CN114986534A - Integrated rigid-flexible coupling manipulator - Google Patents
Integrated rigid-flexible coupling manipulator Download PDFInfo
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- CN114986534A CN114986534A CN202210753023.4A CN202210753023A CN114986534A CN 114986534 A CN114986534 A CN 114986534A CN 202210753023 A CN202210753023 A CN 202210753023A CN 114986534 A CN114986534 A CN 114986534A
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention relates to the technical field of underwater operation equipment, in particular to an integrated rigid-flexible coupling manipulator which comprises a base, wherein one side of the base is fixedly connected with a bending part, one side of the bending part, which is far away from the base, is fixedly connected with a wrist hand disc, the wrist hand disc is arranged in parallel with the base, one side of the wrist hand disc, which is far away from the base, is hinged with a grabbing part, an expansion part is arranged between the base and the wrist hand disc, the center of the base is fixedly connected with the bottom of the expansion part, the upper side wall of the expansion part is fixedly connected with the wrist hand disc, the top of the expansion part is hinged with the grabbing part, the expansion part is used for changing the opening degree of the grabbing part, and the grabbing part is used for grabbing objects. The invention can achieve the purposes of improving the grabbing load and the relative rigidity of the existing flexible manipulator based on the water hydraulic technology, enabling the manipulator to meet the grabbing requirements of various angles and ranges and enhancing the grabbing adaptability to objects with unknown quality and volume during underwater operation.
Description
Technical Field
The invention relates to the technical field of underwater operation equipment, in particular to an integrated rigid-flexible coupling manipulator.
Background
An Underwater manipulator (undersewater manipulator) is a special mechanical device which is mounted on an Underwater robot (undersewater vehicle) and used for executing Underwater operation tasks, and has irreplaceable functions in an Underwater complex operation environment. At present, the common underwater operation mechanical arm in the world is mainly a heavy rigid mechanical arm, the part of the tail end of the heavy rigid mechanical arm, which is in direct contact with a grabbed object, is generally a rigid clamping structure, the rigidity is high, the bionic mechanical arm is poor, even the accurate control of the self motion can be realized, the grabbed sample is difficult to ensure to have no damage, the structure of the grabbed sample is often damaged when the grabbed soft organisms and soft samples are grabbed, and therefore, the heavy rigid mechanical arm is only suitable for grabbing some hard objects and is not suitable for precise operation, particularly for some soft organisms and various sensitive underwater instruments and meters and the like. The flexible manipulator becomes an important component for developing underwater operation equipment by virtue of the natural flexibility of a soft material of the flexible manipulator. The types of the currently developed software manipulators such as pneumatic, rope drive, magnetic fluid drive and the like have the defects of low output force, simple grabbing action, suitability for clamping articles with low quality in a fixed size range and the like. And they are difficult to meet the requirements of high adaptability and strong anti-interference capability of underwater operation equipment in an underwater environment. In addition, the flexible manipulator systems are all closed systems incompatible with underwater operation environments, and are very easily affected by underwater back pressure environments during underwater operation, and are difficult to adapt to complicated and special underwater working environments, so that an integrated rigid-flexible coupling manipulator is urgently needed to solve the problem.
Disclosure of Invention
The invention aims to provide an integrated rigid-flexible coupling manipulator, which aims to solve the problems and achieve the purposes of improving the grabbing load and the relative rigidity of the existing flexible manipulator based on a water hydraulic technology, enabling the manipulator to meet the grabbing requirements of various angles and ranges and enhancing the grabbing adaptability to objects with unknown quality and volume during underwater operation.
In order to achieve the purpose, the invention provides the following scheme:
the utility model provides an integrated form rigid-flexible coupling manipulator, includes the base, base one side rigid coupling has the flexion, the flexion is kept away from base one side rigid coupling has the wrist hand dish, the wrist hand dish with base parallel arrangement, the wrist hand dish is kept away from base one side articulates there is the portion of snatching, the base with be equipped with the expansion portion between the wrist hand dish, the base center with expansion portion bottom rigid coupling, expansion portion upper portion lateral wall with wrist hand dish rigid coupling, the expansion portion top with the portion of snatching is articulated, the expansion portion is used for changing the aperture size of the portion of snatching, the portion of snatching is used for snatching the object.
Preferably, the flexion includes a plurality of runner assemblies, the runner assembly is three at least, and is a plurality of the runner assembly follows the base circumference is equidistant to be set up, and is a plurality of the runner assembly with the base rigid coupling, a plurality of the runner assembly is kept away from base one end with wrist palm rigid coupling.
Preferably, the rotating assembly comprises a lower pipe joint, a first joint seat is fixedly connected to the outer side of the lower pipe joint, the first joint seat is fixedly connected with the base, the first joint seat is far away from one side of the lower pipe joint and is fixedly connected with a flexible corrugated pipe, the flexible corrugated pipe is far away from one end of the lower pipe joint and is fixedly connected with one end of an upper pipe joint, the other end of the upper pipe joint is fixedly connected with a second joint seat, and the second joint seat is fixedly connected with the wrist hand disc.
Preferably, the grabbing part comprises a plurality of flexible assemblies, the flexible assemblies are arranged along the wrist hand disc at equal intervals in the circumferential direction, one end of each flexible assembly is hinged to the wrist hand disc, and the other end of each flexible assembly is hinged to the expansion part.
Preferably, the flexible assembly includes the movable claw dish, movable claw dish one end articulates there is the palm connecting rod, the palm connecting rod other end with the wrist hand dish is articulated, the movable claw dish other end with the expansion portion is articulated, movable claw dish top rigid coupling has soft claw gland, soft claw gland keeps away from movable claw dish one side rigid coupling has flexible mechanical finger.
Preferably, the expansion part comprises a ball-and-socket joint, the bottom of the ball-and-socket joint is fixedly connected with the base, one end of the ball-and-socket joint, which is far away from the base, is connected with an integrated cylinder barrel through a ball hinge, one side of the integrated cylinder barrel, which is far away from the ball-and-socket joint, is fixedly connected with the wrist hand disc, an integrated piston is arranged in the integrated cylinder barrel, the inner wall of the integrated cylinder barrel is in sliding connection with the integrated piston, the integrated piston is arranged in a manner of being close to the outer wall of one end of the integrated cylinder barrel and in contact with the inner wall of the integrated cylinder barrel, the integrated piston is connected with a transparent cover in a sliding manner, penetrates through the center of the transparent cover, the integrated piston is arranged in a manner of being close to the outer wall of one end of the transparent cover and in contact with the inner wall of the transparent cover, the transparent cover is fixedly connected with the integrated cylinder barrel, one end of the integrated piston, which is far away from the integrated cylinder barrel, is fixedly connected with a central part, the central portion is hinged to the moveable jaw plate.
Preferably, the integrated piston is of a T-shaped structure in cross section.
Preferably, the central part comprises a central receiving disc, the movable claw discs are arranged at equal intervals along the edge part of the central receiving disc, and the edge part of the central receiving disc is hinged with the movable claw discs.
Preferably, the flexible mechanical finger is of a hollow structure, and the flexible mechanical finger is of a single-side corrugated structure.
The invention has the following technical effects: adopt class bionics design, through the base, the wrist hand dish, the rigid support and the flexion of expansion portion, the flexible drive of portion of snatching, can make integrated form rigid-flexible coupling manipulator realize every single move about under the flexion effect, control deflection and axial rotation, realize snatching different volumes and grab the thing under the expansion portion cooperates jointly with the portion of snatching, the home range of manipulator has been increased, be favorable to the manipulator to carry out various activities of snatching, rigid-flexible coupling design through integrating, have higher flexibility on the basis of taking into account structural strength and load-carrying capacity concurrently.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a rotating assembly according to the present invention;
FIG. 3 is a schematic view of the structure of the expanding portion of the present invention;
FIG. 4 is a schematic view of a flexible mechanical finger according to the present invention;
FIG. 5 is a schematic view of the center flange structure of the present invention;
FIG. 6 is a schematic view of the palm of the hand being grasped in a contracted condition in accordance with the present invention;
FIG. 7 is a schematic view of the palm of the hand of the present invention in an open position;
FIG. 8 is a schematic view of the palm of the hand of the present invention gripping in an open position;
FIG. 9 is a schematic view of a flexible robot inter-finger capture net according to embodiment 2 of the present invention;
wherein, 1, a base; 2. a lower pipe joint; 3. a first joint base; 4. a flexible bellows; 5. an upper pipe joint; 6. a flexible mechanical finger; 7. a movable claw disc; 8. a soft claw gland; 9. a palm link; 10. a second joint base; 11. a wrist hand disc; 12. a ball and socket joint; 13. an integrated cylinder barrel; 14. an integral piston; 15. a transparent cover; 16. a central flange; 17. a capture net.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1-8, the embodiment provides an integrated rigid-flexible coupling manipulator, including a base 1, a bending portion is fixedly connected to one side of the base 1, a wrist handwheel 11 is fixedly connected to one side of the bending portion away from the base 1, the wrist handwheel 11 is arranged parallel to the base 1, a grabbing portion is hinged to one side of the wrist handwheel 11 away from the base 1, an expansion portion is arranged between the base 1 and the wrist handwheel 11, the center of the base 1 is fixedly connected to the bottom of the expansion portion, the side wall of the upper portion of the expansion portion is fixedly connected to the wrist handwheel 11, the top of the expansion portion is hinged to the grabbing portion, the expansion portion is used for changing the opening size of the grabbing portion, and the grabbing portion is used for grabbing an object. Through 1 fixed mounting flexion of base, the flexion is kept away from 1 one side rigid coupling of base and is had wrist hand dish 11, can realize wrist hand dish 11 upper and lower every single move, control deflection and axial rotation through the flexion, is equipped with the expansion portion between base 1 and the wrist hand dish 11, and the expansion portion is articulated with wrist hand dish 11 and the portion of snatching, can realize the expansion and the shrink of the portion of snatching, and the cooperation is snatched the portion and is snatched different volumes and snatch the thing.
Further optimize the scheme, the flexion includes a plurality of runner assemblies, and the runner assembly is three at least, and a plurality of runner assemblies set up along 1 circumference of base equidistant, a plurality of runner assemblies and 1 rigid coupling of base, and a plurality of runner assemblies keep away from 1 one end of base and wrist palm 11 rigid coupling. The plurality of rotating assemblies extend under the action of internal fluid pressure, the wrist handwheel 11 can be driven to move in three degrees of freedom including up-and-down pitching, left-and-right deflecting and axial rotating according to the input pressure of each rotating assembly and the installation position of each rotating assembly, the number of the rotating assemblies is at least 3, the wrist handwheel 11 can realize up-and-down pitching, left-and-right deflecting and axial rotating with higher precision due to the increase of the rotating assemblies, and the number of the rotating assemblies is preferably 3 in the embodiment.
In the actual grabbing process, the grabbed object often has certain gap with the ideal grabbing pose, the error often causes great influence on the grabbing success rate, the embodiment can be controlled by matching the plurality of rotating assemblies with the expansion part to adapt to the singular posture, so that the grabbing part can quickly enter a grabbing program, and the integral rigidity of the bending part is in direct proportion to the pressure of the fluid introduced into the flexible corrugated pipe 4.
Further optimize the scheme, the runner assembly includes low tube head 2, and the low tube head 2 outside rigid coupling has first joint seat 3, first joint seat 3 and base 1 rigid coupling, and the rigid coupling of 2 one side of low tube head is kept away from to first joint seat 3 has flexible bellows 4, and flexible bellows 4 keeps away from the one end rigid coupling of low tube head 2 and has the one end of top tube head 5, and the other end rigid coupling of top tube head 5 has second joint seat 10, second joint seat 10 and wrist hand dish 11 rigid coupling. The lower pipe joint 2 is provided with a water pipe connecting through hole, the connecting through hole controls the on-off of the internal fluid through two high-speed switch valves (not shown in the figure), so that the fluid can be conveniently injected into the flexible corrugated pipe 4 through the lower pipe joint 2, the contact part of the outer wall of the lower pipe joint 2 and the inner wall of the flexible corrugated pipe 4 is provided with a plurality of grooves, the contact part of the inner wall of the first joint seat 3 and the flexible corrugated pipe 4 is provided with a plurality of bulges, the grooves of the outer wall of the lower pipe joint 2 are matched with the bulges of the inner wall of the first joint seat 3, one end of the flexible corrugated pipe 4 is arranged between the outer wall of the lower pipe joint 2 and the inner wall of the first joint seat 3, the lower pipe joint 2 is in interference fit with the first joint seat 3, one end of the flexible corrugated pipe 4 is extruded between the lower pipe joint 2 and the first joint seat 3, the fixed connection of the lower pipe joint 2, the flexible corrugated pipe 4 and the first joint seat 3 is realized, and the fluid injected into the flexible corrugated pipe 4 is prevented from flowing out from a connecting seam gap, the sealing function is achieved.
The other end of the flexible corrugated pipe 4 is fixedly connected with an upper pipe joint 5 and a second joint seat 10, the upper pipe joint 5 is different from the lower pipe joint 2 only in that one end, far away from the flexible corrugated pipe 4, of the upper pipe joint 5 is of a closed structure, the situation that fluid injected into the flexible corrugated pipe 4 flows out of the upper pipe joint 5 is avoided, the first joint seat 3 is completely the same as the second joint seat 10, when a water inlet valve is opened, the flexible corrugated pipe 4 is axially expanded under the action of pressure of internal fluid, in the movement process of the flexible corrugated pipe 4, a wrist hand disc 11 fixedly connected with one end of the flexible corrugated pipe 4 and a grabbing portion installed on the wrist hand disc 11 can perform pitching deflection around the center of the expanding portion, the pitching and ulnar deflection/radial deflection behaviors of the wrist joint of a human body are simulated in the process, and deflection movement in six directions under a space coordinate system can be realized through synchronous control of a single flexible corrugated pipe or a plurality of flexible corrugated pipes 4.
If the physical interference exists between the preset grabbing position of the grabbing part and the object to be grabbed or the surface is not suitable for grabbing, entering a wrist spin adjustment program: when a plurality of flexible corrugated pipes 4 are simultaneously introduced with pressure fluid to generate axial deformation, and the distance between the center of the wrist handwheel 11 and the base 1 is kept unchanged, in order to adapt to and compensate the change of the flexible corrugated pipes 4 in length, the wrist handwheel 11 and the base 1 can generate axial spin.
Further optimize the scheme, the portion of snatching includes a plurality of flexible assembly, and a plurality of flexible assembly set up along 11 circumference equidistant of wrist hand dish, and a plurality of flexible assembly one end are articulated with wrist hand dish 11, and a plurality of flexible assembly other ends are articulated with the expansion portion. The flexible assembly can snatch the form of object or snatch the mode and increase or reduce according to the target, and the preferred 3 flexible assemblies of this embodiment, when the outside extension of expansion portion, expansion portion drive and articulate a plurality of flexible assemblies removal in expansion portion, and a plurality of flexible assembly other ends are articulated with wrist palm 11, make flexible assembly be outside open state to increase and snatch the volume, be applicable to snatching of great volume object.
Further optimization scheme, flexible assembly includes movable claw dish 7, and 7 one ends of movable claw dish are articulated to have palm connecting rod 9, and the palm connecting rod 9 other end is articulated with wrist hand dish 11, and 7 other ends of movable claw dish are articulated with the expansion portion, and 7 top rigid couplings of movable claw dish have soft claw gland 8, and soft claw gland 8 keeps away from movable claw dish 7 one side rigid coupling and has flexible mechanical finger 6. Flexible mechanical finger 6 passes through soft claw gland 8 and movable claw dish 7 rigid coupling, realize that the integration is connected and sealed, movable claw dish 7 one end is articulated with palm connecting rod 9, the palm connecting rod 9 other end is articulated with wrist hand dish 11, the movable claw dish 7 other end is articulated with the expansion portion, when the expansion portion outwards extends, the expansion portion drives movable claw dish 7 and outwards extends, and then make movable claw dish 7 drive the relative wrist hand dish 11 of palm connecting rod 9 and outwards expand, realize that flexible mechanical finger 6 is outside state of opening, thereby increase and snatch the volume, be applicable to snatching of great volume object.
According to the further optimization scheme, the expansion part comprises a ball-and-socket joint 12, the bottom of the ball-and-socket joint 12 is fixedly connected with the base 1, one end, far away from the base 1, of the ball-and-socket joint 12 is connected with an integrated cylinder barrel 13 through a ball hinge, one side, far away from the ball-and-socket joint 12, of the integrated cylinder barrel 13 is fixedly connected with the wrist hand disc 11, an integrated piston 14 is arranged in the integrated cylinder barrel 13, the inner wall of the integrated cylinder barrel 13 is in sliding connection with the integrated piston 14, the integrated piston 14 is close to the outer wall of one end, close to the integrated cylinder barrel 13, of the integrated cylinder barrel 13 and in contact with the inner wall of the integrated cylinder barrel 13, a transparent cover 15 is connected with the integrated piston 14 in a sliding mode, the outer wall of one end, close to the transparent cover 15, of the integrated piston 14 is in contact with the inner wall of the transparent cover 15, the transparent cover 15 is fixedly connected with the integrated cylinder barrel 13, the integrated piston 14 is fixedly connected with a central part at one end, and the central part is hinged with the movable claw disc 7. One end of the integrated cylinder barrel 13 is of a spherical structure, the ball-and-socket joint 12 is sleeved on the outer side of one end of the spherical structure of the integrated cylinder barrel 13, the inner wall of the ball-and-socket joint 12 is in contact with the outer wall of the spherical structure of the integrated cylinder barrel 13, the integrated cylinder barrel 13 and the ball-and-socket joint 12 form a three-degree-of-freedom spatial spherical hinge pair, one end, far away from the spherical structure of the integrated cylinder barrel 13, of the ball-and-socket joint 12 is fixedly connected with the base 1, one end, far away from the ball-and-socket joint 12, of the integrated cylinder barrel 13 is fixedly connected with the wrist hand disc 11, and movement of three degrees of freedom, namely vertical pitching, left-right deflection and axial rotation, of the wrist hand disc 11 relative to the base 1 is achieved.
The inner wall of the integrated cylinder barrel 13 is connected with the integrated piston 14 in a sliding manner, so that the integrated piston 14 can extend outwards along the axis direction of the integrated cylinder barrel 13, the bottom of the cavity of the integrated cylinder barrel 13 is provided with a water filling port which can be connected with an external water inlet valve and a water outlet valve in parallel to control the inlet and the outlet of pressure fluid, and the extending movement of the integrated piston 14 can be realized by controlling the flow and the pressure of the fluid introduced into a closed cavity formed by the integrated cylinder barrel 13 and the integrated piston 14 and close to one side of the spherical structure; pressure fluid enters the cavity of the integrated cylinder barrel 13 through the water injection port, pushes the integrated piston 14 to extend outwards, further drives the central part fixedly connected with the integrated piston 14 to extend outwards, and the central part is hinged with the movable claw discs 7, so that the plurality of flexible mechanical fingers 6 are in an outwards opening state; the integrated cylinder barrel 13 is fixedly connected with a transparent cover 15 at one side far away from the ball-and-socket joint 12, the integrated piston 14 penetrates through the center of the transparent cover 15 and is in sliding connection with the transparent cover 15, the transparent cover 15 and the integrated cylinder barrel 13 are coaxially arranged, so that the integrated piston 14 can only move along the axis direction of the integrated cylinder barrel 13, and the transparent cover 15 is provided with a plurality of through holes, so that pressure fluid in a cavity of the integrated cylinder barrel 13 can be conveniently discharged through the through holes of the transparent cover 15.
In a further optimized scheme, the section of the integrated piston 14 is of a T-shaped structure. The integrated piston 14 has three steps, the diameters of each step are gradually decreased, wherein the maximum end of the diameter is matched with the hollow part of the integrated cylinder barrel 13, and the second part of the diameter is matched with the central hole of the transparent cover 15 and extends out to enable the integrated piston 14 to move only along the axial direction of the integrated cylinder barrel 13.
According to a further optimization scheme, the center part comprises a center receiving disc 16, a plurality of movable claw discs 7 are arranged at equal intervals along the edge part of the center receiving disc 16, and the edge part of the center receiving disc 16 is hinged with the movable claw discs 7. The central flange 16 is fixedly connected with the integrated piston 14, the integrated piston 14 drives the central flange 16 to extend outwards when extending along the axis of the integrated cylinder 13, so that the central flange 16 drives the flexible mechanical fingers 6 to be in an outwards-opened state by driving the movable claw disc 7, when the central flange 16 contacts a grabbed object, the flexible mechanical fingers 6 are injected with pressure liquid to bend towards the axis of the central flange 16 and push the grabbed object to move towards the central flange 16 and press the central flange 16, the central flange 16 is subjected to the vertical force applied to the grabbed object by the flexible mechanical fingers 6 to push the integrated piston 14 to move towards one side of the integrated cylinder 13 close to the spherical structure, so that the flexible mechanical fingers 6 are in a contraction trend to form an enveloping grabbing situation, and the flexible mechanical fingers 6 can bear more gravity of the grabbed object and make more physical contact with the grabbed object surface, further increasing the friction force, thereby increasing the gripping load and stability.
According to the further optimized scheme, the flexible mechanical finger 6 is of a hollow structure, and the flexible mechanical finger 6 is of a single-side corrugated structure. The flexible mechanical finger 6 is made of flexible materials, a plurality of sub-chambers which are mutually communicated are arranged inside the flexible mechanical finger 6, one side of the outside of the flexible mechanical finger 6 is of a single-side corrugated structure, the single-side corrugated structure of the flexible mechanical finger 6 is arranged on the side away from the circle center, one end of the flexible mechanical finger 6 is provided with a water inlet, the other end of the flexible mechanical finger 6 is of a closed structure, the outside of the flexible mechanical finger 6 is connected with a high-speed switch valve (not shown in the figure), the high-speed switch valve is opened to inject fluid into the flexible mechanical finger 6, when fluid flows into the closed cavity from the water inlet end, the water pressure in the flexible mechanical finger 6 is gradually increased, the left surface and the right surface of each small cavity generate axial expansion deformation under the action of the water pressure, the expansion deformation of the small cavities are overlapped to enable the whole flexible mechanical finger 6 to generate radial bending, the object fishing posture of the flexible mechanical finger 6 is realized, and the bending angle and the deformation of the flexible mechanical finger 6 are in direct proportion to the input water pressure.
The working process of the embodiment is as follows: when an object is grabbed, high-pressure fluid is injected into the flexible mechanical fingers 6, so that the flexible mechanical fingers 6 are deformed from a linear state to an expansion bending state under the action of high-pressure water, an enveloping grabbing situation is formed, the relative rigidity of the flexible mechanical fingers 6 is increased along with the increase of input pressure, the acting force applied to the grabbed object by the flexible mechanical fingers 6 vertically acts on the central receiving disc 16, the central receiving disc 16 is pushed to move towards one side close to the integrated cylinder barrel 13, the flexible mechanical fingers 6 are enabled to be in an inwards-contracted grabbing state through the movement conversion of the central receiving disc 16 and the hinged parts of the movable claw discs 7 fixedly connected with the flexible mechanical fingers 6, the flexible mechanical fingers 6 can bear more gravity component of the grabbed object, more solid contact is carried out on the surfaces of the grabbed object, the friction force is further increased, the grabbing load and the stability are increased, and grabbing of the grabbed object is realized; when an object with a larger volume is grabbed, the integrated piston 14 is extended under the action of fluid pressure to push the central receiving disc 16 to extend outwards, so that the movable claw disc 7 is driven to be in an outwards-opened trend to form an outwards-opened grabbing state, and the grabbing volume is increased; if the pose of the grasped object is judged to be incompatible with the flexible mechanical finger 6 part or the external environmental condition is not allowed, the grasping can be realized by adjusting the deflection of the wrist hand disc 11, the pressure fluid is injected into each flexible corrugated pipe 4, the axial expansion degree generated by the pressure action inside each flexible corrugated pipe 4 is different, because the wrist hand disc 11 is fixedly connected with one end of the integrated cylinder 13 far away from the ball-and-socket joint 12, the integrated cylinder 13 and the ball-and-socket joint 12 form a three-degree-of-freedom spatial ball-and-socket joint pair through a spherical structure, further, in the movement process of the flexible corrugated pipe 4, the wrist hand disc 11, the flexible mechanical finger 6 and other components mounted on the wrist hand disc 11 can perform pitching deflection around the matching center of the integrated cylinder 13 and the ball-and-socket joint 12, the pitching, ulnar deflection/radial deflection behaviors of the wrist joint of a human body are simulated in the process, and the synchronous control of a single or a plurality of corrugated pipes is performed, deflection motion in six directions under a space coordinate system can be realized; if the physical interference exists between the preset grabbing position of the flexible mechanical finger 6 and the grabbed object or the surface is not suitable for grabbing, axial deformation can be generated by simultaneously introducing pressure fluid into all the flexible corrugated pipes 4, and because the ball joint connection between the integrated cylinder 13 and the ball-and-socket joint 12 cannot generate translational motion, in order to adapt to and compensate the change of the length of the flexible corrugated pipes 4, the integrated cylinder 13 and the ball-and-socket joint 12 can generate axial self-rotation.
Example 2
Fig. 9 is a view of the present embodiment, which is different from embodiment 1 only in that a catching net 17 is installed between a plurality of flexible mechanical fingers 6, the catching net 17 is made of elastic material, and the size of the net hole can be selected according to the specific working environment. The catching net 17 can fill gaps between the flexible mechanical fingers 6, when the plurality of flexible mechanical fingers 6 are in a bent catching state, the plurality of flexible mechanical fingers 6 and the plurality of catching net 17 form a closed space, so that the caught objects are caught to the inside of the closed space, the caught objects are prevented from slipping through the gaps between the flexible mechanical fingers 6, and the catching success rate and the catching stability of the objects are improved.
The working process of the embodiment is as follows: when snatching the object, it makes flexible mechanical finger 6 receive high pressure water effect to expand bending state deformation by rectilinear state to the water under high pressure to inject high pressure fluid in the flexible mechanical finger 6, form the envelope and snatch the situation, install the seizure net 17 between a plurality of flexible mechanical fingers 6 and also open under rivers impact, form the enclosure space, the article of catching removes to the enclosure space is inside at the flexible mechanical finger 6 crooked in-process, fall into and catch net 17, the crooked closure of a plurality of flexible mechanical fingers 6, and then make and catch net 17 closure, prevent to fall into the article landing of catching net 17, improve article and catch success rate and stability.
In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description of the present invention, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements of the technical solutions of the present invention can be made by those skilled in the art without departing from the spirit of the present invention, and the technical solutions of the present invention are within the scope of the present invention defined by the claims.
Claims (9)
1. The utility model provides a hard gentle coupling manipulator of integrated form which characterized in that: including base (1), base (1) one side rigid coupling has the flexion, the flexion is kept away from base (1) one side rigid coupling has wrist hand dish (11), wrist hand dish (11) with base (1) parallel arrangement, wrist hand dish (11) are kept away from base (1) one side articulates there is the portion of snatching, base (1) with be equipped with expansion portion between wrist hand dish (11), base (1) center with expansion portion bottom rigid coupling, expansion portion upper portion lateral wall with wrist hand dish (11) rigid coupling, the expansion portion top with it is articulated to snatch the portion, expansion portion is used for changing the aperture size of the portion of snatching, it is used for snatching the object to snatch the portion.
2. The integrated rigid-flexible coupling manipulator of claim 1, wherein: the flexion includes a plurality of runner assemblies, the runner assembly is three at least, and is a plurality of the runner assembly follows base (1) circumference is equidistant to be set up, and is a plurality of the runner assembly with base (1) rigid coupling, a plurality of the runner assembly is kept away from base (1) one end with wrist palm (11) rigid coupling.
3. The integrated rigid-flexible coupling manipulator of claim 2, wherein: the runner assembly includes that the lower tube connects (2), the lower tube connects (2) outside rigid coupling has first joint seat (3), first joint seat (3) with base (1) rigid coupling, keep away from first joint seat (3) lower tube connects (2) one side rigid coupling has flexible bellows (4), flexible bellows (4) are kept away from lower tube connects (2) one end rigid coupling has the one end of top tube joint (5), top tube joint (5) other end rigid coupling has second joint seat (10), second joint seat (10) with wrist palm (11) rigid coupling.
4. The integrated rigid-flexible coupling manipulator of claim 1, wherein: the grabbing part comprises a plurality of flexible assemblies, the flexible assemblies are arranged along the wrist hand disc (11) in the circumferential direction at equal intervals, one end of each flexible assembly is hinged to the wrist hand disc (11), and the other end of each flexible assembly is hinged to the expansion part.
5. The integrated rigid-flexible coupling manipulator of claim 4, wherein: flexible assembly includes movable claw dish (7), movable claw dish (7) one end articulates there is palm connecting rod (9), palm connecting rod (9) other end with wrist hand dish (11) are articulated, movable claw dish (7) other end with the expansion portion is articulated, movable claw dish (7) top rigid coupling has soft claw gland (8), keep away from soft claw gland (8) movable claw dish (7) one side rigid coupling has flexible mechanical finger (6).
6. The integrated rigid-flexible coupling manipulator of claim 5, wherein: the expansion part comprises a ball-and-socket joint (12), the bottom of the ball-and-socket joint (12) is fixedly connected with the base (1), one end, far away from the base (1), of the ball-and-socket joint (12) is connected with an integrated cylinder barrel (13) through a spherical hinge, one side, far away from the ball-and-socket joint (12), of the integrated cylinder barrel (13) is fixedly connected with the wrist hand disc (11), an integrated piston (14) is arranged in the integrated cylinder barrel (13), the inner wall of the integrated cylinder barrel (13) is in sliding connection with the integrated piston (14), the outer wall, close to one end of the integrated cylinder barrel (13), of the integrated piston (14) is in contact with the inner wall of the integrated cylinder barrel (13), the integrated piston (14) is in sliding connection with a transparent cover (15), the integrated piston (14) penetrates through the center of the transparent cover (15), the outer wall, close to one end of the transparent cover (15), of the integrated piston (14) is in contact with the inner wall of the transparent cover (15), the transparent cover (15) is fixedly connected with the integrated cylinder barrel (13), one end, far away from the integrated cylinder barrel (13), of the integrated piston (14) is fixedly connected with a central part, and the central part is hinged with the movable claw disc (7).
7. The integrated rigid-flexible coupling manipulator of claim 6, wherein: the section of the integrated piston (14) is of a T-shaped structure.
8. The integrated rigid-flexible coupling manipulator of claim 6, wherein: the central part comprises a central receiving disc (16), a plurality of movable claw discs (7) are arranged at equal intervals along the edge part of the central receiving disc (16), and the edge part of the central receiving disc (16) is hinged with the movable claw discs (7).
9. The integrated rigid-flexible coupling manipulator of claim 5, wherein: the flexible mechanical finger (6) is of a hollow structure, and the flexible mechanical finger (6) is of a single-side corrugated structure.
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| CN114986534B (en) | 2024-06-25 |
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