finger rubber front cover plate, a finger enveloping connecting rod, a finger far knuckle rubber sleeve, a finger far knuckle main shaft, a finger far knuckle pin shaft and a finger near knuckle connecting rod pin shaft; the six fast enveloping flexible fingers are fixed on two sides of a finger motor sealing shell through finger bases, three fast enveloping flexible fingers on each side share a finger driving main shaft, and worm wheels and worms fixed through the finger driving main shaft are meshed with the finger bases; one end of the finger driving connecting rod is fixed on the finger side plate through a finger driving connecting rod pin shaft, and the other end of the finger driving connecting rod rotates on the finger driving main shaft; one end of the finger enveloping connecting rod is fixed on the finger base through a finger proximal knuckle connecting rod pin shaft, and the other end of the finger enveloping connecting rod is fixed on a finger distal knuckle through a finger distal knuckle pin shaft; the finger far knuckle rubber sleeve and the finger rubber front cover plate are respectively fixed on the finger side plate and the finger far knuckle;
in the process of closing and opening the model, the change of the included angles between the near knuckle and the far knuckle and the horizontal plane is in a linear relation; a servo motor is assembled at each joint, an O-shaped ring is assembled at each joint end cover, and a flooding plug seal cover are assembled at each joint main shaft;
corresponding sealing ring grooves are formed in the end faces of the shoulder joint shell, the elbow joint shell, the wrist joint shell, the rotatable arm lever shell and the shoulder joint shell in the shoulder joint module, O-shaped sealing rings are additionally arranged on the end faces of the shoulder joint shell, and then the shoulder joint shell is tightly matched with a shoulder joint end cover through bolts and nuts; the elbow joint shell, the wrist joint shell and the rotatable arm rod shell are provided with corresponding flooding plug seals and flooding plug seal covers.
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