Hydraulic pressure driven flexible mechanical paw

Abstract

The invention discloses a hydraulic pressure driven flexible mechanical paw, which belongs to a key component of an underwater mechanical arm. The hydraulic pressure driven flexible mechanical paw is mainly composed of three soft drivers, a pressing disc, a pressing seat and the like, wherein the soft drivers are composed of silicon-fluorine rubber outer skins and V-shaped inner frames, the cross-section shape of each V-shaped inner frame is elliptic, and a plurality of grooves are formed between the tail ends of the drivers and driver joints at intervals. The flexible mechanical paw has the advantage of simple structure, pure water is used as a working medium, when high-pressure water flows into the V-shaped inner frames of which one end is closed, the cross-section shape of each V-shaped inner frame is elliptic, therefore, the stress in different positions of the inner walls of pipes is different, metal pipes can be gradually straightened from a bending state, and additionally, the external silicon-fluorine rubber outer skins can also be bent inwards from a straightening state, so that the grabbing operation of the paw is realized. The hydraulic pressure driven flexible mechanical paw can also be extended according to different working environments so as to obtain two-finger, three-finger, four-finger, six-finger and multi-finger flexible mechanical paws.

Description

technical field [0001] The invention belongs to the field of fluid transmission and control, and relates to a mechanical gripper with pure water as the working medium, in particular to a three-finger flexible mechanical gripper driven by water pressure, which can be expanded into two-finger, three-finger, four-finger according to the working environment. Finger and multi-finger grippers. Background technique [0002] The research on traditional robotic grippers is mainly based on rigid structures, and has been widely accumulated and applied in many fields such as industry, medical and special. However, its complex structure, limited flexibility, poor safety and adaptability pose great challenges in some special applications, such as grasping complex and fragile objects, human-computer interaction and narrow space operations. Recently, with the development of 3D printing technology and new smart materials, breakthroughs have been made in the research of robotic gripper syste...

AI Technical Summary

Problems solved by technology

However, the development of flexible manipulators also faces many difficulties. Since the flexible manipulators are all driven by gas, the system must be designed as a closed loop structure and equipped with a pressure compensator. As the water depth increases, the back pressure that the compensator needs to withstand increases. high, making the system more cumbersome and complex. Due to the low pressure of the gas-driven flexible manipulator, it cannot work in the deep sea. Therefore, it is urgent to propose a flexible manipulator with water as the working medium at this stage.

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