Underwater flexible and smart manipulator
A manipulator and flexible finger technology, which is applied in the field of underwater flexible and dexterous manipulators, can solve problems such as limited functions and no dexterity characteristics, and achieve the effects of good dexterity, flexible operation, and increased working space.
Inactive Publication Date: 2012-11-28
ZHEJIANG SCI-TECH UNIV
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Problems solved by technology
From the perspective of kinematics, the hand does not yet have the characteristics of dexterity, and its functions are limited
Method used
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[0021] The present invention will be further described below in conjunction with drawings and embodiments.
[0022] like figure 1 , figure 2 , image 3 , Figure 4 As shown, the present invention includes three flexible fingers 1, wrist 2, forearm 3, big arm 4 and arm shoulder 5 with the same structure; 7 is fixedly connected with forearm 3, and forearm U-shaped fork 8 is rotatably connected to one end of boom 4, and the other end of boom 4 is rotatably connected with arm shoulder U-shaped fork 9 to form a boom joint.
[0023] like figure 2 As shown, the wrist 2 includes an upper end plate 6, a lower end plate 7, two wrist muscle tubes 10, two wrist muscle tube heads 11, pin shafts 12 and finger muscle tube heads 13; three flexible fingers 1 are evenly inserted into the wrist 2 The upper end plate 6, the finger muscle tube head 13 which is airtightly connected with the flexible finger 1 passes through the upper end plate 6 to form a flexible finger joint; the upper end ...
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The invention discloses an underwater flexible and smart manipulator which comprises three flexible fingers with the same structure, a wrist, a small arm, a large arm and an arm shoulder; the three flexible fingers are uniformly distributed on the upper end disc of the wrist; the lower end disc of the wrist is fixedly connected with the small arm; a U-shaped fork of the small arm is rotatably connected with one end of the large arm; and the other end of the large arm is rotatably connected with an arm shoulder U-shaped fork of the arm shoulder. According to the invention, finger joints, wrist joints, small arm joints, large arm joints and arm shoulder joints are provided, so that the operating space of the manipulator is increased; pneumatic flexible joints are adopted, so that the motion of the joints of the manipulator can be realized well, and the underwater flexible and smart manipulator has good flexibility and is flexible to operate; and firstly through the rough positioning of the small arm joints, the large arm joints and the arm shoulder joints, and then through the precision positioning of the wrist joints and the finger joints, underwater objects are clamped and taken rapidly and accurately, and the underwater flexible and smart manipulator has good flexibility.
Description
technical field [0001] The invention relates to a robot dexterous hand, in particular to an underwater flexible dexterous manipulator with finger joints, wrist joints, forearm joints, big arm joints and arm-shoulder joints. Background technique [0002] With the increase in the breadth and depth of human development and utilization of the ocean, underwater robots will be an important tool for human development and utilization of the ocean. The underwater manipulator is an important part of the underwater robot. Without the underwater manipulator, it is difficult for the underwater robot to complete complex underwater operations. At present, most practical underwater manipulators still use clamp-type or translational single-degree-of-freedom end effectors with simple structures to clamp workpieces, which are far from being able to adapt to increasingly complex underwater operation tasks. [0003] The US NOSC developed the WSP system in the 1970s. There are 15 types of end ...
Claims
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Login to View More IPC IPC(8): B25J9/08B25J17/00B25J18/00B25J15/10
Inventor 杨文珍颜传武吴新丽蒋金武邵明朝朱梁余岭周江竺志超陈文华
Owner ZHEJIANG SCI-TECH UNIV