CN107775634A - A kind of biomimetic manipulator underwater units for imitating mankind's paw - Google Patents
A kind of biomimetic manipulator underwater units for imitating mankind's paw Download PDFInfo
- Publication number
- CN107775634A CN107775634A CN201711225800.3A CN201711225800A CN107775634A CN 107775634 A CN107775634 A CN 107775634A CN 201711225800 A CN201711225800 A CN 201711225800A CN 107775634 A CN107775634 A CN 107775634A
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- CN
- China
- Prior art keywords
- joint
- underwater
- gripper
- underwater equipment
- arm body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of biomimetic manipulator underwater units for imitating mankind's paw.The technical scheme is that：The underwater equipment includes apparatus body, underwater probe, master control borad and booster circuit transducer, the underwater probe is arranged on apparatus body, master control borad and the booster circuit transducer is arranged in apparatus body, and the underwater probe, booster circuit transducer, master control borad are electrically connected successively.Present invention aims at providing one kind to set underwater probe on apparatus body, the distance in six orientation of up, down, left, right, before and after is separately detected, ensures the biomimetic manipulator underwater units of imitation mankind's paw of apparatus body normal work.
Description
Technical field
The present invention relates to a kind of underwater equipment, more particularly to a kind of biomimetic manipulator for imitating mankind's paw fills under water
Put.
Background technology
Existing mechanical arm is to carry out operation in atmosphere mostly, and submarine mechanical arm is also all the progress work at riverbed
Make, this device may be mounted on the expansion platform of underwater equipment, can imitate the action of mankind's paw, capture in water
Object, reach the purpose sampled under water.
The content of the invention
It is an object of the invention to provide a kind of arm body to be arranged in underwater equipment, can play and imitate the mankind
Paw captures object in water, can not also influence the statokinetic of underwater equipment, can shrink be hidden in storage when not needed
In storage, the biomimetic manipulator underwater units of equipment imitation mankind's paw of the resistance of migration in water will not be increased.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of biomimetic manipulator underwater units for imitating mankind's paw, the robot arm device are arranged in underwater equipment,
It is characterized in that：The robot arm device includes motor, arm body and gripper, and the motor is arranged on underwater equipment
Interior, the arm body is operatively connected in underwater equipment, and the gripper is arranged on the end of arm body, described
Motor drives the activity of arm body and gripper.
The arm body includes waist joint, support shaft, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft, institute
State waist joint, support shaft, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft and make movable connection successively, the waist closes
Section is operatively connected in underwater equipment, and the rotating shaft is operatively connected on gripper.
The motor includes several joint motors, and the joint motor is arranged at waist joint, support shaft, shoulder joint, big
Junction between arm, elbow joint, forearm, wrist joint and rotating shaft.
Using the biomimetic manipulator underwater units of imitation mankind's paw of the technical scheme, the end connection machine of arm body
Machinery claw, another edge tail are connected in underwater equipment, when needing to rotate, by motor control, include waist joint, shoulder joint
Section, elbow joint and the part of wrist joint four control, gripper be imitate mankind's paw bionics device, can by motor control its
Bending and stretch, transmission information channel is rotated forward by each joint motor of signal line traffic control, is reversely rotated and is stopped,
Channel transmits communication modes, the mechanical arms such as information, RS232, RS485, IIC including but not limited to optical fiber and may be mounted at some
In the underwater installation of type, underwater installation is needed to provide power supply, and signal control line etc., and underwater installation is included and is suspended in
In water, the working equipment in riverbed is deposited in.
Biomimetic manipulator underwater units using imitation mankind's paw of the technical scheme are made by the linkage of joint motor
With so that waist joint, support shaft, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft control machine machinery claw are to needing to capture
Article captured, flexibly and easily, using process simple and fast, and be particluarly suitable for underwater operation.
Improved technology scheme as the present invention：
The gripper includes three fingers, and three fingers are closed at after gathering on a bit.
Three fingers of gripper are closed at after gathering on a bit, can simulate the crawl effect of mankind's paw so that it is grabbed
Take the process more firm stable of article.
Improved technology scheme as the present invention：
The underwater equipment is provided with storage warehouse, and the storage warehouse is used to store arm body and gripper.
Joint motor can be controlled when not needing robot arm device, forearm large arm is folded, is placed on underwater and sets
In standby storage warehouse, resistance when underwater equipment promotes is not increased.
Improved technology scheme as the present invention：
The arm body and gripper are made of aluminum metal.
Using arm body and gripper made of aluminum metal, the device lightweight can be caused, save the energy, simultaneously
Also the weight of the device can be reduced.
After said structure, the present invention has the beneficial effect that：
Acted on, made by the linkage of joint motor using the biomimetic manipulator underwater units of imitation mankind's paw of the technical scheme
Obtain the thing that waist joint, support shaft, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft control machine machinery claw capture to needs
Product are captured, and flexibly and easily, using process simple and fast, and are particluarly suitable for underwater operation.
Brief description of the drawings
Fig. 1 is the schematic diagram of underwater equipment of the present invention；
Fig. 2 is the arm body enlarged drawing of underwater equipment of the present invention.
Drawing reference numeral：1, underwater equipment；2, arm body；21, waist joint；22nd, support shaft；23, shoulder joint；24,
Large arm；25, elbow joint；26, forearm；27, wrist joint；28, rotating shaft；3, gripper；4, motor；41, joint motor.
Embodiment
The present invention is further illustrated below in conjunction with the accompanying drawings.
As depicted in figs. 1 and 2, a kind of biomimetic manipulator underwater units for imitating mankind's paw, the robot arm device are set
Put under water in machinery equipment 1, it is characterised in that：The robot arm device includes motor 4, arm body 2 and gripper 3, institute
State motor 4 to be arranged in underwater equipment 1, the arm body 2 is operatively connected in underwater equipment 1, the machine
Machinery claw 3 is arranged on the end of arm body 2, and the motor 4 drives the activity of arm body 2 and gripper 3.
Above-mentioned arm body 2 includes waist joint 21, support shaft 22, shoulder joint 23, large arm 24, elbow joint 25, forearm 26, wrist
Joint 27 and rotating shaft 28, the waist joint 21, support shaft 22, shoulder joint 23, large arm 24, elbow joint 25, forearm 26, wrist joint 27
Make movable connection successively with rotating shaft 28, the waist joint 21 is operatively connected in underwater equipment 1, and the rotating shaft 28 can
It is movably connected on gripper 3.
Above-mentioned motor 4 includes several joint motors 41, the joint motor 41 be arranged at waist joint 21, support shaft 22,
Junction between shoulder joint 23, large arm 24, elbow joint 25, forearm 26, wrist joint 27 and rotating shaft 28.
Above-mentioned gripper 3 includes three fingers, and three fingers are closed at after gathering on a bit.
Above-mentioned underwater equipment 1 is provided with storage warehouse（It is not drawn into accompanying drawing）, the storage warehouse（It is not drawn into accompanying drawing）
For storing arm body 2 and gripper 3.
Above-mentioned arm body 2 and gripper 3 are made of aluminum metal.
Using the biomimetic manipulator underwater units of imitation mankind's paw of the technical scheme, the end connection of arm body 2
Gripper 3, another edge tail are connected in underwater equipment 1, when needing to rotate, are controlled by motor 4, are included waist joint
21st, shoulder joint 23, elbow joint 25 and the part of wrist joint 27 4 control, gripper 3 be imitate mankind's paw bionics device, energy
Enough to control it to bend and stretch by motor 4, transmission information channel is rotated forward by each joint motor 41 of signal line traffic control,
Reversely rotate and stop, channel transmits the communication modes such as information, RS232, RS485, IIC, the machine including but not limited to optical fiber
Tool arm may be mounted in certain form of underwater installation, and underwater installation needs to provide power supply, and signal control line etc., and
Underwater installation is included and suspended in water, and is deposited in the working equipment in riverbed.
Three fingers of gripper 3 are closed at after gathering on a bit, can simulate the crawl effect of mankind's paw so that it is grabbed
Take the process more firm stable of article.
Joint motor 41 can be controlled when not needing robot arm device, folds the large arm 24 of forearm 26, is placed under water
The storage warehouse of machinery equipment 1（It is not drawn into accompanying drawing）In, do not increase resistance when underwater equipment 1 promotes.
Using arm body 2 made of aluminum metal and gripper 3, the device lightweight can be caused, save the energy, together
When can also reduce the weight of the device.
Biomimetic manipulator underwater units using imitation mankind's paw of the technical scheme are made by the linkage of joint motor
With so that waist joint 21, support shaft 22, shoulder joint 23, large arm 24, elbow joint 25, forearm 26, wrist joint 27 and rotating shaft 28 control
The article that gripper 3 captures to needs captures, and flexibly and easily, using process simple and fast, and is especially suitable under water
Operation.
The content of above embodiment is only the preferred embodiments of the present invention, and above preferred embodiment is not used for limiting
The practical range of the fixed present invention；Every various equivalents made according to its scope of the claims of the invention,
Covered by its scope of the claims of the invention.
Claims (6)
1. a kind of biomimetic manipulator underwater units for imitating mankind's paw, the robot arm device are arranged on underwater equipment
On, it is characterised in that：The robot arm device includes motor, arm body and gripper, and the motor is arranged on underwater
In equipment, the arm body is operatively connected in underwater equipment, and the gripper is arranged on the end of arm body,
The activity of the motor driving arm body and gripper.
2. underwater equipment according to claim 1, it is characterised in that：The arm body includes waist joint, support
Axle, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft, the waist joint, support shaft, shoulder joint, large arm, elbow joint,
Movable connection is made in forearm, wrist joint and rotating shaft successively, and the waist joint is operatively connected in underwater equipment, described turn
Axle is operatively connected on gripper.
3. underwater equipment according to claim 2, it is characterised in that：The motor includes several joint motors,
The joint motor is arranged at the company between waist joint, support shaft, shoulder joint, large arm, elbow joint, forearm, wrist joint and rotating shaft
Meet place.
4. underwater equipment according to claim 1, it is characterised in that：The gripper includes three fingers, described
Three fingers are closed at after gathering on a bit.
5. underwater equipment according to claim 1, it is characterised in that：The underwater equipment is provided with storage
Storehouse, the storage warehouse are used to store arm body and gripper.
6. underwater equipment according to claim 1, it is characterised in that：The arm body and gripper use aluminum
Metal is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711225800.3A CN107775634A (en) | 2017-11-29 | 2017-11-29 | A kind of biomimetic manipulator underwater units for imitating mankind's paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711225800.3A CN107775634A (en) | 2017-11-29 | 2017-11-29 | A kind of biomimetic manipulator underwater units for imitating mankind's paw |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107775634A true CN107775634A (en) | 2018-03-09 |
Family
ID=61429572
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711225800.3A Pending CN107775634A (en) | 2017-11-29 | 2017-11-29 | A kind of biomimetic manipulator underwater units for imitating mankind's paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107775634A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3451224A (en) * | 1967-06-20 | 1969-06-24 | Gen Dynamics Corp | Stowable underwater manipulator |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
| CN204322084U (en) * | 2014-12-12 | 2015-05-13 | 中海清华(天津)智能科技发展有限公司 | A kind of underwater operation robot |
| CN205272000U (en) * | 2015-12-24 | 2016-06-01 | 上海珩煜自动化技术有限公司 | Six -shaft mechanical arm of robot |
| CN205363873U (en) * | 2016-01-18 | 2016-07-06 | 东莞理工学院 | Be applied to all -round intelligent robot of nuclear radiation environment |
| CN106607878A (en) * | 2017-02-16 | 2017-05-03 | 浙江科技学院（浙江中德科技促进中心） | Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
| CN206623089U (en) * | 2017-03-14 | 2017-11-10 | 兰州理工大学 | A kind of Three Degree Of Freedom submarine mechanical arm |
| CN207888645U (en) * | 2017-11-29 | 2018-09-21 | 北京圣世信通科技发展有限公司 | A kind of biomimetic manipulator underwater units imitating mankind's paw |
-
2017
- 2017-11-29 CN CN201711225800.3A patent/CN107775634A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3451224A (en) * | 1967-06-20 | 1969-06-24 | Gen Dynamics Corp | Stowable underwater manipulator |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
| CN204322084U (en) * | 2014-12-12 | 2015-05-13 | 中海清华(天津)智能科技发展有限公司 | A kind of underwater operation robot |
| CN205272000U (en) * | 2015-12-24 | 2016-06-01 | 上海珩煜自动化技术有限公司 | Six -shaft mechanical arm of robot |
| CN205363873U (en) * | 2016-01-18 | 2016-07-06 | 东莞理工学院 | Be applied to all -round intelligent robot of nuclear radiation environment |
| CN106628056A (en) * | 2016-10-20 | 2017-05-10 | 昆明理工大学 | Robot for searching for and fishing physical evidence in deep water environment |
| CN106607878A (en) * | 2017-02-16 | 2017-05-03 | 浙江科技学院（浙江中德科技促进中心） | Six-degree-of-freedom mechanical arm device of block press dedicated for optical element, and picking and placing method thereof |
| CN206623089U (en) * | 2017-03-14 | 2017-11-10 | 兰州理工大学 | A kind of Three Degree Of Freedom submarine mechanical arm |
| CN207888645U (en) * | 2017-11-29 | 2018-09-21 | 北京圣世信通科技发展有限公司 | A kind of biomimetic manipulator underwater units imitating mankind's paw |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109352639A (en) * | 2018-10-08 | 2019-02-19 | 南京航空航天大学 | A kind of underwater rope driving mechanical arm system that Autonomous Underwater vehicle carries |
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