CN111376302A

CN111376302A - Manipulator flexible clamping jaw for underwater environment

Info

Publication number: CN111376302A
Application number: CN201811645988.1A
Authority: CN
Inventors: 霍良青; 张奇峰; 张竺英; 孙斌; 郭一典
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2018-12-30
Filing date: 2018-12-30
Publication date: 2020-07-07
Anticipated expiration: 2038-12-30
Also published as: CN111376302B

Abstract

The invention belongs to the field of ocean preparation engineering, and particularly relates to a manipulator flexible clamping jaw for an underwater environment, which comprises a spring sheet group and a coating layer, wherein the coating layer is wrapped outside the spring sheet group, the spring sheet group comprises a plurality of spring sheets which are sequentially abutted, the lower end of each spring sheet is fixedly connected, the upper end of each spring sheet is a free end, the length of each spring sheet is sequentially shortened from the inner side close to a clamped object to the outer side far away from the clamped object, and the free ends of other spring sheets except the innermost spring sheet are abutted against the previous spring sheet. The invention has the advantages of low cost, no maintenance, strong adaptability, low failure rate and the like.

Description

Manipulator flexible clamping jaw for underwater environment

Technical Field

The invention belongs to the field of ocean preparation engineering, and particularly relates to a manipulator flexible clamping jaw for an underwater environment, which is applied to ocean development and scientific investigation.

Background

With the continuous and deep development, research and exploration of oceans by human beings, the demand of ocean equipment is continuously increased. As shown in fig. 1, the clamping jaws of the existing underwater manipulator 6 are all rigid clamping jaws 1, which are complex in structure and inconvenient for application in an underwater environment. Therefore, the demand for underwater flexible grasping technology is increasingly pressing.

Disclosure of Invention

In order to meet the requirement of underwater flexible grabbing, the invention aims to provide a manipulator flexible clamping jaw for an underwater environment.

The purpose of the invention is realized by the following technical scheme:

the invention comprises a spring piece group and a coating layer, wherein the coating layer is coated outside the spring piece group, the spring piece group comprises a plurality of spring pieces which are abutted in sequence, the lower end of each spring piece is fixedly connected, the upper end of each spring piece is a free end, the length of each spring piece is sequentially shortened from the inner side close to a clamped object to the outer side far away from the clamped object, and the free ends of other spring pieces except the innermost spring piece are abutted to the front spring piece;

the spring pieces are arc-shaped and formed by bending square spring pieces along the thickness direction, and the length of each spring piece is greater than the width of each spring piece, and the width of each spring piece is greater than the thickness of each spring piece;

the spring pieces are equal in width and thickness;

the lower ends of the spring pieces are aligned and fixedly connected with each other, and the free ends of the spring pieces deform and slide relatively when being subjected to external force;

the spring pieces transmit elasticity mutually to realize the flexible contact force of the spring pieces along the stacking direction;

the radian of each spring piece is the same;

the coating layer is coated outside the elastic sheet group through injection molding.

The invention has the advantages and positive effects that:

1. the cost is low; the invention adopts the design of overlapping a plurality of spring pieces, and has low cost and easy maintenance.

2. The adaptability is strong; the interface form of the flexible clamping jaw is easy to customize, and the flexible clamping jaw can be adapted to different manipulator platforms.

3. The invention has the advantages of simple structure, no complex mechanism and low failure rate.

Drawings

FIG. 1 is a schematic structural diagram of an underwater manipulator with a rigid clamping jaw in the prior art;

FIG. 2 is a schematic structural view of the present invention;

FIG. 3 is a cross-sectional view of a flexible jaw of the present invention;

FIG. 4 is a left side cross-sectional view of FIG. 3;

FIG. 5 is a schematic view of a flexible jaw of the present invention;

FIG. 6 is a schematic view of a single spring plate according to the present invention;

wherein: the device comprises a rigid clamping jaw 1, a flexible clamping jaw 2, a spring plate group 3, a coating layer 4, a spring plate 5 and a manipulator 6.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

As shown in fig. 3 to 6, the invention includes a pellet group 3 and a coating layer 4, wherein the coating layer 4 is wrapped outside the pellet group 3 to play roles of buffering protection, increasing friction force and corrosion prevention; the spring piece group 3 comprises a plurality of spring pieces 5 which are sequentially abutted, the lower ends of the spring pieces 5 are aligned and fixedly connected with each other, and the upper ends are free ends; the length of each spring piece 5 is gradually shortened from the inner side close to the clamped object to the outer side far from the clamped object, and the free ends of the spring pieces 5 except the innermost spring piece 5 are all abutted against the previous spring piece 5.

The spring piece 5 of the present invention is arc-shaped and is formed by bending a square (rectangular in this embodiment) spring piece in the thickness direction, and the radians of the spring pieces 5 are the same. Each spring leaf 5 has a length greater than its width and a width greater than its thickness. The spring pieces 5 are equal in width and thickness. The rigidity of each spring piece 5 in the width direction is far greater than that in the thickness direction, so that the spring piece can bear large force without deformation, flexible grabbing is realized, and meanwhile, the spring piece has large load capacity.

The free ends of the spring pieces 5 can deform and slide relatively when being subjected to external force, and the spring pieces 5 transmit elastic force mutually to realize the flexible contact force of the spring pieces 5 along the superposition direction.

The coating layer 4 can be made of different materials (such as rubber or silica gel) according to operation requirements, can be uniformly coated outside the elastic sheet group 3 in an injection molding mode, improves the performance of the flexible clamping jaw 2 by utilizing the characteristics of softness, elasticity, high friction coefficient, corrosion resistance and the like of the coating layer 4, reduces the hardness of the flexible clamping jaw 2 and improves the friction coefficient of the flexible clamping jaw 2.

As shown in fig. 2, the distal end of the flexible jaw 2 of the present invention can be customized to fit different robots 6 according to the requirements.

The working principle of the invention is as follows:

the middle spring plate group 3 comprises a plurality of arc-shaped spring plates 5, and each spring plate 5 has the same radian and the length is shortened in sequence. During assembly, the lower ends of the spring pieces 5 are aligned and fixedly connected with each other (such as riveting, welding or bolt connection), and the upper ends are free ends. When external force is applied, the free ends of the spring pieces 5 deform and slide relatively, and flexible contact force along the stacking direction is realized; meanwhile, the rigidity in the width direction is far greater than the rigidity in the thickness direction, so that the flexible grabbing device can bear large force without deformation, flexible grabbing in the stacking direction is realized, and meanwhile, the flexible grabbing device still has large load capacity. The performance of the flexible clamping jaw 2 is improved by utilizing the characteristics of softness, high friction coefficient, corrosion resistance and the like of the coating layer 2. And the length, width, thickness, quantity, radian and the length difference of different shell fragments of spring leaf can design according to different demands.

The invention provides a manipulator flexible clamping jaw for an underwater environment, which is easy to adapt to various existing manipulators and can realize a flexible grabbing function without changing the structure of the original manipulator. The invention has the advantages of low cost, no maintenance, strong adaptability, low failure rate and the like.

Claims

1. A flexible clamping jaw of manipulator for underwater environment which characterized in that: including bullet piece group (3) and coating (4), wherein bullet piece group (3) outside parcel has coating (4), bullet piece group (3) includes spring leaf (5) of the butt in proper order, the lower extreme rigid coupling of each spring leaf (5), and the upper end is the free end, each the length of spring leaf (5) shortens in proper order to the outside of keeping away from the centre gripping thing by the inboard that is close to the centre gripping thing, and the equal butt of the free end of other spring leaf (5) except that innermost spring leaf (5) is on preceding spring leaf (5).

2. The manipulator flexible jaw for use in an underwater environment of claim 1, further comprising: the spring pieces (5) are arc-shaped and formed by bending square spring pieces along the thickness direction, and the length of each spring piece (5) is greater than the width of each spring piece, and the width of each spring piece is greater than the thickness of each spring piece.

3. The manipulator flexible jaw for use in an underwater environment of claim 2, further comprising: the spring pieces (5) are equal in width and thickness.

4. The manipulator flexible jaw for use in an underwater environment of claim 1, further comprising: the lower ends of the spring pieces (5) are aligned and fixedly connected with each other, and the free ends of the spring pieces (5) deform and slide relatively when being subjected to external force.

5. The manipulator flexible jaw for use in an underwater environment of claim 4, wherein: the spring pieces (5) mutually transmit elasticity, and the flexible contact force of the spring pieces (5) along the superposition direction is realized.

6. The manipulator flexible jaw for use in an underwater environment of claim 1, further comprising: the radian of each spring piece (5) is the same.

7. The manipulator flexible jaw for use in an underwater environment of claim 1, further comprising: the coating layer (4) is coated outside the elastic sheet group (3) through injection molding.