CN114986534A - Integrated rigid-flexible coupling manipulator - Google Patents

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

An integrated rigid-flexible coupling manipulator

technical field

The invention relates to the technical field of underwater operation equipment, in particular to an integrated rigid-flexible coupling manipulator.

Background technique

Underwater manipulator is a kind of special mechanical equipment mounted on Underwatervehicle to perform underwater tasks, and has an irreplaceable role in the complex underwater operating environment. At present, the most common underwater working manipulators in the world are mainly heavy rigid manipulators. The part of the end that is in direct contact with the object to be grasped is usually a rigid clamping structure, which has high rigidity and poor bionics. Even if it can achieve precise control of its own motion, It is also difficult to ensure that the grasped sample does not have any damage. When grasping some soft organisms and soft samples, its structure is often destroyed, so it is only suitable for grasping some hard objects, not suitable for precision operations, especially for Some soft-bodied creatures and various sensitive underwater instruments, etc. With the natural flexibility of its own soft materials, flexible manipulators have become an important part of the development of underwater operation equipment. At present, various types of software manipulators developed in the mainstream, such as pneumatic, rope drive, magnetic fluid drive, etc., all have low output force, only simple grasping action, and are only suitable for gripping items with low quality within a fixed size range, etc. shortcoming. And they are difficult to meet the needs of high adaptability and strong anti-interference ability of underwater operation equipment in the underwater environment. In addition, these flexible manipulator systems are all closed systems that are incompatible with the underwater operating environment. They are easily affected by the underwater back pressure environment during underwater operations, and are difficult to adapt to the complex and special underwater working environment. Therefore, there is an urgent need for An integrated rigid-flexible coupling manipulator solves the problem.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an integrated rigid-flexible coupling manipulator, so as to solve the above problems, improve the grasping load and relative stiffness of the existing flexible manipulator based on the hydraulic technology, so that the manipulator can meet various angles and ranges. The purpose is to enhance the grasping adaptability of objects of unknown mass and volume during underwater operations.

For achieving the above object, the present invention provides the following scheme:

An integrated rigid-flexible coupling manipulator includes a base, one side of the base is fixed with a curved portion, and a side of the curved portion away from the base is fixed with a wrist hand plate, the wrist hand plate is connected to the The bases are arranged in parallel, and a grab portion is hinged on the side of the wrist handle away from the base, an expansion portion is arranged between the base and the wrist handle, and the center of the base is fixed to the bottom of the expansion portion. connected, the upper side wall of the expansion part is fixedly connected with the wrist handle, the top of the expansion part is hinged with the grasping part, and the expansion part is used to change the opening of the grasping part, so The grasping part is used for grasping the object.

Preferably, the bending part includes a plurality of rotating components, and the number of the rotating components is at least three, the rotating components are arranged at equal intervals along the circumference of the base, the rotating components are fixedly connected to the base, One end of the rotating assembly away from the base is fixedly connected to the wrist hand panel.

Preferably, the rotating assembly includes 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 to the base, and the first joint seat is away from the lower pipe One side of the joint is fixedly connected with a flexible corrugated pipe, one end of the flexible corrugated pipe away from the lower pipe joint is fixed with one end of the upper pipe joint, and the other end of the upper pipe joint is fixed with a second joint seat, the second joint The joint seat is fixedly connected with the wrist handle.

Preferably, the grasping part includes a plurality of flexible components, the flexible components are arranged at equal intervals along the circumferential direction of the wrist handle, one end of the flexible components is hinged with the wrist handle, and the flexible components are hinged to the wrist handle. The other end of the assembly is hinged with the expansion part.

Preferably, the flexible component includes a movable claw plate, one end of the movable claw plate is hinged with a palm link, the other end of the palm link is hinged with the wrist hand plate, and the other end of the movable claw plate is connected with the The expansion part is hinged, the top of the movable claw plate is fixed with a soft claw press cover, and the side of the soft claw pressure cover away from the movable claw plate is fixed with a flexible mechanical finger.

Preferably, the expansion part includes a ball-socket joint, the bottom of the ball-socket joint is fixedly connected to the base, and an integrated cylinder is connected to one end of the ball-socket joint away from the base through a ball hinge, and the integrated cylinder The side of the cylinder away from the ball-and-socket joint is fixedly connected with the wrist handle, the integrated cylinder is provided with an integrated piston, and the inner wall of the integrated cylinder is slidably connected with the integrated piston. The integrated piston is arranged in contact with the inner wall of the integrated cylinder near one end of the integrated cylinder, the integrated piston is slidably connected with a through cover, the integrated piston penetrates through the center of the through cover, and the integrated The outer wall of one end of the piston close to the through cover is arranged in contact with the inner wall of the through cover, the through cover is fixedly connected with the integrated cylinder, and the one end of the integrated piston away from the integrated cylinder is fixed with a central portion, The central portion is hinged with the movable claw plate.

Preferably, the cross-section of the integrated piston is a "T"-shaped structure.

Preferably, the central portion includes a central receiving plate, a plurality of the movable claw plates are arranged at equal intervals along the edge portion of the central receiving plate, and the edge portion of the central receiving plate is hinged to the movable claw plate.

Preferably, the flexible manipulator finger is a hollow structure, and the flexible manipulator finger is a unilateral corrugated structure.

The invention has the following technical effects: adopting a bionic design, through the rigid support of the base, the wrist handle, the expansion part, the flexible drive of the bending part and the grasping part, the integrated rigid-flexible coupling manipulator can be made under the action of the bending part. Realize up and down pitch, left and right deflection and axial rotation, and realize grabbing objects of different volumes under the cooperation of the expansion part and the grabbing part, which increases the range of motion of the manipulator, which is beneficial for the manipulator to carry out various grabbing activities. The rigid-flexible coupling design has high flexibility on the basis of taking into account the structural strength and load capacity.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative labor.

Fig. 1 is the structural representation of the present invention;

Figure 2 is a schematic structural diagram of the rotating assembly of the present invention;

3 is a schematic structural diagram of the expansion portion of the present invention;

FIG. 4 is a schematic structural diagram of the flexible mechanical finger of the present invention;

FIG. 5 is a schematic diagram of the structure of the center connection plate of the present invention;

6 is a schematic diagram of grasping under the palm of the present invention in a retracted state;

7 is a schematic diagram of the present invention under the open state of the palm;

Fig. 8 is the schematic diagram of grasping under the open state of the palm of the present invention;

9 is a schematic diagram of the structure of the capture net between the flexible mechanical fingers according to Embodiment 2 of the present invention;

Among them, 1. base; 2. lower pipe joint; 3. first joint seat; 4. flexible bellows; 5. upper pipe joint; 6. flexible mechanical finger; 7. movable claw plate; 8. soft claw gland; 9. Palm connecting rod; 10. Second joint seat; 11. Wrist hand plate; 12. Ball joint; 13. Integrated cylinder; 14. Integrated piston; 15. Through cover; 16. Center connecting plate; 17 , capture net.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.

1-8 , this embodiment provides an integrated rigid-flexible coupling manipulator, including a base 1 , a curved part is fixedly connected to one side of the base 1 , and a wrist hand plate 11 is fixedly connected to the side of the curved part away from the base 1 . The upper hand plate 11 is arranged in parallel with the base 1, the wrist hand plate 11 is hingedly connected with a grasping part on the side away from the base 1, an expansion part is arranged between the base 1 and the wrist hand plate 11, and the center of the base 1 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 plate 11, the top of the expansion part is hinged with the grasping part, the expansion part is used to change the opening of the grasping part, and the grasping part is used to grasp objects. The curved part is fixedly installed through the base 1 , and the wrist hand plate 11 is fixedly connected to the side of the curved part away from the base 1 . An expansion part is provided between the hand plates 11, and the expansion part is hingedly connected with the wrist hand plate 11 and the grasping part, which can realize the expansion and contraction of the grasping part, and cooperate with the grasping part to grasp objects of different volumes.

To further optimize the solution, the bending part includes a number of rotating components, and the number of rotating components is at least three. The disc 11 is fixed. Several rotating components are stretched under the action of internal fluid pressure. According to the input pressure of each rotating component and the installation position of each rotating component, the wrist handplate 11 can be driven to achieve three degrees of freedom of up and down pitch, left and right yaw and axial rotation. , the number of rotating components is at least three, and the increase of rotating components can enable the wrist handplate 11 to achieve higher-precision up-down pitch, left-right yaw and axial rotation. In this embodiment, the number of rotating components is preferably three.

In the actual grasping process, there is often a certain gap between the grasped object and the ideal grasping posture. This error often has a great impact on the grasping success rate. In this embodiment, several rotating components can be used to cooperate with the expansion part to control , adapting to the singular posture, so that the grasping part can quickly enter the grasping procedure, wherein the overall stiffness of the bending part is proportional to the pressure of the fluid passed into the flexible bellows 4 .

To further optimize the solution, the rotating assembly includes a lower pipe joint 2, a first joint seat 3 is fixedly connected to the outer side of the lower pipe joint 2, the first joint seat 3 is fixedly connected with the base 1, and the first joint seat 3 is fixed on a side away from the lower pipe joint 2. A flexible corrugated pipe 4 is connected, one end of the flexible corrugated pipe 4 away from the lower pipe joint 2 is fixedly connected with one end of the upper pipe joint 5, and the other end of the upper pipe joint 5 is fixedly connected with a second joint seat 10, the second joint seat 10 and the wrist The hand plate 11 is fixed. The lower pipe joint 2 is provided with a water pipe connection through hole, and the connecting through hole controls the on-off of the internal fluid through two high-speed on-off valves (not shown in the figure), so as to facilitate the injection of fluid into the flexible bellows 4 through the lower pipe joint 2, and the lower pipe The contact part between the outer wall of the joint 2 and the inner wall of the flexible corrugated pipe 4 is provided with several grooves, the contact part of the inner wall of the first joint seat 3 and the flexible corrugated pipe 4 is provided with several protrusions, the outer wall groove of the lower pipe joint 2 and the inner wall of the first joint seat 3 are provided with a number of protrusions. The protrusions match, one end of the flexible corrugated pipe 4 is installed 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 and the first joint seat 3 are in interference fit, and one end of the flexible corrugated pipe 4 is squeezed down. Between the pipe joint 2 and the first joint seat 3, the fixed connection of the lower pipe joint 2, the flexible bellows 4 and the first joint seat 3 is realized, and at the same time, the fluid injected into the flexible bellows 4 is prevented from flowing out from the connection gap, so as to seal effect.

The other end of the flexible corrugated pipe 4 is fixedly connected with the upper pipe joint 5 and the second joint seat 10. The difference between the upper pipe joint 5 and the lower pipe joint 2 is only that the upper pipe joint 5 is far away from the flexible corrugated pipe 4. One end is a closed structure to avoid flexible corrugations The fluid injected in the pipe 4 flows out from the upper pipe joint 5. The first joint seat 3 is exactly the same as the second joint seat 10. When the water inlet valve is opened, the flexible bellows 4 is subjected to the pressure of the internal fluid to produce axial expansion, and the flexible bellows During the movement of the tube 4, the wrist hand plate 11 fixed at one end of the flexible bellows 4 and the grasping part installed on it will pitch and deflect around the center of the expansion part, and this process simulates the pitch, ulnar deflection/radial deflection of the human wrist joint. For the deflection behavior, through the synchronous control of single or multiple flexible bellows 4, deflection motions in a total of six directions in the space coordinate system can be realized.

If it is judged that there is physical interference between the predetermined grasping position of the grasping part and the grasped object or the surface is not suitable for grasping, enter the wrist spin adjustment procedure: when multiple flexible bellows 4 are simultaneously fed into the pressure fluid generating shaft Since the distance between the center of the wrist hand plate 11 and the base 1 remains unchanged, in order to adapt and compensate for the change in the length of the flexible bellows 4, the wrist hand plate 11 and the base 1 will produce axial spins .

In a further optimized solution, the grasping part includes several flexible components, which are arranged at equal intervals along the circumference of the wrist handle 11 , one end of the several flexible components is hinged with the wrist handle 11 , and the other end of the several flexible components is hinged with the expansion part. The flexible components can be increased or decreased according to the shape or grasping method of the target object to be grasped. In this embodiment, there are preferably three flexible components. When the expansion part extends outward, the expansion part drives a number of flexible components hinged on the expansion part to move. The other end of the flexible component is hinged with the wrist handle 11, so that the flexible component is in an outwardly opened state, thereby increasing the grasping volume, and is suitable for grasping large-volume objects.

To further optimize the solution, the flexible component includes a movable claw plate 7, one end of the movable claw plate 7 is hinged with a palm link 9, the other end of the palm link 9 is hinged with the wrist hand plate 11, and the other end of the movable claw plate 7 is hinged with the expansion part, and the movable claw plate 7 is hinged with the expansion part. A soft claw cover 8 is fixedly connected to the top of the claw plate 7 , and a flexible manipulator finger 6 is fixedly connected to the side of the soft claw cover 8 away from the movable claw plate 7 . The flexible mechanical finger 6 is fixedly connected with the movable claw plate 7 through the soft claw cover 8 to realize integrated connection and sealing. One end of the movable claw plate 7 is hinged with the palm link 9, and the other end of the palm link 9 is hinged with the wrist hand plate 11. , the other end of the movable claw plate 7 is hinged with the expansion part, when the expansion part extends outward, the expansion part drives the movable claw plate 7 to extend outward, and then the movable claw plate 7 drives the palm link 9 to the outward relative to the wrist hand plate 11 Expanding, the flexible mechanical fingers 6 are in an outwardly open state, thereby increasing the grasping volume, which is suitable for grasping large-volume objects.

The solution is further optimized. The expansion part includes a ball-and-socket joint 12, the bottom of the ball-socket joint 12 is fixedly connected to the base 1, and one end of the ball-socket joint 12 away from the base 1 is connected with an integrated cylinder 13 through a ball hinge, and the integrated cylinder 13 is far away from the ball socket. One side of the joint 12 is fixedly connected with the wrist handle 11 , the integrated cylinder 13 is provided with an integrated piston 14 , the inner wall of the integrated cylinder 13 is slidably connected with the integrated piston 14 , and the integrated piston 14 is close to the integrated cylinder 13 The outer wall of one end is arranged in contact with the inner wall of the integrated cylinder 13 , the integrated piston 14 is slidably connected with the through cover 15 , the integrated piston 14 penetrates the center of the through cover 15 , and the outer wall of one end of the integrated piston 14 close to the through cover 15 is arranged in contact with the inner wall of the through cover 15 The transparent cover 15 is fixedly connected with the integrated cylinder 13 , and one end of the integrated piston 14 away from the integrated cylinder 13 is fixed with a central portion, and the central portion is hinged with the movable claw plate 7 . One end of the integrated cylinder barrel 13 is 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, and 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, so that the integrated cylinder barrel 13 A three-degree-of-freedom ball joint pair is formed with the ball-socket joint 12. One end of the ball-socket joint 12 away from the spherical structure of the integrated cylinder 13 is fixedly connected to the base 1, and one end of the integrated cylinder 13 away from the ball-socket joint 12 is connected with the wrist hand plate. 11 is fixedly connected to realize the movement of the wrist hand plate 11 relative to the base 1 to produce three degrees of freedom of up and down pitch, left and right deflection and axial rotation.

The inner wall of the integrated cylinder 13 is slidably connected with the integrated piston 14, so that the integrated piston 14 can extend outward along the axis of the integrated cylinder 13. The bottom of the cavity of the integrated cylinder 13 is provided with a water injection port, which can be connected to an external water inlet in parallel. The valve and the water outlet valve control the in and out of the pressure fluid, and the extension movement of the integrated piston 14 can be realized by controlling the flow rate and pressure of the fluid in the closed cavity formed by the integrated cylinder 13 and the integrated piston 14 on the side close to the spherical structure. The pressure fluid enters the cavity of the integrated cylinder 13 through the water injection port, pushes the integrated piston 14 to extend outward, and then drives the central part fixed to the integrated piston 14 to extend outward, and the central part is hinged with a number of movable claw discs 7, A plurality of flexible mechanical fingers 6 are realized in an outwardly open state; a transparent cover 15 is fixedly connected to the side of the integrated cylinder 13 away from the ball and socket joint 12, and the integrated piston 14 penetrates through the center of the transparent cover 15 and is slidably connected with the transparent cover 15. The cover 15 is arranged coaxially with the integrated cylinder 13, so that the integrated piston 14 can only move along the axis of the integrated cylinder 13, and the transparent cover 15 is provided with a plurality of through holes, which is convenient for the pressure fluid in the cavity of the integrated cylinder 13. It is discharged through the through hole of the transparent cover 15 .

To further optimize the solution, the section of the integrated piston 14 is a "T"-shaped structure. The integrated piston 14 has three steps, and the diameter of each stage decreases in turn, wherein the end with the largest diameter is matched with the hollow part of the integrated cylinder 13, and the part with the second diameter is matched with the central hole of the transparent cover 15 and protrudes so that the integrated piston 14 It can only move along the axis of the integrated cylinder 13 .

In a further optimized solution, the central part includes a central connecting plate 16 , a plurality of movable claw plates 7 are arranged at equal intervals along the edge of the central connecting plate 16 , and the edge of the central connecting plate 16 is hinged with the movable claw plate 7 . The central connecting plate 16 is fixedly connected with the integrated piston 14. When the integrated piston 14 extends along the axis of the integrated cylinder 13, it drives the central connecting plate 16 to extend outward, so that the central connecting plate 16 drives the flexible mechanical finger 6 to move in the direction by driving the movable claw plate 7. In the open state, when the center plate 16 touches the grasped object, several flexible manipulator fingers 6 inject pressure liquid and bend toward the axis of the center plate 16, and push the grasped object to move toward the center plate 16 and squeeze the center plate 16, The center connecting plate 16 is subjected to the vertical force exerted by the flexible mechanical fingers 6 on the grasped object, and pushes the integrated piston 14 to move toward the side of the integrated cylinder 13 close to the spherical structure, so that several flexible mechanical fingers 6 tend to shrink, forming an envelope grasping The flexible mechanical finger 6 can bear more gravitational force of the grasped object, make more physical contact with the surface of the grasped object, and further increase the friction force, thereby increasing the grasping load and stability.

Further optimized solution, the flexible manipulator finger 6 is a hollow structure, and the flexible manipulator finger 6 is a unilateral corrugated structure. The flexible manipulator finger 6 is made of a flexible material, and is composed of a plurality of interconnected sub-chambers inside, forming a unilateral corrugated structure on the outer side of the flexible manipulator finger 6, and the unilateral corrugated structure of the flexible manipulator 6 is far from the center of the circle. Setting, one end of the flexible manipulator 6 has a water inlet, and the other end is a closed structure, and the outside of the flexible manipulator 6 is connected with a high-speed switch valve (not shown in the figure), and the high-speed switch valve is opened to inject fluid into the flexible manipulator 6. When The fluid flows into the closed chamber from the water inlet, the internal water pressure of the flexible manipulator 6 gradually increases, and the left and right surfaces of each small chamber are subjected to the action of water pressure to produce axial expansion deformation, and the The superposition of expansion and deformation causes the entire flexible manipulator finger 6 to bend radially, realizing the posture of the flexible manipulator 6 picking up objects. The bending angle and deformation of the flexible manipulator finger 6 are proportional to the input water pressure.

The working process of this embodiment is as follows: when grasping an object, high-pressure fluid is injected into the flexible robotic finger 6 to deform the flexible robotic finger 6 from a linear state to an expanded and bent state under the action of high-pressure water, forming an envelope grasping state, and the flexible robotic finger 6 deforms from a linear state to an expanded and bent state. 6. The relative stiffness increases with the increase of the input pressure. The force exerted by the flexible manipulator 6 on the grasped object acts vertically on the central receiving plate 16, and pushes the central receiving plate 16 to move toward the side close to the integrated cylinder 13, through the central receiving plate 16 The movement of the hinge part of the movable claw plate 7 fixed with the flexible mechanical fingers 6 is converted, so that the flexible mechanical fingers 6 are in an inwardly retracted grasping state, and the flexible mechanical fingers 6 can bear more gravity components of the grasped objects, and The surface of the grasped object has more physical contact, which further increases the friction force, thereby increasing the grasping load and stability, and realizing the grasping of the grasped object; when grasping a larger volume of objects, the integrated piston 14 is affected by the fluid pressure. Extend, push the center receiving plate 16 to extend outward, and then drive the movable claw plate 7 to open outward, forming an outward opening grasping state, thereby increasing the grasping volume; if the posture and flexibility of the grasped object are judged If the mechanical fingers 6 are partially incompatible, or the external environmental conditions are not allowed, the grasping can be realized by adjusting the deflection of the wrist hand plate 11, and by injecting pressure fluid into each flexible bellows 4, the inside of each flexible bellows 4 is generated by pressure. The degree of axial expansion is different. Since the wrist hand plate 11 and the integrated cylinder 13 are fixedly connected to one end 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 space ball joint pair through a spherical structure. Further, during the movement of the flexible bellows 4, the wrist hand plate 11 and the flexible mechanical fingers 6 mounted thereon will be pitched and deflected around the matching center of the integrated cylinder 13 and the ball-and-socket joint 12. The process simulates the pitch, ulnar/radial deflection behavior of the human wrist joint, and through the synchronous control of single or multiple bellows, a total of six directions of deflection motion in the space coordinate system can be realized; If there is physical interference between the grasping position and the object to be grasped or the surface is not suitable for grasping, axial deformation can be generated by feeding pressure fluid into all flexible bellows 4 at the same time. The ball joint connection between 12 cannot produce translational motion. At this time, in order to adapt and compensate for the change in the length of the flexible bellows 4, the integrated cylinder 13 and the ball joint 12 will produce axial spin.

Example 2

As shown in FIG. 9 , the difference between this embodiment and Embodiment 1 is only that a capture net 17 is installed between several flexible robot fingers 6 , the capture net 17 is made of elastic material, and the mesh size can be selected according to the specific operating environment. The capturing nets 17 can fill the gaps between the flexible robotic fingers 6. When the flexible robotic fingers 6 are in a curved grasping state, the flexible robotic fingers 6 and the capturing nets 17 form a closed space, and the captured items are captured inside the closed space to avoid The captured objects slide down through the gaps between the flexible mechanical fingers 6, thereby improving the success rate and stability of capturing the objects.

The working process of this embodiment is as follows: when grasping an object, high-pressure fluid is injected into the flexible robotic finger 6 to deform the flexible robotic finger 6 from a linear state to an expanded and curved state under the action of high-pressure water, forming an envelope grasping state, which is installed in several The capture net 17 between the flexible robot fingers 6 is also opened under the impact of the water flow to form a closed space, and the captured objects move into the closed space during the bending process of the flexible robot fingers 6 and fall into the capture net 17. Several flexible robot fingers 6. Bend and close, thereby closing the catching net 17, preventing the articles falling into the catching net 17 from slipping off, and improving the success rate and stability of catching the articles.

In the description of the present invention, it should be understood that the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", "vertical", The orientation or positional relationship indicated by "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention, rather than indicating or It is implied that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

The above-mentioned embodiments are only to describe the preferred modes of the present invention, but not to limit the scope of the present invention. Without departing from the design spirit of the present invention, those of ordinary skill in the art can make various modifications to the technical solutions of the present invention. Variations and improvements should fall within the protection scope determined by the claims of the present invention.

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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