CN112388614B - Bionic dolphin flexible grabbing actuator and method - Google Patents

Bionic dolphin flexible grabbing actuator and method Download PDF

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Publication number
CN112388614B
CN112388614B CN202011232430.8A CN202011232430A CN112388614B CN 112388614 B CN112388614 B CN 112388614B CN 202011232430 A CN202011232430 A CN 202011232430A CN 112388614 B CN112388614 B CN 112388614B
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China
Prior art keywords
flexible
grabbing
dolphin
actuator
lower jaw
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CN112388614A (en
Inventor
董华超
罗益严
蔡金思
刘杰
谭国潘
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Northwestern Polytechnical University
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Northwestern Polytechnical University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • 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
    • 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
    • B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention relates to a bionic dolphin flexible grabbing actuator and a method, belonging to the field of soft robots; comprises a bionic dolphin head, a flexible grabbing actuator, a vision module, an illumination module and a fluid driving device; the head of the bionic dolphin is connected with the body part of the bionic dolphin robot through a transition section; the vision module and the lighting module are arranged on the head of the bionic dolphin; the flexible grabbing actuator is a multi-cavity fluid driving actuator, and the fluid driving device is installed inside the bionic dolphin body and used for providing fluid driving pressure for the flexible grabbing actuator, so that the flexible lower jaw of the flexible grabbing actuator is closed, and underwater grabbing operation is further achieved. Different occlusal forces can be adjusted by adjusting the fluid pressure, and the gripping of underwater partial samples or organisms can be met by performing simulation experiment analysis and adjusting 0-18N according to the maximum gripping force born by the gripped object; the flexible grabbing actuator is made of a silica gel flexible material, so that the flexible grabbing actuator is low in cost and easy to manufacture.

Description

Bionic dolphin flexible grabbing actuator and method
Technical Field
The invention belongs to the field of soft robots, and particularly relates to a bionic dolphin flexible grabbing actuator and a method.
Background
In recent years, soft robots and soft actuators are widely applied to the fields of medical treatment, rehabilitation, flexible grabbing and the like because of flexibility and adaptability, so that interaction between the robots and people is safer. The soft actuator simulates mollusks in nature through bionics, combines flexible materials, has infinite multi-degree-of-freedom and continuous deformation capacity, and has better adaptability to the environment.
With the exploration of the ocean by human beings and the increasing demand for underwater detection vehicles, remote control or unmanned autonomous underwater robots have become important tools for developing the ocean. The main operation contents of the current underwater robot comprise detection, sampling, monitoring and the like, and most underwater robots lack concealment, are easy to be found by detection equipment and easily disturb underwater fauna. Therefore, the underwater bionic fish robot is developed, has the appearance advantages of bionic fish, improves the hydrodynamic characteristics, improves the concealment, and has better adaptability to underwater environment. However, the underwater bionic fish robot has a single function due to the limitation of the volume.
The invention provides an underwater bionic robot engagement mechanism which is proposed by CN109774904A and can be carried on an underwater bionic fish robot to carry out grabbing operation. However, the occlusion mechanism is a rigid structure, and has low gripping adaptability to underwater fragile samples or underwater animals, and is easy to damage the target object.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides the bionic dolphin flexible grabbing actuator and the method, the bionic dolphin flexible grabbing actuator combines the characteristics of a bionic dolphin and a soft robot, can be loaded on an underwater bionic dolphin robot, utilizes the appearance advantages of the dolphin, has high concealment, and simultaneously adopts the fluid-driven flexible actuator to enable grabbing to have better adaptability. Compared with the currently adopted underwater rigid manipulator gripper, the bionic dolphin flexible gripping actuator has higher protectiveness on the object to be gripped, and reduces or avoids the damage to the underwater gripped object.
The technical scheme of the invention is as follows: a bionic dolphin flexible grabbing actuator comprises a bionic dolphin head, wherein the bionic dolphin head is connected with a body part of a bionic dolphin robot through a transition section; the method is characterized in that: the flexible grabbing actuator, the vision module, the lighting module and the fluid driving device are further included; the vision module and the lighting module are arranged on the front side of the head of the bionic dolphin and are positioned above the mouth of the bionic dolphin;
the fluid driving device is arranged in the bionic dolphin body and comprises a water sump, a water pump, a three-way joint, a three-way reversing valve, a filter, a pressure reducing valve and a pressure gauge, and is used for providing fluid driving pressure for the flexible grabbing actuator; a first three-way joint, a first three-way reversing valve, a fourth three-way reversing valve and a third three-way reversing valve are sequentially connected between the actuator and the water inlet of the water pump through pipelines, and the pressure gauge is communicated with the first three-way joint; one path of a water outlet of the water pump is communicated with the water sump through a second three-way reversing valve, and the other path of the water outlet of the water pump is sequentially connected with a filter and a pressure reducing valve through a pipeline and then is communicated with the first three-way reversing valve; the water sump is communicated with the water inlet of the water pump through a second three-way joint and a third three-way reversing valve in sequence;
the flexible grabbing actuator comprises an actuator fixing piece, a flexible lower jaw, a fiber limiting layer, a shaping layer, an air hole and a quick connector; the flexible lower jaw is fixed at the bottom of the bionic dolphin head through an actuator fixing piece, the outer shell of the flexible lower jaw is identical to the shape of the lower jaw of the dolphin, a multi-cavity fluid driving actuator is arranged in the flexible lower jaw and is divided by a plurality of partition plates which are arranged in parallel along the length direction of the flexible lower jaw, and all cavities are communicated, so that the internal pressure is consistent; the top of the flexible lower jaw is sealed by a fiber limiting layer, and a silica gel flexible layer is covered on the fiber limiting layer; the shaping layer is arranged at the outer edge of the flexible lower jaw and used for improving the rigidity of the flexible lower jaw; the air hole is arranged between the flexible lower jaw and the actuator fixing piece and is connected with the fluid driving device through the quick connector by adopting a silicone tube.
The further technical scheme of the invention is as follows: the bionic dolphin head is connected with the flexible grabbing actuator and the transition section through screws; the transition section is a water immersion cabin of the bionic dolphin robot.
The invention further adopts the technical scheme that: the bionic dolphin head is hermetically connected with the vision module through a screw and a sealing rubber pad; the vision module comprises a binocular camera, a camera protective cover, a first camera threading bolt and a second camera threading bolt, the binocular camera is arranged at the forehead of the bionic dolphin head, and a data line of the binocular camera penetrates through the first camera threading bolt and the second camera threading bolt which are arranged at the transition section respectively; the camera protective cover is a transparent visual protective cover, is hermetically mounted through a sealing rubber mat and is used as a covering and a protective binocular camera at the forehead of the head of the bionic dolphin.
The further technical scheme of the invention is as follows: the illumination module comprises underwater illuminating lamps and illuminating lamp protective covers, the two underwater illuminating lamps are symmetrically arranged on two sides of the binocular camera, and are respectively sealed and protected through the illuminating lamp protective covers.
The further technical scheme of the invention is as follows: the flexible lower jaw is made of silica gel.
The invention further adopts the technical scheme that: the wall thickness of the shell of the flexible lower jaw is 1.5-3mm.
The further technical scheme of the invention is as follows: the actuator fixing piece is bonded with the flexible lower jaw.
The further technical scheme of the invention is as follows: the fluid in the fluid driving device is water, hydraulic oil or air.
A method for underwater operation by adopting a bionic dolphin flexible grabbing actuator is characterized by comprising the following specific steps:
the method comprises the following steps: when the actuator starts to execute the grabbing action, the water pump starts to work, the pressure in the actuator is changed into negative pressure by adjusting the passage of each three-way reversing valve to form a negative pressure loop, the flexible lower jaw is bent and increased, namely, fluid flows out of the actuator to realize the action of opening the mouth, and the pressure gauge detects the negative pressure at the moment;
step two: the positive pressure loop is formed by adjusting the passage of each three-way reversing valve, fluid flows out from the water outlet of the water pump, sequentially flows to the first three-way joint through the second three-way reversing valve, the filter, the reducing valve and the first two-position three-way reversing valve, and then flows into the pressure gauge and the actuator respectively at the first three-way joint; fluid flows into a water inlet of the water pump from the water bin through the second three-way joint and the third three-way reversing valve, the water pump starts to work, the fluid is filled into the actuator, the flexible lower jaw is bent and reduced and is closed with the upper jaw part of the head to realize occlusion action, the water pump stops working after a preset occlusion force is reached, and the pressure gauge detects positive pressure at the moment;
step three: when the grabbing task is completed and the grabbing target needs to be released, a pressure relief loop is formed by adjusting the passages of the first three-way reversing valve and the fourth three-way reversing valve, fluid flows out of the actuator, flows back to the water sump through the first three-way joint, the first two-position three-way reversing valve, the fourth three-way reversing valve and the second three-way joint, the internal pressure of the actuator is reduced, and the grabbing target is released.
A preparation method of a flexible lower jaw in a bionic dolphin flexible grabbing actuator is characterized by comprising the following specific steps:
the method comprises the following steps: firstly, designing and manufacturing a mould according to the structural size of a flexible lower jaw, wherein the mould divides the flexible lower jaw into two parts which are bilaterally symmetrical and are respectively molded;
step two: and bonding the two molded parts into a whole.
Advantageous effects
The invention has the beneficial effects that:
1. the bionic dolphin flexible grabbing actuator disclosed by the invention adopts a bionic dolphin shape, retains a dolphin fluid shape, and reduces the influence of the flexible grabbing actuator on the fluid resistance of the bionic dolphin robot.
2. The bionic dolphin flexible grabbing actuator is characterized in that a main execution part is made of a flexible material, different biting forces can be adjusted by adjusting the magnitude of fluid pressure, the maximum grabbing force can reach 18N through simulation experiment analysis, and the maximum grabbing force can be adjusted by 0-18N according to the maximum grabbing force borne by a grabbed object, so that grabbing of samples or organisms in an underwater part can be met; the flexible grabbing actuator is made of a silica gel flexible material, so that the flexible grabbing actuator is low in cost and easy to manufacture.
3. According to the bionic dolphin flexible grabbing actuator, the grabbing function of the flexible grabbing actuator can be better realized by designing the fluid driving devices of various hydraulic loops.
4. The bionic dolphin flexible grabbing actuator is arranged on an underwater bionic dolphin robot, so that the bionic dolphin robot has the functions of detection, camera shooting, grabbing, capturing and the like, meanwhile, the concealment of the underwater robot is improved, and the influence on underwater organisms during operation of the underwater robot is reduced.
5. The bionic dolphin flexible grabbing actuator can grab fragile underwater samples or underwater organisms, has high self-adaptability and deformation flexibility, and can grab spherical, blocky, strip-shaped or even smaller-size underwater organisms. Compared with the existing rigid hand grab, the object grabbing device can better guarantee the integrity of the grabbed object and avoid the damage to the grabbed object.
Drawings
FIG. 1 is a partial cross-sectional view of the overall structure of a bionic dolphin flexible grabbing actuator.
FIG. 2 is a general schematic view of a bionic dolphin flexible grasping actuator according to the present invention.
FIG. 3 is a structural sectional view of a flexible grasping actuator of the bionic dolphin flexible grasping actuator of the present invention.
FIG. 4 is a schematic view of the internal cavity of the flexible lower jaw of the bionic dolphin flexible grabbing actuator.
FIG. 5 is a schematic view of a mold for manufacturing a flexible lower jaw of the bionic dolphin flexible grabbing actuator.
FIG. 6 is a layout view of a fluid driving device of a bionic dolphin flexible grabbing actuator according to the present invention.
FIG. 7 is a schematic diagram of the underwater bionic dolphin robot grabbing of the bionic dolphin flexible grabbing actuator.
FIG. 8 is a top view of the underwater bionic dolphin robot with the bionic dolphin flexible grabbing actuator.
FIG. 9 is a plot of the occlusal force of the cylinder grabbing experiment of the underwater biomimetic dolphin robot for the biomimetic dolphin flexible grabbing actuator.
Description of reference numerals: 1-a biomimetic dolphin head, 2-a binocular camera, 3-a first camera threading bolt, 4-a front sealing end cap, 5-a second camera threading bolt, 6-an underwater light, 7-a light threading bolt, 8-a fluid line threading bolt, 9-a flexible grasping actuator, 10-a head rubber gasket, 11-a camera shield, 12-a light shield, 13-a transition section, 14-an actuator mount, 15-a flexible mandible, 16-a fiber limit layer, 17-a shaping layer, 18-an air hole, 19-a right actuator bottom mold, 20-a right actuator top mold, 21-a left actuator bottom mold, 22-a left actuator top mold, 23-an actuator, 24-a first three-way joint, 25-a pressure gauge, 26-a first three-way reversing valve, 27-a pressure reducing valve, 28-a filter, 29-a second three-way reversing valve, 30-a water pump, 31-a water sump, 32-a second three-way joint, 33-a third three-way reversing valve, 34-a fourth three-way reversing valve.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
As shown in fig. 1 and 2, the bionic dolphin head 1 is used for carrying a flexible grabbing actuator 9, a binocular camera 2 and an underwater illuminating lamp 6, and is connected with a transition section 13 and further connected with a body part of the bionic dolphin robot;
furthermore, the bionic dolphin head 1 adopts a dolphin head shape, has better bionic characteristics, and can reduce the head fluid resistance; the bionic dolphin head 1 is connected with the flexible grabbing actuator 9 and the transition section 13 through screws, is connected with the camera protection cover 11 in a sealing mode, and is used for underwater sealing at the contact position of the camera protection cover 11 and the end face of the bionic dolphin head 1 through a sealing rubber pad;
furthermore, the transition section 13 is a water immersion cabin, a waterproof sealing design is not needed, the design difficulty is reduced, the front end is connected with the bionic dolphin head 1, the rear end is connected with the front sealing end cover 4, a water inlet and a water outlet are designed at the rear end, and meanwhile, the underwater illuminating lamp 6 is subjected to heat dissipation treatment;
the binocular camera 2 is fixed on the camera protective cover 11 and used for image acquisition or distance measurement of a captured target object; the camera protective cover 11 is made of a transparent shell material, so that the normal work of the binocular camera 2 is not influenced; the first camera threading bolt 3 is used for enabling a cable of the binocular camera 2 to penetrate through the bionic dolphin head part 1, the first camera threading bolt 3 needs to be vulcanized after penetrating through the cable and then is fixed on the bionic dolphin head part 1, then the cable penetrates through the bionic dolphin robot main body cabin section through the second camera threading bolt 5 and is fixed on the front sealing end cover 4 after being vulcanized; the front sealing end cover 4 is mainly used for connecting the transition section 13 and the bionic dolphin robot main body cabin section, and a lamp threading bolt 7 and a fluid pipeline threading bolt 8 are further fixed on the front sealing end cover 4; the lamp threading bolt 7 is used for penetrating through a cable of the underwater illuminating lamp 6, the fluid pipeline threading bolt 8 is used for penetrating through a fluid pipeline of the actuator, and the lamp threading bolt 7 and the fluid pipeline threading bolt 8 are fixed on the front sealing end cover 4 after vulcanization;
the underwater illuminating lamps 6 are two underwater illuminating lamps which are symmetrically arranged on the two sides of the bionic dolphin head 1 in a left-right mode and used for underwater illumination and assisting the bionic dolphin robot in acquiring underwater images and recognizing a captured target object; in order to ensure the fluid shape of the head and protect the underwater illuminating lamp 6, two transparent illuminating lamp protective covers 12 are arranged in front of the underwater illuminating lamp 6 and are symmetrically arranged at two sides of the head 1 of the bionic dolphin.
As shown in fig. 2 and 3, the flexible grabbing actuator 9 is fixed below the bionic dolphin head 1 through screws, and completes grabbing actions by combining the opening and closing of the upper jaw part of the bionic dolphin head 1 in a manner of imitating the mouth of the dolphin, and a head rubber gasket 10 is arranged below the upper jaw part of the bionic dolphin head 1 and used for protecting a grabbed object from being damaged and increasing grabbing friction of the actuator;
further, the flexible grasping actuator 9 comprises an actuator fixing part 14, a flexible mandible 15, a fiber limiting layer 16, a shaping layer 17, an air hole 18 and a quick joint, wherein the flexible grasping actuator 9 is a fluid-driven soft actuator, and the shape and the rigidity of the flexible grasping actuator are changed by adjusting the internal fluid pressure so as to achieve the grasping effect;
the actuator fixing piece 14 is used for fixing the flexible lower jaw 15, and the actuator fixing piece 14 is bonded with the flexible lower jaw 15;
further, the flexible lower jaw 15 adopts a dolphin lower jaw shape, is curved in a zero-pressure state, can realize larger bending in a negative-pressure state, and is directionally bent in a positive-pressure state due to the limitation that the fiber limiting layer 16 is not extensible in the axial direction, the bending angle tends to zero, the flexible lower jaw 15 is contacted with the upper jaw to achieve the occlusion purpose, the flexible lower jaw 15 gradually expands along with the increase of the internal pressure, and the occlusion force gradually increases until the maximum bearing pressure of the flexible lower jaw 15;
further, the flexible lower jaw 15 is made of a flexible silica gel material and is processed and formed in a mold injection molding mode, the flexible lower jaw 15 is divided into a left part and a right part which are formed respectively, and then the left part and the right part are bonded into a whole; the fiber limiting layer 16 is a layer of fiber cloth, a silica gel flexible layer covers the fiber cloth, the fiber cloth axially limits the axial extension of the flexible lower jaw 15 without influencing the bending of the flexible lower jaw, and the flexibility of the actuator contact surface is further increased by the covered silica gel flexible layer; the shaping layer is made of a flexible material with higher rigidity, such as a TPU material, and is used for improving the rigidity of the flexible mandible;
the air hole 18 is embedded into the flexible and thin lower jaw 15 and is sealed and bonded, and the outside of the air hole 18 is connected with a quick coupling; the air holes 18 are used for fluid inflow and outflow and can be used for exhausting air inside the flexible lower jaw 15.
As shown in figure 4, the flexible mandible 15 is in a bionic dolphin shape, a plurality of cavities with rectangular-like cross sections are formed inside the flexible mandible, the wall thickness of each cavity is 1.5-3mm, intervals are formed among the cavities, and all the cavities are communicated through a passage, so that the internal pressure is consistent.
As shown in fig. 5, the flexible lower jaw 15 is formed by injection molding, first, according to the material characteristics of the silicone material, a proper ratio of silicone to a curing agent is selected, vacuum defoaming treatment is performed after the silicone material is fully mixed, then the mixture is injected into a right actuator bottom mold 19 and a left actuator bottom mold 21, then a right actuator top mold 20 and a left actuator top mold 22 are respectively placed into the right actuator bottom mold 19 and the left actuator bottom mold 21, fastening is performed by using screws, and then silicone is supplemented from top holes of the right actuator top mold 20 and the left actuator top mold 22, so that the sufficiency of the silicone material inside is ensured, and gaps or bubbles are avoided; after the silica gel is formed, the mold is removed to obtain a left mandible and a right mandible, and finally the two parts are bonded, and meanwhile, the sealing performance is ensured, so that the complete flexible mandible 15 can be obtained.
As shown in fig. 6, the fluid driving device provides driving force for the flexible grasping actuator, and the working stages thereof are three; the actuator 23 may be a flexible grasping actuator 9, or may be another flexible actuator. The following actuators 23 refer to the flexible grasping actuators 9, and are embodied as follows: in the first stage, when the actuator 23 starts to execute a grabbing action, a negative pressure loop is formed by adjusting the paths of a plurality of three-way reversing valves, namely, fluid flows out of the actuator 23, flows into a pressure gauge 25 and a first three-way reversing valve 26 at a first three-way joint 24, is communicated with a water inlet of a water pump 30 through a fourth three-way reversing valve 34 and a third three-way reversing valve 33, a water outlet of the water pump 30 is communicated with a water bin 31 through a second three-way reversing valve 29, the water pump 30 works to change the internal pressure of the actuator 23 into negative pressure, the flexible lower jaw 15 bends and increases to realize the action of opening the mouth, and the pressure gauge 25 detects the negative pressure at the moment; in the second stage, a positive pressure loop is formed by adjusting the passages of the plurality of three-way reversing valves, fluid flows out from a water outlet of the water pump 30, flows to the first three-way joint 24 through the second three-way reversing valve 29, the filter 28, the reducing valve 27 and the first two-position three-way reversing valve 26, and then flows into the pressure gauge 25 and the actuator 23 respectively at the first three-way joint 24; fluid flows into a water inlet of the water pump 30 from the water bin 31 through the second three-way joint 32 and the third three-way reversing valve 33, the water pump 30 works to fill the fluid into the actuator 23, the flexible lower jaw 15 bends and reduces, the flexible lower jaw 15 and the upper jaw part of the head are closed to realize occlusion action, after a certain occlusion force is reached, the water pump 30 stops working, and the pressure gauge 25 detects positive pressure at the moment; when the grabbing task is finished and the grabbing target needs to be loosened, in a third stage, a pressure relief loop is formed by adjusting the passages of the first three-way reversing valve 26 and the fourth three-way reversing valve 34, fluid flows out of the actuator 23, flows back to the water sump 31 through the first three-way joint 24, the first two-position three-way reversing valve 26, the fourth three-way reversing valve 34 and the second three-way joint 32, the internal pressure of the actuator 23 is reduced, and the grabbing target is loosened;
when the fluid driving device is in a non-working state of the flexible grabbing actuator, according to the positive pressure loop, the fluid driving device provides certain fluid pressure for the actuator 23 to enable the actuator to be in a closed state, and navigation of the underwater bionic dolphin robot is facilitated; the fluid pipelines are all silicone tubes;
as shown in fig. 7, it is a schematic diagram of the bionic dolphin flexible grabbing actuator of the present invention carried on an underwater bionic dolphin robot to execute grabbing tasks;
as shown in fig. 8, it is a top view of the bionic dolphin flexible grabbing actuator of the present invention carried on an underwater bionic dolphin robot.
As shown in fig. 9, it is a plot of the gripping force of the underwater bionic dolphin robot gripping cylinder experiment of the bionic dolphin flexible gripping actuator of the present invention. Through simulation and experiments, when the actuator grabs a cylinder as shown in fig. 7, the occlusal force of the cylinder is measured, and a curve of the occlusal force along with the change of the applied pressure is drawn.
In summary, in this embodiment, a flexible grasping actuator for a bionic dolphin is realized, which has a compact structure and integrates a flexible grasping actuator, a vision module, an illumination module and a fluid driving device; the flexible grabbing actuator is made of flexible materials and driven by fluid, grabbing force can be adjusted by adjusting fluid pressure, underwater objects with various shapes can be better adapted, underwater organisms can be grabbed, damage to the underwater organisms is avoided in the grabbing process, and the flexible grabbing actuator has deformation flexibility and grabbing self-adaptability; the bionic dolphin flexible grabbing actuator can enable an underwater bionic dolphin robot carrying the actuator to complete tasks such as underwater searching, image acquisition, sample acquisition and biological grabbing, has functional diversity, and can reduce the influence of the actuator on the fluid resistance of the underwater bionic dolphin robot due to the appearance of the head of the bionic dolphin.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims (8)

1. A bionic dolphin flexible grabbing actuator comprises a bionic dolphin head, wherein the bionic dolphin head is connected with a body part of a bionic dolphin robot through a transition section; the method is characterized in that: the flexible grabbing device further comprises a flexible grabbing actuating mechanism, a vision module, an illumination module and a fluid driving device; the vision module and the lighting module are arranged on the front side of the head of the bionic dolphin and are positioned above the mouth of the bionic dolphin;
the fluid driving device is arranged in the bionic dolphin body and comprises a water sump, a water pump, a three-way joint, a three-way reversing valve, a filter, a pressure reducing valve and a pressure gauge, and is used for providing fluid driving pressure for the flexible grabbing executing mechanism; a first three-way joint, a first three-way reversing valve, a fourth three-way reversing valve and a third three-way reversing valve are sequentially connected between the flexible grabbing actuating mechanism and a water inlet of the water pump through pipelines, and the pressure gauge is communicated with the first three-way joint; one path of a water outlet of the water pump is communicated with the water sump through a second three-way reversing valve, and the other path of the water outlet of the water pump is sequentially connected with a filter and a pressure reducing valve through a pipeline and then is communicated with the first three-way reversing valve; the water sump is communicated with the water inlet of the water pump through a second three-way joint and a third three-way reversing valve in sequence;
the flexible grabbing executing mechanism comprises an actuator fixing piece, a flexible lower jaw, a fiber limiting layer, a shaping layer, an air hole and a quick connector; the flexible lower jaw is fixed at the bottom of the bionic dolphin head through an actuator fixing piece, the outer shell of the flexible lower jaw is identical to the shape of the lower jaw of the dolphin, a multi-cavity fluid drive flexible grabbing actuator mechanism is arranged in the flexible lower jaw and is divided by a plurality of partition plates which are arranged in parallel along the length direction of the flexible lower jaw, and all cavities are communicated, so that the internal pressure is consistent; the top of the flexible lower jaw is sealed by a fiber limiting layer, and a silica gel flexible layer is covered on the fiber limiting layer; the shaping layer is arranged at the outer edge of the flexible lower jaw and used for improving the rigidity of the flexible lower jaw; the air hole is arranged between the flexible lower jaw and the actuator fixing piece and is connected with the fluid driving device through the quick connector by adopting a silicone tube;
the bionic dolphin head is hermetically connected with the vision module through a screw and a sealing rubber pad; the vision module comprises a binocular camera, a camera protective cover, a first camera threading bolt and a second camera threading bolt, the binocular camera is arranged at the forehead of the bionic dolphin head, and a data line of the binocular camera penetrates through the first camera threading bolt and the second camera threading bolt which are arranged at the transition section respectively; the camera protective cover is a transparent visual protective cover, is hermetically mounted through a sealing rubber mat, and is used as a covering at the forehead of the head of the bionic dolphin to protect the binocular camera.
2. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the head of the bionic dolphin is connected with the flexible grabbing executing mechanism and the transition section through screws; the transition section is a water immersion cabin of the bionic dolphin robot.
3. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the illumination module comprises underwater illuminating lamps and illuminating lamp protective covers, the two underwater illuminating lamps are symmetrically arranged on two sides of the binocular camera, and are respectively sealed and protected through the illuminating lamp protective covers.
4. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the flexible lower jaw is made of silica gel.
5. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the wall thickness of the shell of the flexible lower jaw is 1.5-3mm.
6. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the actuator fixing piece is bonded with the flexible lower jaw.
7. The biomimetic dolphin flexible grasping actuator according to claim 1, wherein: the fluid in the fluid driving device is water, hydraulic oil or air.
8. A method for underwater operation by adopting the bionic dolphin flexible grabbing actuator as claimed in claim 1 is characterized by comprising the following specific steps:
the method comprises the following steps: when the flexible grabbing executing mechanism starts to execute grabbing actions, the water pump starts to work, the pressure inside the flexible grabbing executing mechanism is changed into negative pressure by adjusting the passages of the three-way reversing valves to form a negative pressure loop, the flexible lower jaw is bent and increased, namely fluid flows out of the flexible grabbing executing mechanism to realize mouth opening actions, and the pressure gauge detects the negative pressure at the moment;
step two: the positive pressure loop is formed by adjusting the passage of each three-way reversing valve, fluid flows out from the water outlet of the water pump, sequentially flows to the first three-way joint through the second three-way reversing valve, the filter, the pressure reducing valve and the first three-way reversing valve, and then flows into the pressure gauge and the flexible grabbing actuating mechanism at the first three-way joint respectively; fluid flows into a water inlet of the water pump from the water bin through the second three-way joint and the third three-way reversing valve, the water pump starts to work, the fluid is filled into the flexible grabbing actuating mechanism, the flexible lower jaw is bent and reduced and is closed with the upper jaw part of the head part, occlusion action is realized, the water pump stops working after a preset occlusion force is reached, and the pressure gauge detects positive pressure at the moment;
step three: when the grabbing task is completed and the grabbing target is to be loosened, a pressure relief loop is formed by adjusting the passages of the first three-way reversing valve and the fourth three-way reversing valve, fluid flows out of the flexible grabbing actuating mechanism, flows back to the water sump through the first three-way connector, the first three-way reversing valve, the fourth three-way reversing valve and the second three-way connector, the internal pressure of the flexible grabbing actuating mechanism is reduced, and the grabbing target is loosened.
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