CN116652999B - Underwater soft manipulator - Google Patents
Underwater soft manipulator Download PDFInfo
- Publication number
- CN116652999B CN116652999B CN202310922111.7A CN202310922111A CN116652999B CN 116652999 B CN116652999 B CN 116652999B CN 202310922111 A CN202310922111 A CN 202310922111A CN 116652999 B CN116652999 B CN 116652999B
- Authority
- CN
- China
- Prior art keywords
- soft
- driving device
- underwater
- connecting rod
- body part
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005452 bending Methods 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 17
- 238000007789 sealing Methods 0.000 claims description 5
- 230000009471 action Effects 0.000 description 5
- 210000000078 claw Anatomy 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 229920001296 polysiloxane Polymers 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, and provides an underwater soft manipulator. The underwater soft manipulator comprises a mounting seat, clamping jaws, a first driving device and a pull rope; the clamping jaws are distributed along a ring shape, each clamping jaw is provided with a supporting framework, a rigid body part and a soft body part which are connected with each other, and the rigid body parts are connected with the mounting seat; the support framework is provided with a first support part and a second support part, the first end of the first support part is rotationally connected with the soft part, the second end of the first support part is rotationally connected with the soft part and the first end of the second support part, and the second end of the second support part is rotationally connected with the rigid part; the first driving device is connected to the mounting seat and connected with the soft body part through a pull rope, and the first driving device can drive the soft body part to bend inwards through the pull rope. The underwater soft manipulator can apply proper force to different objects to be grabbed through the soft part, has high reliability and stability, and improves the success rate of grabbing tasks and the damage-free rate of the objects to be grabbed.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an underwater soft manipulator.
Background
With more and more eyes focusing on the development and exploration of ocean resources, underwater manipulators are becoming more and more widely used. When the traditional underwater manipulator performs underwater grabbing operation, the traditional underwater manipulator cannot adapt to the shape and the size of an object to be grabbed, and the clamping force is easy to be too small or too large. The gripping force is too small to achieve gripping, the gripped objects are easily damaged due to too large gripping force, and the operation requirements of the underwater robot cannot be met. Accordingly, it is desirable to provide a robotic arm that is specifically designed for use in an underwater work environment and task.
Disclosure of Invention
The invention provides an underwater soft manipulator which is used for solving the technical problem that the underwater manipulator in the prior art is difficult to complete a grabbing task under the condition of not damaging a grabbed object.
The invention provides an underwater soft manipulator, comprising:
a mounting base;
the clamping jaw is provided with a supporting framework, a rigid body part and a soft body part, wherein the rigid body part and the soft body part are connected with each other, the rigid body part is connected to the mounting seat, the supporting framework is provided with a first supporting part and a second supporting part, the first end of the first supporting part is rotationally connected with the soft body part, the second end of the first supporting part is rotationally connected with the soft body part and the first end of the second supporting part, and the second end of the second supporting part is rotationally connected with the rigid body part;
the first driving device is connected to the mounting seat and connected with the soft body part through the pull rope, and the first driving device can drive the soft body part to bend inwards through the pull rope.
According to the underwater soft manipulator provided by the invention, the inner side surface of the soft part is convexly provided with the plurality of structural plates, the plurality of structural plates are sequentially arranged at intervals along the length direction of the clamping jaw, the pull rope is arranged on the rigid part and the plurality of structural plates in a penetrating manner and is connected with one end, far away from the rigid part, of the soft part, and under the condition that the pull rope is tightened, the soft part is bent inwards, and the plurality of structural plates are mutually close.
According to the underwater soft manipulator provided by the invention, the supporting framework further comprises the first connecting rod and the transmission part, the first end of the first connecting rod is rotationally connected with the second end of the second supporting part, the third end of the first supporting part and the second end of the first connecting rod are respectively rotationally connected with the two ends of the transmission part, and the supporting framework can limit the bending angle of the soft part.
According to the underwater soft manipulator provided by the invention, the second supporting part comprises the second connecting rod and the third connecting rod, the first end of the second connecting rod is rotationally connected with the second end of the first supporting part, the second end of the second connecting rod is rotationally connected with the soft part and the first end of the third connecting rod, and the second end of the third connecting rod is rotationally connected with the first end of the first connecting rod;
the transmission part comprises a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein the first end of the fourth connecting rod is rotationally connected with the third end of the first supporting part, the first end of the sixth connecting rod is rotationally connected with the second end of the first connecting rod, and the three connecting ends of the fifth connecting rod are rotationally connected with the second end of the second connecting rod, the second end of the fourth connecting rod and the second end of the sixth connecting rod respectively.
According to the underwater soft manipulator provided by the invention, the supporting frameworks are respectively arranged on two sides of the clamping jaw in the length direction.
The invention provides an underwater soft manipulator, which further comprises:
the second driving device is connected between the mounting seats in a rotating mode, the second driving device is connected with the mounting seats and the rigid body, and the first driving device can drive the rigid body to rotate relative to the mounting seats.
The invention provides an underwater soft manipulator, which further comprises:
the clamping jaw comprises a worm wheel and a worm, wherein the worm wheel is respectively fixed on rigid body parts of a plurality of clamping jaws, the worm wheel is meshed with the worm, and the second driving device is fixed on the mounting seat and connected with the worm so as to drive the worm wheels to rotate through the worm.
According to the soft manipulator provided by the invention, the mounting seat is provided with the waterproof cover, the first driving device and the second driving device are steering engines and are arranged in the waterproof cover in a sealing manner, the waterproof cover is provided with the underwater navigation plug, and the underwater navigation plug is electrically connected with the first driving device and the second driving device.
The invention provides an underwater soft manipulator, which further comprises:
the base, the base with mount pad fixed connection, the base is equipped with first rotation connecting portion and second rotation connecting portion, the axis of first rotation connecting portion with the axis of second rotation connecting portion mutually perpendicular.
The invention also provides a robot comprising any one of the underwater soft manipulator.
According to the underwater soft manipulator and the robot, the soft part and the supporting framework for supporting the soft part are arranged on the clamping jaw, the soft part is connected with the first driving device through the pull rope, and the first driving device drives the soft part to bend in a mode of tightening the pull rope so as to grasp a gripped object. The soft body part is in flexible contact with the object to be grabbed, so that the shape and the size of the object to be grabbed can be adapted, the force applied to the object to be grabbed by the clamping jaw is uniformly distributed, and damage to the object to be grabbed is avoided. The support framework supports the soft body part in multiple sections, so that the soft body part can be bent at a set bending position, the soft body part is prevented from shaking during grasping, and heavy objects to be grasped are prevented from pulling the soft body part, and the clamping jaw has flexibility and structural stability, so that the rigid-flexible coupling underwater soft body manipulator is formed. The embodiment of the invention not only adopts soft materials to better adapt to the shape and the size of the object to be grabbed and applies proper force to different objects to be grabbed, but also continues the advantages of high reliability and high stability of the rigid body clamping jaw grabbing operation of the traditional underwater manipulator, and improves the success rate of grabbing tasks and the damage-free rate of the object to be grabbed.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of an underwater soft manipulator according to the present invention;
FIG. 2 is a schematic diagram of a second embodiment of the underwater soft manipulator according to the present invention;
FIG. 3 is a schematic view of a jaw in a flexible underwater manipulator according to the present invention in a bent state.
Reference numerals:
1. a mounting base; 11. a waterproof cover; 12. performing underwater navigation and insertion; 2. a first driving device; 3. a pull rope; 4. a clamping jaw; 41. a rigid body portion; 42. a soft body part; 421. a structural panel; 43. a support skeleton; 431. a first support portion; 432. a second supporting part; 4321. a second link; 4322. a third link; 433. a first rotating shaft; 434. a second rotating shaft; 435. a third rotating shaft; 436. a fourth rotating shaft; 437. a first link; 438. a transmission part; 4381. a fourth link; 4382. a fifth link; 4383. a sixth link; 5. a wire wheel; 6. a second driving device; 71. a worm wheel; 72. a worm; 8. a base; 81. a first rotary connection; 82. and a second rotary connection.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In describing embodiments of the present invention, it should be noted that the term "first" … "sixth" is used for clarity in describing the numbering of the product components and does not represent any substantial distinction unless explicitly stated or defined otherwise. The specific meaning of the above terms in the embodiments of the present invention will be understood by those of ordinary skill in the art according to specific circumstances. Furthermore, the meaning of "plurality" is two or more.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The underwater soft manipulator and robot of the present invention will be described below with reference to fig. 1 to 3.
As shown in fig. 1, the underwater soft manipulator provided by the invention comprises a mounting seat 1, a first driving device 2, a pull rope 3 and a plurality of clamping jaws 4. Wherein the plurality of clamping jaws 4 are distributed along a ring shape. The clamping jaw 4 is provided with a supporting framework 43, a rigid body part 41 and a soft body part 42 which are mutually connected, and the rigid body part 41 is connected with the mounting seat 1. The support frame 43 is provided with a first support portion 431 and a second support portion 432, wherein a first end of the first support portion 431 is rotatably connected with the soft body portion 42, a second end of the first support portion 431 is rotatably connected with the soft body portion 42 and a first end of the second support portion 432, and a second end of the second support portion 432 is rotatably connected with the rigid body portion 41. The first driving device 2 is connected to the mounting base 1 and is connected to the soft body 42 through the pull rope 3. The first driving device 2 can drive the soft part 42 to bend inwards through the pull rope 3.
Wherein the number of the clamping jaws 4 is two or more, the underwater soft manipulator in the figures 1-3 is provided with three clamping jaws 4 distributed along the circumferential direction. One of the holding claws 4 corresponds to a soft finger of the manipulator, and the rigid body portion 41 and the soft body portion 42 are arranged along the length direction of the soft finger. The number of the pull ropes 3 is the same as that of the clamping jaws 4, and two ends of each pull rope 3 are respectively connected with the driving end of the first driving device 2 and the soft part 42 of one clamping jaw 4. The inner side of the soft body portion 42 refers to the side thereof facing the surrounding center of the plurality of jaws 4. The pulling cord 3 is connected to one end of the soft body portion 42 away from the rigid body portion 41.
The soft body 42 has elastic deformation characteristics, and can be made of a flexible material such as liquid silicone by injection molding, and has soft body characteristics. When the pulling cord 3 is not applying a force to the soft body 42, the soft body 42 is in the initial configuration. In the case where the first driving means 2 tightens the pulling cord 3, the soft body portion 42 is pulled to bend inward, thereby achieving gripping of the object. When the first driving device 2 releases the pulling rope 3, the soft part 42 can restore the original shape under the action of the self elastic restoring force. The first driving device 2 can be controlled to retract and release the pull rope 3 so as to apply tensioning forces with different magnitudes to the soft body part 42, so that the soft body part 42 is in different bending forms, and the objects with different sizes can be gripped.
It can be understood that the first supporting portion 431 and the second supporting portion 432 are both hard structural members, and are disposed along the length direction of the clamping jaw 4, and the rotation axis of the first supporting portion 431 is parallel to the rotation axis of the second supporting portion 432. Specifically, the first support portion 431 is a link, and the second support portion 432 includes at least one link. In the case where the second supporting portion 432 includes a plurality of links, the plurality of links are connected in turn by rotating end to end. The number of the links of the second supporting portion 432 may be reasonably set according to the length of the soft portion 42.
Since the soft body portion 42 is supported by the first support portion 431 and the second support portion 432, when the soft body portion 42 is pulled by the pulling cord 3, the first support portion 431 rotates relative to the second support portion 432, and the second support portion 432 rotates relative to the rigid body portion 41. The soft part 42 will bend at the position corresponding to the second end of the first support part 431 and the position connected to the rigid part 41, and the part of the soft part 42 supported by the first support part 431 will not bend and deform basically under the driving of the pull rope 3, but will slightly deform under the extrusion action of the outer contour of the object to be grabbed.
According to the underwater soft manipulator provided by the embodiment of the invention, the soft part 42 and the supporting framework 43 for supporting the soft part 42 are arranged on the clamping jaw 4, the soft part 42 is connected with the first driving device 2 through the pull rope 3, and the first driving device 2 drives the soft part 42 to bend in a mode of tightening the pull rope 3 so as to grasp a gripped object. The soft body part 42 is in flexible contact with the object to be grabbed, so that the shape and the size of the object to be grabbed can be adapted, the force applied to the object to be grabbed by the clamping jaw 4 is uniformly distributed, and damage to the object to be grabbed is avoided. On the basis, the soft body part 42 is supported in multiple sections through the supporting framework 43, so that the soft body part 42 can be bent at a set bending position, the soft body part 42 is prevented from shaking during gripping, and heavy gripped objects are prevented from pulling the soft body part 42, so that the clamping jaw 4 has flexibility and structural stability, and a rigid-flexible coupling underwater soft body manipulator is formed. The embodiment of the invention not only adopts soft materials to better adapt to the shape and the size of the object to be grabbed and applies proper force to different objects to be grabbed, but also continues the advantages of high reliability and high stability of the rigid body clamping jaw grabbing operation of the traditional underwater manipulator, and improves the success rate of grabbing tasks and the damage-free rate of the object to be grabbed.
As shown in fig. 2, in the embodiment of the present invention, a plurality of structural plates 421 are protruding from the inner side surface of the soft body portion 42, and the plurality of structural plates 421 are sequentially arranged at intervals along the length direction of the clamping jaw 4. The string 3 is inserted through the rigid body 41 and the plurality of structural plates 421, and is connected to one end of the soft body 42 away from the rigid body 41. When the string 3 is tightened, the soft portion 42 is bent inward and the plurality of structural plates are brought close to each other.
It will be appreciated that the structural plate 421 is part of the soft portion 42, i.e. the structural plate 421 is also made of a flexible material and is integrally formed with the soft portion 42. The plate surface of the structural plate 421 is perpendicular to the length direction of the clamping jaw 4, and if the soft part 42 is opened outwards, the plurality of structural plates 421 on the same clamping jaw 4 are separated from each other; as shown in fig. 3, when the soft part 42 is bent inward, the plurality of structural plates 421 on the same jaw 4 are brought close to each other.
Wherein, the rigid body 41 is provided with a threading channel, each structural plate 421 is provided with a threading hole, the pull rope 3 sequentially and movably passes through the threading channel and the threading holes of the plurality of structural plates 421, one end of the pull rope is connected with the distal end of the soft body 42, and the other end of the pull rope is connected with the first driving device 2. The pull cord 3 may be connected to a structural plate 421 of the soft body portion 42 furthest from the rigid body portion 41.
It should be noted that the pull cord 3 may be disposed in other manners, for example, a rope threading channel is disposed in the soft body 42, and the pull cord 3 is disposed in the rope threading channel in the soft body 42.
In this embodiment, the plurality of structural plates 421 are disposed on the inner side surface of the soft body 42, and the pull cord 3 is inserted into the plurality of structural plates 421, so that the soft body 42 has better bending performance and is easy to bend inwards under the action of the pull cord 3 because the plurality of structural plates 421 are located on the inner side surface of the soft body 42 and are spaced apart from each other. Wherein the threading holes of a plurality of structural plates 421 play a role in guiding and limiting the pull rope 3, thereby avoiding structural interference caused by the pull rope 3 to grabbing and enabling the clamping jaw 4 to contact the object to be grabbed through the structural plates 421.
Optionally, referring to fig. 2, two threading holes are symmetrically arranged on the structural plate 421 opposite to the central axis of the clamping jaw 4, and the pull rope 3 is respectively threaded through the two threading holes in two ways, so that the force applied by the pull rope 3 to the soft body portion 42 is more balanced, which is beneficial to improving the stability of the bending action of the soft body portion 42.
Compared with the prior art that the soft fingers are driven by a hydraulic or pneumatic driving mode to grasp the object to be grasped, the embodiment pulls the soft portion 42 to bend through the pull rope 3 to grasp the object to be grasped, and a cavity is not required to be arranged in the clamping jaw 4 to contain hydraulic oil or gas, so that the sealing design of the clamping jaw 4 is not required, and the structure of the clamping jaw 4 and the driving device thereof are simpler in design.
Further, the rigid body 41 is rotatably provided with a pulley, and the wire wheel 5 is wound around the pulley, so that the service life of the pull rope 3 is prevented from being affected by friction between the pull rope 3 and the rigid body 41.
In the embodiment of the invention, each clamping jaw 4 corresponds to one first driving device 2 and one pull rope 3, so that a plurality of clamping jaws 4 can be controlled respectively to adapt to the objects to be grabbed with different shapes. Of course, for a specific application environment, the plurality of gripping claws 4 may be provided to correspond to the same first driving device 2, and the first driving device 2 may simultaneously retract and release the pulling cords 3 corresponding to the plurality of gripping claws 4, so that the software portions 42 of the plurality of gripping claws 4 may simultaneously operate.
In the embodiment of the invention, the first driving device 2 is a steering engine, and the driving end of the steering engine can rotate to a designated angle according to an input signal so as to precisely control the bending angle of the soft body part 42. It should be noted that, the first driving device 2 is not limited to the steering engine, and any driving device capable of winding and unwinding the pull cord 3 may be used in practice, and the embodiment is not particularly limited.
Further, as shown in fig. 1, the underwater soft manipulator provided in this embodiment further includes a wire wheel 5, the wire wheel 5 is fixedly connected with the driving end of the first driving device 2 coaxially, the pull rope 3 is fixedly connected with the wire wheel 5, and the first driving device 2 can drive the wire wheel 5 to rotate so that the pull rope 3 is wound on the wire wheel 5, thereby realizing winding and unwinding of the pull rope 3. Alternatively, the reel 5 is rotatably connected to the mounting 1.
As shown in fig. 3, in the embodiment of the present invention, the clamping jaw 4 is provided with a first rotating shaft 433, a second rotating shaft 434 and a third rotating shaft 435 sequentially and at intervals along the length direction thereof. The first shaft 433 and the second shaft 434 are connected to the soft body portion 42, and the third shaft 435 is connected to the rigid body portion 41. The first end of the first supporting portion 431 is rotatably connected with the first rotating shaft 433, the second end of the first supporting portion 431 is rotatably connected with the second rotating shaft 434, and both ends of the second supporting portion 432 are rotatably connected with the second rotating shaft 434 and the third rotating shaft 435, respectively.
It is understood that the first shaft 433, the second shaft 434, and the third shaft 435 are all hard structural members. The axes of the first rotation shaft 433, the second rotation shaft 434, and the third rotation shaft 435 are parallel to each other and perpendicular to the longitudinal direction of the jaw 4. When the soft body part 42 is pulled by the pull rope 3, the first supporting part 431 rotates around the second rotating shaft 434, and the second supporting part 432 rotates around the third rotating shaft 435.
In some alternative embodiments, the second supporting portion 432 is a connecting rod connected between the second rotating shaft 434 and the third rotating shaft 435, that is, the first supporting portion 431 and the second supporting portion 432 support the two sections of the soft part 42. The soft part 42 is supported by the link at a portion between the second rotation shaft 434 and a position thereof connected to the rigid body 41, and is not substantially bent and deformed by the driving of the pulling rope 3, but is slightly deformed by the squeezing of the outer contour of the object to be grasped.
In other alternative embodiments, referring to fig. 3, the second support 432 includes a second link 4321 and a third link 4322. The first end of the second link 4321 is rotatably connected to the second end of the first support portion 431, the second end of the second link 4321 is rotatably connected to the soft body portion 42 and the first end of the third link 4322, and the second end of the third link 4322 is rotatably connected to the rigid body portion 41.
The supporting frame 43 further includes a fourth rotating shaft 436, and the fourth rotating shaft 436 is connected to the soft body 42 and located between the first rotating shaft 433 and the second rotating shaft 434. The two ends of the second connecting rod 4321 are respectively connected with the second rotating shaft 434 and the fourth rotating shaft 436 in a rotating way, and the two ends of the third connecting rod 4322 are respectively connected with the fourth rotating shaft 436 and the third rotating shaft 435 in a rotating way.
It can be understood that the fourth rotating shaft 436, the second connecting rod 4321 and the third connecting rod 4322 are all hard structural members, and the first supporting portion 431, the second connecting rod 4321 and the third connecting rod 4322 are sequentially connected in a head-to-tail rotation manner along the length direction of the clamping jaw 4, so as to support the three sections of the soft body portion 42. The axis of the fourth rotation shaft 436 is parallel to the axis of the first rotation shaft 433 and perpendicular to the longitudinal direction of the holding jaw 4.
When the flexible body 42 is pulled by the pull cord 3, the first supporting portion 431 rotates around the second rotating shaft 434, the second connecting rod 4321 rotates around the fourth rotating shaft 436, and the third connecting rod 4322 rotates around the third rotating shaft 435. The soft body portion 42 is bent at a position corresponding to the second rotation axis 434, a position corresponding to the fourth rotation axis 436, and a position connected to the rigid body portion 41. The part of the soft part 42 supported by the second connecting rod 4321 and the part supported by the third connecting rod 4322 are basically not bent and deformed under the drive of the pull rope 3, but can slightly deform under the extrusion action of the outline of the object to be grabbed.
It should be noted that, the pull cord 3 may be directly connected to the soft portion 42, or may be connected to the first shaft 433 to indirectly connect the pull cord 3 to the soft portion 42.
As shown in fig. 3, in some embodiments of the present invention, the supporting frame 43 further includes a first link 437 and a transmission part 438, wherein a first end of the first link 437 is rotatably connected to a second end of the second supporting part 432, and a third end of the first supporting part 431 and a second end of the first link 437 are rotatably connected to two ends of the transmission part 438, respectively, so that the supporting frame 43 can limit the bending angle of the soft part 42.
It is appreciated that the first link 437 and the transmission section 438 are each hard structural members. The first supporting portion 431 is configured in a triangle structure, and three end corners thereof are rotatably connected with the first rotary shaft 433, the second rotary shaft 434, and the transmission portion 438, respectively.
When the first supporting portion 431 rotates around the second rotating shaft 434, the transmission portion 438 drives the first link 437 to rotate around the third rotating shaft 435, and the first link 437 and the transmission portion 438 limit the rotation angle of the first supporting portion 431 around the second rotating shaft 434, so as to limit the inward bending angle of the soft portion 42 supported by the first supporting portion 431, and avoid damage to the soft portion 42 caused by too large bending angle.
In some alternative embodiments, the second support 432 is a link coupled between the second shaft 434 and the third shaft 435, and the driving portion 438 is a link coupled between the third end of the first support 431 and the second end of the first link 437. Thus, the first support portion 431, the first link 437, the second support portion 432, and the transmission portion 438 constitute a four-bar mechanism.
In other alternative embodiments, referring to fig. 3, the second support 432 includes a second link 4321 and a third link 4322. The first end of the second link 4321 is rotatably connected to the second end of the first support portion 431, the second end of the second link 4321 is rotatably connected to the soft portion 42 and the first end of the third link 4322, and the second end of the third link 4322 is rotatably connected to the first end of the first link 437. The transmission portion 438 includes a fourth link 4381, a fifth link 4382, and a sixth link 4383, wherein a first end of the fourth link 4381 is rotatably connected to a third end of the first support portion 431, a first end of the sixth link 4383 is rotatably connected to a second end of the first link 437, and three connection ends of the fifth link 4382 are rotatably connected to a second end of the second link 4321, a second end of the fourth link 4381, and a second end of the sixth link 4383, respectively.
Specifically, two ends of the second connecting rod 4321 are respectively rotatably connected to the second rotating shaft 434 and the fourth rotating shaft 436, and two ends of the third connecting rod 4322 are respectively rotatably connected to the fourth rotating shaft 436 and the third rotating shaft 435.
It is understood that the fourth pivot 436, the second link 4321, the third link 4322, the fourth link 4381, the fifth link 4382 and the sixth link 4383 are all hard structural members. The fifth link 4382 is constructed in a triangle structure, and three end corners thereof are rotatably connected to the fourth rotation shaft 436, the second end of the fourth link 4381, and the second end of the sixth link 4383, respectively.
Wherein the third link 4322, the first link 437, the sixth link 4383 and the fifth link 4382 form a four-bar mechanism, and the first link 437 and the sixth link 4383 limit the rotation angle of the fifth link 4382 around the fourth rotation axis 436, thereby limiting the inward bending angle of the soft body part 42 supported by the second link 4321 and avoiding damage to the corresponding position of the soft body part 42 due to too large bending angle.
The first supporting portion 431, the second connecting rod 4321, the fifth connecting rod 4382 and the fourth connecting rod 4381 form a four-bar mechanism, and the angle of rotation of the first supporting portion 431 around the second rotating shaft 434 is limited by the fourth connecting rod 4381 and the fifth connecting rod 4382, so that the angle of inward bending of the soft body portion 42 supported by the first supporting portion 431 is limited, and damage to the corresponding position of the soft body portion 42 due to too large bending angle is avoided.
According to the underwater soft manipulator provided by the embodiment of the invention, the supporting framework 43 in the form of the multiple connecting rods is arranged on the clamping jaw 4, so that the soft part 42 can be structurally supported and bent and limited, damage caused by overlarge deformation of the soft part 42 is avoided, the structural reliability and stability of the hard manipulator are considered, the dynamics modeling of bending deformation of the soft part 42 can be realized by carrying out dynamics modeling on the multiple connecting rod system, and the accurate control of the bending angles of all sections of the soft part 42 is realized.
In the above embodiment, the support frame 43 may be provided on one side in the longitudinal direction of the holding jaw 4. In order to make the structural stability of the clamping jaw 4 stronger, the supporting skeleton 43 may be disposed at the center of the clamping jaw 4, i.e., along the central axis of the clamping jaw 4 in the length direction. Alternatively, as shown in fig. 1, support frames 43 may be provided on both sides in the longitudinal direction of the holding jaw 4, respectively.
In the case where the supporting frames 43 are respectively disposed on two sides of the clamping jaw 4 in the length direction, optionally, the first rotating shaft 433, the second rotating shaft 434, the third rotating shaft 435 and the fourth rotating shaft 436 of the supporting frames 43 on two sides are disposed in a one-to-one correspondence manner, and are respectively disposed on two sides of the clamping jaw 4 in the length direction in a protruding manner. Alternatively, the first rotating shafts 433 of the two supporting frames 43 are integrally provided and penetrate through the rigid body 41; the second rotating shafts 434, the third rotating shafts 435 and the fourth rotating shafts 436 of the two supporting frames 43 are integrally arranged in a one-to-one correspondence manner and penetrate through the soft body part 42.
The underwater soft manipulator provided by the embodiment of the invention further comprises a second driving device 6, the rigid body 41 is rotatably connected to the mounting seat 1, the second driving device 6 is connected to the mounting seat 1 and the rigid body 41, and the second driving device 6 can drive the rigid body 41 to rotate relative to the mounting seat 1.
Wherein the second driving device 6 can control the opening or closing of the clamping jaws 4 of the underwater soft manipulator. When the clamping jaws 4 rotate inwards relative to the mounting seat 1, the underwater soft manipulator is opened. When the clamping jaws 4 rotate outwards relative to the mounting seat 1, the underwater soft manipulator is closed.
In the embodiment of the present invention, each clamping jaw 4 corresponds to one second driving device 6, so that the plurality of clamping jaws 4 can be controlled to rotate respectively, or the plurality of clamping jaws 4 can be set to correspond to the same second driving device 6, and the plurality of clamping jaws 4 can be controlled to rotate simultaneously through the second driving device 6.
In the embodiment of the present invention, the second driving device 6 is a steering engine, and the driving end of the steering engine can rotate to a specified angle according to the input signal, so as to precisely control the rotation angle of the rigid body 41. The second driving device 6 is not limited to the steering engine, and any driving device capable of driving the rigid body 41 to rotate may be used in practice, and the present embodiment is not particularly limited.
According to the embodiment of the invention, on one hand, the first driving device 2 drives the pull rope 3 to drive the soft part 42 of the clamping jaw 4 to bend on the inner side, and on the other hand, the second driving device 6 drives the clamping jaw 4 to rotate relative to the mounting seat 1 so as to adjust the angles of the clamping jaws 4, and the opening and closing of the clamping jaws 4 and the grasping of an object are realized in a hybrid driving mode, so that the adaptability of the underwater soft manipulator to the outline shape and the size of the object to be grasped is better.
Further, the underwater soft manipulator provided by the embodiment of the invention further comprises a worm wheel 71 and a worm 72. The rigid body portions 41 of the plurality of holding claws 4 are respectively fixed with worm wheels 71, the plurality of worm wheels 71 are engaged with the worm 72, and the second driving device 6 is fixed to the mount 1 and connected to the worm 72 to drive the worm 72 to rotate, thereby driving the plurality of worm wheels 71 to rotate through the worm 72.
Specifically, a shaft is fixed to one end of the rigid body 41 away from the soft body 42, and is rotatably connected to the mount 1 via the shaft, and a worm wheel 71 is coaxially fixed to the shaft. The worm 72 is disposed along the circumferential center line of the plurality of jaws 4 while being engaged with the worm wheel 71 on the plurality of jaws 4. The driving end of the second driving device 6 is connected with the worm 72, and when the second driving device 6 drives the worm 72 to rotate, the worm gears 71 are simultaneously driven to rotate, so that the clamping jaws 4 are driven to rotate relative to the mounting seat 1, and the clamping jaws 4 are opened or closed.
Further, the underwater soft manipulator provided by the embodiment of the invention further comprises a gear, the gear is rotationally connected with the mounting seat, the driving end of the second driving device 6 is coaxially and fixedly connected with the gear, and the gear is meshed with the worm 72. The second driving device 6 rotates the worm 72 by driving the gear to rotate.
As shown in fig. 2 and 3, in some embodiments of the present invention, the mounting base 1 is provided with a waterproof cover 11, the first driving device 2 and the second driving device 6 are hermetically disposed in the waterproof cover 11, the waterproof cover 11 is provided with an underwater navigation plug 12, and the underwater navigation plug 12 is electrically connected with the first driving device 2 and the second driving device 6.
The first driving device 2 and the second driving device 6 are all rotation driving devices which are electrically driven, for example, the first driving device 2 and the second driving device 6 are steering engines. When the underwater soft manipulator is matched with an underwater robot, the underwater soft manipulator can be connected with a cable of the underwater robot through the underwater navigation plug 12 to supply power and transmit signals to the first driving device 2 and the second driving device 6.
Compared with a pneumatic or hydraulic soft manipulator, the underwater soft manipulator of the embodiment does not need large-scale equipment such as an additional air cylinder, is light in overall weight and small in size, can be assembled on a small underwater robot, and is better in portability.
In a specific embodiment of the present invention, the wire wheel 5 is connected to the driving end of the first driving device 2 through a transmission shaft, and the transmission shaft penetrates through the side wall of the waterproof cover 11 and is waterproof sealed with the side wall of the waterproof cover 11 through a sealing ring. The clamping jaw 4 is positioned at the bottom of the waterproof cover 11. The worm 72 is provided with a polish rod section and thread sections respectively connected to two ends of the polish rod section, the thread section at one end is meshed with the gear, the thread section at the other end is meshed with the worm wheel 71 on the clamping jaw 4, and the polish rod section penetrates through the bottom wall of the waterproof cover 11 and is waterproof-sealed with the bottom wall of the waterproof cover 11 through a sealing ring. When the underwater soft manipulator performs grabbing operation, the worm 72 is used for driving the clamping jaws 4 to open or close, and the pull rope 3 is used for driving the soft parts 42 of the clamping jaws 4 to bend, so that proper force is applied to objects to be grabbed in different shapes and sizes, stable and reliable grabbing is realized, and meanwhile, the success rate of grabbing tasks and the damage-free rate of the objects to be grabbed are ensured.
The underwater soft manipulator provided by the embodiment of the invention further comprises a base 8, wherein the base 8 is fixedly connected with the mounting seat 1, the base 8 is provided with a first rotating connecting part 81 and a second rotating connecting part 82, and the axis of the first rotating connecting part 81 and the axis of the second rotating connecting part 82 are mutually perpendicular.
Wherein, the first rotation connection part 81 and the second rotation connection part 82 may be a rotation shaft or a shaft hole. The underwater soft manipulator can be installed on other underwater mechanical arms through the base 8 and used for underwater operation. The rotating shaft is used for being matched with a shaft hole on the mechanical arm, so that the underwater soft mechanical arm can rotate relative to the axis of the first rotating connecting part 81; the shaft hole is used for being matched with a rotating shaft on the mechanical arm, so that the underwater soft manipulator can rotate around the axis of the second rotating connecting part 82 relative to the mechanical arm, the underwater soft manipulator has two degrees of rotation freedom, and the grabbing operation flexibility of the rotating manipulator is improved.
The embodiment of the invention also provides a robot, which comprises the underwater soft manipulator according to any one of the embodiments. Specifically, the robot is provided with a mechanical arm, and the underwater soft manipulator is connected to the mechanical arm. Alternatively, the robot is an underwater robot, and the underwater soft manipulator is connected to the cable of the robot by the underwater navigation plug 12.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. An underwater soft manipulator, comprising:
a mounting base;
the clamping jaw is provided with a supporting framework, a rigid body part and a soft body part, wherein the rigid body part and the soft body part are connected with each other, the rigid body part is connected to the mounting seat, the supporting framework is provided with a first connecting rod, a transmission part, a first supporting part and a second supporting part, the first end of the first supporting part is rotationally connected with the soft body part, the second end of the first supporting part is rotationally connected with the soft body part and the first end of the second supporting part, and the second end of the second supporting part is rotationally connected with the rigid body part;
the first driving device is connected to the mounting seat, the pull rope is connected with the first driving device and one end, far away from the rigid body, of the soft body, and the first driving device can drive the soft body to bend inwards through the pull rope;
the second driving device is connected between the mounting seat and the rigid body part in a rotating way and can drive the rigid body part to rotate relative to the mounting seat;
the worm wheels and the worm are respectively fixed on the rigid body parts of the clamping jaws, the worm wheels are meshed with the worm, and the second driving device is fixed on the mounting seat and connected with the worm so as to drive the worm wheels to rotate through the worm;
the first end of the first connecting rod is rotationally connected with the second end of the second supporting part, and the third end of the first supporting part and the second end of the first connecting rod are respectively rotationally connected with the two ends of the transmission part; under the condition that the stay cord drives the soft body part to bend inwards, the supporting framework can limit the bending angle of the soft body part supported by the first supporting part inwards.
2. The underwater soft manipulator of claim 1, wherein a plurality of structural plates are convexly arranged on the inner side surface of the soft body part, the plurality of structural plates are sequentially arranged at intervals along the length direction of the clamping jaw, the pull rope penetrates through the rigid body part and the plurality of structural plates, and under the condition that the pull rope is tightened, the soft body part is bent inwards, and the plurality of structural plates are mutually close.
3. The underwater soft manipulator of claim 1, wherein the second support comprises a second link and a third link, the first end of the second link being rotatably connected to the second end of the first support, the second end of the second link being rotatably connected to the soft body and the first end of the third link, the second end of the third link being rotatably connected to the first end of the first link;
the transmission part comprises a fourth connecting rod, a fifth connecting rod and a sixth connecting rod, wherein the first end of the fourth connecting rod is rotationally connected with the third end of the first supporting part, the first end of the sixth connecting rod is rotationally connected with the second end of the first connecting rod, and the three connecting ends of the fifth connecting rod are rotationally connected with the second end of the second connecting rod, the second end of the fourth connecting rod and the second end of the sixth connecting rod respectively.
4. The underwater soft manipulator of claim 1, wherein the support frames are respectively provided on both sides in the length direction of the clamping jaw.
5. The underwater soft manipulator of claim 1, wherein the mounting base is provided with a waterproof cover, the first driving device and the second driving device are steering engines and are arranged in the waterproof cover in a sealing manner, the waterproof cover is provided with an underwater navigation plug, and the underwater navigation plug is electrically connected with the first driving device and the second driving device.
6. The underwater soft manipulator of claim 1, further comprising:
the base, the base with mount pad fixed connection, the base is equipped with first rotation connecting portion and second rotation connecting portion, the axis of first rotation connecting portion with the axis of second rotation connecting portion mutually perpendicular.
7. A robot comprising an underwater soft manipulator as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310922111.7A CN116652999B (en) | 2023-07-26 | 2023-07-26 | Underwater soft manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310922111.7A CN116652999B (en) | 2023-07-26 | 2023-07-26 | Underwater soft manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116652999A CN116652999A (en) | 2023-08-29 |
| CN116652999B true CN116652999B (en) | 2023-11-24 |
Family
ID=87720900
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310922111.7A Active CN116652999B (en) | 2023-07-26 | 2023-07-26 | Underwater soft manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116652999B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835081A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Under-actuated manipulator with rigid-flexible coupling indexable fingers |
| CN207788984U (en) * | 2017-12-15 | 2018-08-31 | 重庆市树德科技有限公司 | paw and teaching robot |
| WO2019165878A1 (en) * | 2018-02-27 | 2019-09-06 | 江南大学 | Claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers |
| CN110682278A (en) * | 2019-10-25 | 2020-01-14 | 成都航空职业技术学院 | Cylindrical coordinate precision manipulator |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN111618902A (en) * | 2020-05-29 | 2020-09-04 | 华中科技大学 | Rigid-flexible coupling double-drive pneumatic gripper |
| DE202020000692U1 (en) * | 2020-02-19 | 2020-09-29 | Ohio State Innovation Foundation | Layer jamming based robotic gripper with variable rigidity |
| CN211615636U (en) * | 2019-12-17 | 2020-10-02 | 中北大学 | Mechanical claw of imitative fin structure |
| CN113199498A (en) * | 2021-04-12 | 2021-08-03 | 杭州电子科技大学 | Rigidity-adjustable soft mechanical arm and driving method thereof |
| CN113263514A (en) * | 2021-05-31 | 2021-08-17 | 华中科技大学 | Rigid-flexible coupling bionic finger and bionic hand |
| CN113459143A (en) * | 2021-08-13 | 2021-10-01 | 上海海洋大学 | Parallel hand claw structure of worm gear electricity formula of driving |
| CN114310996A (en) * | 2021-12-21 | 2022-04-12 | 河北易沃克机器人科技有限公司 | Opening and closing driving mechanism and manipulator assembly |
| CN114905540A (en) * | 2022-06-21 | 2022-08-16 | 上海大学 | Variable-rigidity soft manipulator with multiple grabbing modes |
| CN218255196U (en) * | 2022-04-19 | 2023-01-10 | 沈阳理工大学 | Multi-mode driven variable-rigidity underactuated manipulator |
| CN115648275A (en) * | 2022-11-14 | 2023-01-31 | 安徽工业大学 | Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof |
-
2023
- 2023-07-26 CN CN202310922111.7A patent/CN116652999B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105835081A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Under-actuated manipulator with rigid-flexible coupling indexable fingers |
| CN207788984U (en) * | 2017-12-15 | 2018-08-31 | 重庆市树德科技有限公司 | paw and teaching robot |
| WO2019165878A1 (en) * | 2018-02-27 | 2019-09-06 | 江南大学 | Claw-like logistics packaging mechanical arm with electric-gas hybrid drive flexible fingers |
| CN110682278A (en) * | 2019-10-25 | 2020-01-14 | 成都航空职业技术学院 | Cylindrical coordinate precision manipulator |
| CN211615636U (en) * | 2019-12-17 | 2020-10-02 | 中北大学 | Mechanical claw of imitative fin structure |
| DE202020000692U1 (en) * | 2020-02-19 | 2020-09-29 | Ohio State Innovation Foundation | Layer jamming based robotic gripper with variable rigidity |
| CN111421566A (en) * | 2020-05-22 | 2020-07-17 | 西安建筑科技大学 | Belt type under-actuated three-joint mechanical finger structure and operation method thereof |
| CN111618902A (en) * | 2020-05-29 | 2020-09-04 | 华中科技大学 | Rigid-flexible coupling double-drive pneumatic gripper |
| CN113199498A (en) * | 2021-04-12 | 2021-08-03 | 杭州电子科技大学 | Rigidity-adjustable soft mechanical arm and driving method thereof |
| CN113263514A (en) * | 2021-05-31 | 2021-08-17 | 华中科技大学 | Rigid-flexible coupling bionic finger and bionic hand |
| CN113459143A (en) * | 2021-08-13 | 2021-10-01 | 上海海洋大学 | Parallel hand claw structure of worm gear electricity formula of driving |
| CN114310996A (en) * | 2021-12-21 | 2022-04-12 | 河北易沃克机器人科技有限公司 | Opening and closing driving mechanism and manipulator assembly |
| CN218255196U (en) * | 2022-04-19 | 2023-01-10 | 沈阳理工大学 | Multi-mode driven variable-rigidity underactuated manipulator |
| CN114905540A (en) * | 2022-06-21 | 2022-08-16 | 上海大学 | Variable-rigidity soft manipulator with multiple grabbing modes |
| CN115648275A (en) * | 2022-11-14 | 2023-01-31 | 安徽工业大学 | Variable-rigidity hybrid bimodal two-finger soft gripper and gripping method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116652999A (en) | 2023-08-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109176586B (en) | Self-adaptive flexible paw based on torsion spring and robot | |
| CN107363856B (en) | Self-adaptive finger, two-claw mechanical arm and robot | |
| CN108908382A (en) | The coupling adaptive three of tendon rope drive refers to differential mechanism manpower jaw arrangement | |
| CN113199498B (en) | Rigidity-adjustable soft mechanical arm and driving method thereof | |
| CN113370245A (en) | Mechanical arm clamp holder capable of automatically bending and returning | |
| CN108994864A (en) | Double tendon rope tandem coupling adaptive finger apparatus | |
| CN110509267B (en) | Soft manipulator based on swallowing effect | |
| WO2020124677A1 (en) | Compliant clamping device | |
| CN107984484B (en) | Self-adaptive robot finger device with end accurate compensation and linear parallel clamping | |
| CN113799162B (en) | Robot grabbing paw for special-shaped objects | |
| CN110561409A (en) | Multi-adaptability flexible picking manipulator | |
| CN116652999B (en) | Underwater soft manipulator | |
| CN111496828A (en) | Bionic under-actuated gripper with flexible tail end of robot | |
| CN107363857B (en) | Manipulator and robot | |
| CN112809721B (en) | Flexible cable traction under-actuated humanoid hand based on non-uniform elastomer configuration | |
| CN113733131A (en) | Deep sea stay-supported under-actuated flexible bionic gripper based on double-layer rubber | |
| JP6967524B2 (en) | Detachable wrist joint | |
| CN210101817U (en) | Stepping type pole-climbing robot | |
| CN210610363U (en) | Fruit and vegetable picking robot end effector | |
| CN210850328U (en) | Three-finger under-actuated dexterous hand | |
| CN112123361A (en) | Flexible finger and flexible manipulator | |
| CN212287680U (en) | Sliding block flexible piece flat clamping indirect self-adaptive robot hand device | |
| CN210161180U (en) | Toothed belt connecting rod series-parallel hybrid composite grabbing robot finger device | |
| CN113211491A (en) | Flexible tongs device | |
| CN210704824U (en) | Multi-adaptability flexible picking manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |