A flexible manipulator

Abstract

The invention relates to a manipulator, in particular to a flexible manipulator. The flexible manipulator comprises a supporting frame, a petal-shaped hand, a petal-shaped hand driving mechanism, a flexible sucker assembly and a flexible sucker driving mechanism, wherein the flexible sucker driving mechanism and the petal-shaped hand driving mechanism are both arranged on the supporting frame, theflexible sucker assembly is connected with the output end of the flexible sucker driving mechanism, the petal-shaped hand is arranged on the outer side of the flexible sucker assembly, and the petal-shaped hand is connected with the flexible sucker assembly by the petal-shaped hand driving mechanism; the flexible sucker driving mechanism drives the flexible sucker assembly to extend or retract, and at the same time drives petal-shaped hand driving mechanism to work so as to drive the petal-shaped hand to open or close; and when the petal-shaped hand is closed, the flexible sucker assembly isembraced in a hand palm of the petal-shaped hand. According to the flexible manipulator, the requirement of the positioning precision of the manipulator to a target object is greatly reduced, the stability and reliability of the clamping and moving process are improved, and at the same time, a flexible package does not cause damage to the target object.

Description

technical field [0001] The invention relates to a manipulator, in particular to a flexible manipulator. Background technique [0002] With the rapid development of robot technology, the demand for special manipulators that can perform tasks in complex environments is also increasing, and the demand for this type of manipulators in the fields of underwater salvage and marine life capture is also extremely urgent. At this stage, underwater manipulators generally adopt the gripping type, and are usually joint structures. The operating range of this structure is greatly limited, especially in deep sea salvage, seabed capture, etc., and the work efficiency is low. There are three main reasons: 1. Due to the complex operating environment of the water flow and the seabed, it is difficult for the grasping manipulator to accurately locate the target object during work. Even if it is successfully grasped, the grasped object is prone to fall off during the movement; 2. When the size, ...

AI Technical Summary

Problems solved by technology

At this stage, underwater manipulators generally adopt the clamping type, and are usually joint structures. The operating range of this structure is greatly limited, especially in deep sea salvage, seabed capture, etc., and the work efficiency is low.

There are three main reasons: 1. Due to the complex operating environment of the water flow and the seabed, it is difficult for the grasping manipulator to accurately locate the target object during work. Even if it is successfully grasped, the grasped object is prone to fall off during the movement; 2. When the size, shape and type of the target change, the stability of the manipulator will further decline because the manipulator cannot adapt to the deformation of the target object; Objects deal crush damage

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