Square runner ramjet experiment manipulator and use method thereof

Abstract

The invention discloses a manipulator for a square runner ramjet experiment and a using method thereof, and the manipulator comprises an action control mechanism which comprises a main sliding rail, and an action assembly used for controlling the manipulator to open, close and rotate is arranged in the main sliding rail; the manipulator is mounted on the open side of the main sliding rail and connected with the action assembly; the flexible grabbing sleeve is spherical after being filled with filling liquid; the outer wall of the main sliding rail is sleeved with the main sliding rail, and the mechanical arm is wrapped in the main sliding rail; the two liquid conveying pipes are parallel to the central axis of the main sliding rail, are arranged at intervals and are arranged in the main sliding rail in a penetrating manner; one ends of the two infusion tubes are communicated with the interior of the flexible grabbing sleeve; the double-acting air cylinder is provided with an independent filling liquid cavity and an independent gas cavity, and the other ends of the two liquid conveying pipes penetrate out of the main sliding rail and communicate with the filling liquid cavity. The problems that in an existing square runner ramjet engine experiment, post-operation can be completed only by continuously switching various types of manipulators, the assembling efficiency is low, and the precision is poor are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a manipulator for square channel ramjet engine experiments and its usage method.

Background Art

[0002] A manipulator is the end effector part of a robotic arm and is usually used to directly perform tasks such as grasping, handling, and operating. It is a key component of the robotic arm, responsible for making contact and interacting with the target object, and its design and functions can be customized according to specific application requirements. Existing manipulators are mainly divided into two categories: rigid structures and flexible structures, each with its own advantages and disadvantages.

[0003] Traditional manipulators adopt rigid structures. Although they have strong clamping force and lifting performance, they are likely to cause damage when operating sensitive components (such as highly sensitive sensors), and their structures are fixed and cannot adapt to components with various shapes.

[0004] The end of a flexible gripper is composed of flexible materials. When grasping, it will not damage the grasped component, and it can deform to adapt to the actual shape of the grasped object, having stronger versatility. However, due to the volume limitation of the flexible gripper itself, it cannot grasp large objects, the grasping force that can be exerted is limited, and it is not easy to apply torque.

[0005] In square channel ramjet engine experiments, there are various components involved, and their properties such as shape, material, compressive strength, etc. and operation requirements are all different: for sensitive components, such as pressure sensors and temperature sensors used in ramjet engine experiments, flexible manipulators are usually required; for small components, such as bolts and nuts, and components that need to be twisted, such as valves, rigid manipulators are usually required; for square channel components of ramjet engines, suction cup type manipulators are required. It can be seen that when using existing flexible grippers or rigid manipulators to perform grasping tasks, due to the involvement of various components in this experiment, it is necessary to continuously switch various types of manipulators during the experiment to complete the subsequent operations, resulting in low assembly efficiency and poor accuracy.

Summary of the Invention

[0006] The purpose of the present invention is to provide a manipulator for square channel ramjet engine experiments and its usage method to solve the problem that in existing square channel ramjet engine experiments, it is necessary to continuously switch various types of manipulators to complete the subsequent operations, resulting in low assembly efficiency and poor accuracy.

[0007] The present invention adopts the following technical solutions: A manipulator for square channel ramjet engine experiments, comprising:

[0008] An action control mechanism, which includes a main slide rail. The main slide rail is a cylindrical structure with an open end, and an action component for controlling the opening, closing, and rotation of the manipulator is arranged inside the main slide rail;

[0009] A mechanical hand is installed on the open side of the main slide rail and is connected to the motion component;

[0010] A flexible grasping sleeve, made of rubber, is spherical after being filled with filling liquid; it is sleeved on the outer wall of the main slide rail and wraps the mechanical hand inside;

[0011] Two infusion tubes are both parallel to the central axis of the main slide rail and are arranged at intervals, and are penetrated and arranged inside the main slide rail; one end of each of the two infusion tubes is located near the open end of the main slide rail for communicating with the inside of the flexible grasping sleeve;

[0012] A double-acting cylinder has an independent filling liquid chamber and gas chamber, and the other ends of the two infusion tubes both penetrate out of the main slide rail and are connected to the filling liquid chamber;

[0013] Among them, the two infusion tubes are both used to fill the flexible grasping sleeve with filling liquid under the action of the double-acting cylinder so that the flexible grasping sleeve expands for use in the flexible gripper mode; the two infusion tubes are both used to extract the filling liquid from the flexible grasping sleeve under the action of the double-acting cylinder so that the flexible grasping sleeve shrinks and wraps around the outside of the mechanical hand for use in the rigid gripper mode.

[0014] Further, the motion component includes:

[0015] A main slide rail opening and closing turntable, which is of a ring plate structure and is coaxially arranged at the opening end of the main slide rail;

[0016] A driving block, which is a columnar structure arranged inside the main slide rail;

[0017] A driving block opening and closing turntable, which is of a ring plate structure and is coaxially arranged on the side of the main slide rail opening and closing turntable away from the main slide rail;

[0018] A motor is arranged inside the main slide rail, and its output shaft is connected with a lead screw. The lead screw penetrates through the inside of the driving block and is threadedly connected to the driving block;

[0019] Two slots are arranged in the driving block along the direction of the central axis of the main slide rail for the two infusion tubes to pass through respectively;

[0020] Among them, the lead screw is used to drive the driving block to move out of the main slide rail opening and closing turntable and move into the main slide rail along the central axis of the main slide rail, so as to realize the opening and closing actions of the mechanical fingers.

[0021] Further, the front end of the lead screw is connected with a small gear, and the small gear meshes with the central hole of the driving block opening and closing turntable. The rotation of the lead screw is used to drive the driving block opening and closing turntable to rotate.

[0022] Further, the manipulator includes four mechanical fingers, and each mechanical finger includes: a fingertip joint, which is wedge-shaped, with the smaller end of the fingertip joint pointing outwards, and an inner joint and an outer joint are respectively hinged to the larger end of the fingertip joint. The outer joint includes a first-level joint and a second-level joint that are hinged to each other, and the hinged part of the first-level joint and the second-level joint is linked to the middle of the inner joint through a tension spring;

[0023] Two of the mechanical fingers are rotatable mechanical fingers: the two inner joints thereon are respectively hinged to both sides of the driving block opening and closing turntable, and the two first-level joints thereon are both hinged to both sides of the driving block;

[0024] The other two mechanical fingers are fixed mechanical fingers: the two inner joints thereon are respectively hinged to both sides of the main slide rail opening and closing turntable, and the two first-level joints thereon are respectively hinged to both sides of the main slide rail.

[0025] Further, the damping at the hinged position between the fingertip joint and the inner joint is greater than the damping at the hinged position between the fingertip joint and the second-level joint.

[0026] The second technical solution adopted by the present invention is a method for using a manipulator for a square flow channel ramjet engine experiment. Based on a manipulator for a square flow channel ramjet engine experiment, the manipulator has three different working modes: a flexible gripper mode, a rigid gripper mode, and a suction cup mode. The method for using the flexible gripper mode is as follows:

[0027] Fill the flexible grasping sleeve with a filling liquid so that the flexible grasping sleeve expands into a spherical shape, and then use the flexible grasping sleeve to contact the part to be grasped, so that the part to be grasped is embedded in the flexible grasping sleeve.

[0028] Further, the method for using the rigid gripper is as follows:

[0029] First, pump out the filling liquid in the flexible grasping sleeve so that the flexible grasping sleeve tightly wraps around the manipulator, exposing the shape of the manipulator; then, control the movement of the lead screw to achieve the grasping and picking actions of the manipulator.

[0030] Further, the method for using the suction cup mode is as follows:

[0031] Move the driving block to the extreme position away from the actuating motor to expand the manipulator to the maximum angle; then pump out some of the filling liquid in the flexible grasping sleeve to make the flexible grasping sleeve soft; then, make the front end of the flexible grasping sleeve closely fit the surface of the flow channel component through an external force; finally, pump out some more of the filling liquid in the flexible grasping sleeve to form a local low-pressure area on the surface of the flow channel component, and grasp the flow channel component through the suction cup effect.

[0032] The beneficial effects of the present invention are as follows: To meet the diverse and complex component operation requirements in the square-channel ramjet engine laboratory, the manipulator of the present invention is designed with three different working modes: flexible gripper, rigid gripper, and suction cup mode. The grippers in these three forms can operate components such as square-channel components, sensors, bolts, pipes, and valves required in the ramjet engine experiment with high precision. Compared with traditional manual assembly, it can better ensure the assembly accuracy of the experimental device, thereby ensuring the accuracy of the ramjet engine experiment. Combining it with a high-precision multi-degree-of-freedom robotic arm can achieve experimental operations such as automated instrument assembly and data collection, solving the problems of long experimental cycle, high risk, and heavy tasks in the traditional square-channel ramjet engine experiment.

Description of the Drawings

[0033] Figure 1 It is a three-dimensional schematic diagram of the present invention in the flexible gripper mode;

[0034] Figure 2 For Figure 1 Internal structure schematic diagram;

[0035] Figure 3 It is a schematic diagram of the connection relationship between the driving block and the driving block opening / closing turntable of the present invention;

[0036] Figure 4 It is a schematic diagram of the connection relationship between the main slide rail and the main slide rail opening / closing turntable of the present invention;

[0037] Figure 5 It is a three-dimensional schematic diagram of the mechanical finger of the present invention;

[0038] Figure 6 It is a state diagram when a part of the mechanical finger of the present invention rotates;

[0039] Figure 7 It is an embodiment of the present invention in the flexible gripper mode;

[0040] Figure 8 It is a three-dimensional schematic diagram of the present invention in the rigid gripper mode;

[0041] Figure 9 For Figure 8 Internal structure schematic diagram;

[0042] Figure 10 It is an embodiment of the present invention in the rigid gripper mode;

[0043] Figure 11 It is a three-dimensional schematic diagram of the present invention in the suction cup mode;

[0044] Figure 12 For Figure 11 Internal structure schematic diagram;

[0045] Figure 13 This is an embodiment of the present invention in the suction cup mode;

[0046] Figure 14 This is a schematic structural view of the cooperation state of the lead screw and the driving block opening and closing turntable of the present invention.

[0047] Among them, 1. Main slide rail, 2. Driving block, 3. Driving block opening and closing turntable, 4. Infusion tube, 5. Lead screw, 6. Main slide rail opening and closing turntable, 7. Double-acting cylinder, 8. Execution motor, 9. Flexible grasping sleeve, 10. Slot, 11. Flow channel component, 12. Internal joint, 13. External first-level joint, 14. External second-level joint, 15. Tension spring, 16. Finger tip joint, 17. Sensor, 18. Pinion, 19. Piston.

Specific implementation manner

[0048] The present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation manners.

[0049] The present invention provides a manipulator for a square flow channel stamping engine experiment, which includes an action control mechanism, a manipulator, a flexible grasping sleeve 9, two infusion tubes 4 and a double-acting cylinder 7.

[0050] Among them, the action control mechanism, as Figure 2 shown, includes a main slide rail 1. The main slide rail 1 is a cylindrical structure with one end open. An action component for controlling the opening and closing rotation of the manipulator is arranged inside the main slide rail 1. The manipulator is installed on the open side of the main slide rail 1 and is connected to the action component. The flexible grasping sleeve 9, as Figure 1 shown, is made of rubber and is spherical after being filled with a filling liquid; it is sleeved on the outer wall of the main slide rail 1 and wraps the manipulator inside; the flexible grasping sleeve 9 and the outer wall of the main slide rail 1 can be adhesively connected with waterproof glue to ensure a sealed connection relationship. The flexible grasping sleeve 9 completely wraps the manipulator, the action component and the top of the main slide rail 1 inside and is hermetically installed on the main slide rail 1.

[0051] The two infusion tubes 4 are both parallel to the central axis of the main slide rail 1 and are arranged at intervals, and penetrate through the inside of the main slide rail 1; one ends of the two infusion tubes 4 are both located near the open end of the main slide rail 1 and are used to communicate with the inside of the flexible grasping sleeve 9; so as to realize the extraction or injection of the filling liquid. The filling liquid partially fills the flexible grasping sleeve 9 and can freely flow between the flexible grasping sleeve 9 and the liquid storage part of the double-acting cylinder 7 through the infusion tube 4. As the filling liquid enters or exits, the flexible grasping sleeve 9 will deform.

[0052] The double-acting cylinder 7 has independent filling liquid chambers and gas chambers. The other ends of the two liquid infusion tubes 4 both pass through the main slide rail 1 and are connected to the filling liquid chambers. A piston 19 is arranged inside the double-acting cylinder 7. When the external air circuit inputs gas into the gas storage part, the piston 19 will be pushed, squeezing the filling liquid in the liquid storage part into the flexible grasping sleeve 9. When the external air circuit pumps air out of the gas storage part, the piston will be pulled to draw the filling liquid out of the flexible grasping sleeve. The filling liquid can be water.

[0053] Among them, as Figure 7 shown, the two liquid infusion tubes 4 are both used to fill the flexible grasping sleeve 9 with the filling liquid under the action of the double-acting cylinder 7, so that the flexible grasping sleeve 9 expands and is used as a flexible gripper mode; as Figure 8 shown, the two liquid infusion tubes 4 are both used to extract the filling liquid from the flexible grasping sleeve 9 under the action of the double-acting cylinder 7, so that the flexible grasping sleeve 9 contracts and wraps around the outside of the manipulator and is used as a rigid gripper mode. As Figure 9 shown, it is a three-dimensional schematic diagram in the rigid gripper mode. As Figure 10 , it is the usage state diagram in the rigid gripper mode.

[0054] In some embodiments, the action assembly includes:

[0055] A main slide rail opening and closing turntable 6, as Figure 4 shown, it is a ring-shaped plate structure and is coaxially arranged at the open end of the main slide rail 1;

[0056] A driving block 2, as Figure 3 shown, it is a columnar structure arranged inside the main slide rail 1;

[0057] A driving block opening and closing turntable 3, which is a ring-shaped plate structure and is coaxially arranged on the side of the main slide rail opening and closing turntable 6 away from the main slide rail 1;

[0058] A motor 8 is arranged inside the main slide rail 1, and its output shaft is connected with a lead screw 5. The lead screw 5 penetrates through the inside of the driving block 2 and is threadedly connected with the driving block 2;

[0059] Along the central axis direction of the main slide rail 1, two slots 10 are arranged inside the driving block 2, respectively for the two liquid infusion tubes 4 to pass through; the driving block opening and closing turntable 3 is ring-shaped so it has a central hole, and the ports of the two liquid infusion tubes 4 reach the central hole of the driving block opening and closing turntable 3 through the slots 10 to ensure that the ports of the liquid infusion tubes 4 are communicated with the inside of the flexible grasping sleeve 9;

[0060] Among them, the lead screw 5 is used to drive the driving block 2 to move outwards from the main slide rail opening and closing turntable 6 and inwards into the main slide rail 1 along the central axis of the main slide rail 1, so as to realize the opening and closing actions of the mechanical fingers.

[0061] The manipulator driving block 2 can slide freely along the axial direction of the main slide rail 1 within a certain range. The actuating motor 8 drives the lead screw 5 to rotate, thereby driving the manipulator driving block 2 to translate within the slide rail. The main slide rail opening and closing turntable 6 can rotate around the main slide rail 1, and the driving block opening and closing turntable 3 can rotate around the manipulator driving block 2.

[0062] In some embodiments, such as Figure 14 As shown, the front end of the lead screw 5 is connected to a small gear 18, and the small gear 18 meshes with the central hole of the driving block opening and closing turntable 3. The rotation of the lead screw 5 is used to drive the driving block opening and closing turntable 3 to rotate. The driving block opening and closing turntable 3 drives the main slide rail opening and closing turntable 6 to rotate accordingly through the connection of the mechanical fingers.

[0063] In some embodiments, the manipulator includes four mechanical fingers, and each mechanical finger includes: a fingertip joint 16, which is wedge-shaped, with the smaller end of the fingertip joint 16 pointing outward. An internal joint 12 and an external joint are respectively hinged to the larger end of the fingertip joint 16. The external joint includes a primary joint 13 and a secondary joint 14 that are hinged to each other. The hinge joint of the primary joint 13 and the secondary joint 14 is connected to the middle part of the internal joint 12 through a tension spring 15;

[0064] Such as Figure 6 As shown, two of the mechanical fingers are rotatable mechanical fingers: the two internal joints 12 thereon are respectively hinged to both sides of the driving block opening and closing turntable 3, and the two primary joints 13 thereon are both hinged to both sides of the driving block 2;

[0065] Such as Figure 5 As shown, the other two mechanical fingers are fixed mechanical fingers: the two internal joints 12 thereon are respectively hinged to both sides of the main slide rail opening and closing turntable 6, and the two primary joints 13 thereon are respectively hinged to both sides of the main slide rail 1.

[0066] In some embodiments, the damping at the hinged position of the fingertip joint 16 and the internal joint 12 is greater than the damping at the hinged position of the fingertip joint 16 and the secondary joint 14. To achieve the inward buckling action of the fingertip joint 16, so that the manipulator can adapt to the shape of the object, which is beneficial for grasping columnar objects.

[0067] Thus, when the manipulator driving block 2 moves inward into the main slide rail 1 to push the mechanical fingers to close, under the simultaneous action of high damping and the tension spring 15, the fingertip joint 16 is not easily rotated relative to the internal joint 12. When the internal joint 12 encounters an obstacle during the closing process and its movement is blocked, the force exerted by the manipulator driving block 2 to pull the internal joint 12 further acts on the fingertip joint 16, pulling the fingertip joint 16 to close inward, realizing the grasping that adapts to the shape of the object.

[0068] The present invention provides a method for using a manipulator for square-channel ramjet engine experiments. Based on a manipulator for square-channel ramjet engine experiments, the manipulator has three different working modes: a flexible gripper mode, a rigid gripper mode, and a suction cup mode. The method for using the flexible gripper mode is as follows:

[0069] Fill the flexible grasping sleeve 9 with filling liquid so that the flexible grasping sleeve 9 expands into a spherical shape, and then use the flexible grasping sleeve 9 to contact the part to be grasped, so that the part to be grasped is embedded in the flexible grasping sleeve 9. Since the flexible grasping sleeve 9 wraps around the part to be grasped, the part to be grasped can be grasped and taken.

[0070] For example: when operating sensitive components such as pressure sensors or temperature sensors used in ramjet engine experiments, or small components such as bolts and nuts, the manipulator drive block 2 moves inward into the main slide rail 1, driving the mechanical fingers to close. At the same time, the external air circuit inputs gas into the double-acting cylinder 7, pushing the filling liquid into the flexible grasping sleeve 9, and the grasping sleeve expands into an ellipsoidal shape, entering the flexible gripper mode.

[0071] As Figure 7 shown, the flexible grasping sleeve 9 of the manipulator first contacts the outer wall of the sensor 17, and the external air circuit extracts a certain amount of gas from the double-acting cylinder 7, pumping out part of the filling liquid from the flexible grasping sleeve 9. The flexible grasping sleeve 9 shrinks and produces wrinkles, wrapping the sensor 17 in the flexible grasping sleeve 9 to achieve grasping.

[0072] In some embodiments, the method for using the rigid gripper is as follows: First, pump out all the filling liquid in the flexible grasping sleeve 9 so that the flexible grasping sleeve 9 tightly wraps around the outside of the manipulator, exposing the shape of the manipulator; then, control the movement of the lead screw 5 to achieve the grasping and taking action of the manipulator.

[0073] For example: when operating pipeline components such as cooling water pipelines, gas pipelines, and oil pipelines used in ramjet engine experiments, or when torque needs to be generated, such as turning a gas valve, the manipulator drive block 2 moves outward from the main slide rail 1, driving the mechanical fingers to open. The external air circuit extracts gas from the double-acting cylinder 7, pumping the filling liquid out of the flexible grasping sleeve 9. The grasping sleeve shrinks and wraps around the mechanical fingers, entering the rigid gripper mode, as Figure 8 shown.

[0074] As Figure 10 shown, when the manipulator drive block 2 moves inward into the main slide rail 1 to pull the mechanical fingers to close, under the simultaneous action of high damping and the tension spring 15, the interphalangeal joint 16 is not likely to rotate relative to the internal joint 12. When the internal joint 12 encounters resistance when moving against the outer wall of the pipeline during the closing process, the force exerted by the manipulator drive block 2 to pull the internal joint 12 further acts on the interphalangeal joint 16, pulling the interphalangeal joint 16 to close inward, wrapping the cylindrical pipeline between the joints of the mechanical fingers, and achieving self-adaptation to the cylindrical shape of the pipeline during grasping.

[0075] In some embodiments, such as Figure 13 , the usage method of the suction cup mode is as follows:

[0076] By moving the driving block 2 away from the actuating motor 8 to the extreme position, the manipulator is expanded to the maximum angle; then, a part of the filling liquid in the flexible grasping sleeve 9 is extracted to make the flexible grasping sleeve 9 soft; then, the front end of the flexible grasping sleeve 9 is closely attached to the surface of the flow channel component 11 by an external force; finally, a part of the filling liquid in the flexible grasping sleeve 9 is extracted again to form a local low-pressure area on the surface of the flow channel component 11, and the flow channel component 11 is grasped through the suction cup effect. The mechanical fingers do not move during the whole process.

[0077] For example: when operating large components such as the flow channel component of a ramjet engine, the manipulator driving block 2 moves outside the main slide rail 1 to a position close to the extreme position, the driving block opening and closing turntable 3 and the main slide rail opening and closing turntable 6 rotate, driving the four mechanical fingers to fully open into a cross shape. At the same time, a certain amount of gas is input into the double-acting cylinder 7 through an external air circuit, and part of the filling liquid is pushed into the flexible grasping sleeve 9 to enter the suction cup mode, as Figure 11 shown.

[0078] As Figure 13 shown, the manipulator first contacts the outer wall surface of the flow channel component of the square flow channel ramjet engine in the suction cup mode. The external air circuit extracts a certain amount of gas from the double-acting cylinder 7, extracts part of the filling liquid from the flexible grasping sleeve 9, and the flexible grasping sleeve 9 shrinks and generates a local low-pressure area on the part of the outer wall surface of the flow channel component covered by the suction cup, so as to suck it up by using the pressure difference between the upper and lower parts of the outer wall of the flow channel component.

[0079] To meet the diverse and complex component operation requirements in the square flow channel ramjet engine laboratory, the manipulator of the present invention is designed with three different working modes: flexible gripper, rigid gripper and suction cup mode. The grippers in the three forms can accurately operate components such as square flow channel components, sensors, bolts, pipes and valves required in ramjet engine experiments. Compared with traditional manual assembly, it can better ensure the assembly accuracy of the experimental device, thus ensuring the accuracy of ramjet engine experiments. Combining it with a high-precision multi-degree-of-freedom robotic arm can realize experimental operations such as automated instrument assembly and data collection, solving the problems of long experimental period, high risk and heavy tasks in traditional square flow channel ramjet engine experiments.

[0080] Among them, when the manipulator of the present invention adopts the flexible gripper mode to operate sensitive components in the ramjet engine laboratory, such as pressure sensors and temperature sensors, it will not cause mechanical damage to the components, thus affecting the accuracy of the sensors. Compared with traditional rigid grippers, it has stronger safety and reliability. When the manipulator of the present invention adopts the rigid gripper mode, it can efficiently operate the air valve switch in the ramjet engine laboratory, and can generate torque compared with traditional flexible grippers; moreover, the underactuated part of the rigid gripper can achieve adaptability to the shape of the object, and can stably grasp columnar objects compared with traditional rigid grippers, so that various pipes required to be connected in the ramjet engine experiment can be efficiently operated. When the manipulator of the present invention adopts the suction cup mode to operate the flow channel components of the square flow channel ramjet engine, it can adapt to flow channel components of any size, and does not clamp the flow channel pipe wall during the operation process, thus not causing deformation of the flow channel components. Compared with the grasping mode of traditional manipulators, it can more effectively protect the flow channel components of the square ramjet engine and avoid adverse effects on the experiment during the assembly process.

Claims

1. A manipulator for a square channel ramjet engine experiment, characterized in that, Comprising: An action control mechanism, which includes a main slide rail (1). The main slide rail (1) is a cylindrical structure with one end open. An action component for controlling the opening and closing rotation of the manipulator is arranged inside the main slide rail (1). A manipulator, which is installed on the open side of the main slide rail (1) and connected to the action component. A flexible grasping sleeve (9), which is made of rubber material and is spherical after being filled with filling liquid. It is sleeved on the outer wall of the main slide rail (1) and wraps the manipulator inside. Two infusion tubes (4), both parallel to the central axis of the main slide rail (1) and spaced apart, and are arranged through the inside of the main slide rail (1). One end of each of the two infusion tubes (4) is located near the open end of the main slide rail (1) for communicating with the inside of the flexible grasping sleeve (9). A double-acting cylinder (7), which has an independent filling liquid chamber and a gas chamber. The other ends of the two infusion tubes (4) both penetrate out of the main slide rail (1) and are connected to the filling liquid chamber. Wherein, the two infusion tubes (4) are both used to fill the flexible grasping sleeve (9) with filling liquid under the action of the double-acting cylinder (7) so that the flexible grasping sleeve (9) expands and is used as a flexible gripper mode; the two infusion tubes (4) are both used to extract the filling liquid from the flexible grasping sleeve (9) under the action of the double-acting cylinder (7) so that the flexible grasping sleeve (9) shrinks and wraps outside the manipulator and is used as a rigid gripper mode.

2. The manipulator for the experiment of a square-channel ramjet engine according to claim 1, characterized in that, The action component includes: A main slide rail opening and closing turntable (6), which is an annular plate structure and is coaxially arranged at the opening end of the main slide rail (1). A driving block (2), which is a columnar structure arranged inside the main slide rail (1). A driving block opening and closing turntable (3), which is an annular plate structure and is coaxially arranged on the side of the main slide rail opening and closing turntable (6) away from the main slide rail (1). A motor (8), which is arranged inside the main slide rail (1). The output shaft of the motor is connected with a lead screw (5). The lead screw (5) is arranged through the inside of the driving block (2) and is threadedly connected to the driving block (2). Two slots (10) are arranged in the driving block (2) along the direction of the central axis of the main slide rail (1) for the two infusion tubes (4) to pass through respectively. Wherein, the lead screw (5) is used to drive the driving block (2) to move outwards from the main slide rail opening and closing turntable (6) and inwards into the main slide rail (1) along the central axis of the main slide rail (1), so as to realize the opening and closing action of the mechanical fingers.

3. The manipulator for the experiment of a square-channel ramjet engine according to claim 2, wherein The front end of the lead screw (5) is connected with a small gear (18). The small gear (18) meshes with the central hole of the driving block opening and closing turntable (3). The rotation of the lead screw (5) is used to drive the driving block opening and closing turntable (3) to rotate.

4. The manipulator for the experiment of a square-channel ramjet engine according to claim 3, characterized in that, The manipulator includes four mechanical fingers, and each mechanical finger includes: a fingertip joint (16), which is wedge-shaped, with the smaller end of the fingertip joint (16) pointing outwards, and an inner joint (12) and an outer joint are respectively hinged to the larger end of the fingertip joint (16). The outer joint includes a primary joint (13) and a secondary joint (14) that are hinged to each other, and the hinge between the primary joint (13) and the secondary joint (14) is connected to the middle of the inner joint (12) through a tension spring (15). Two of the mechanical fingers are rotatable mechanical fingers: the two inner joints (12) thereon are respectively hinged to both sides of the driving block opening and closing turntable (3), and the two primary joints (13) thereon are both hinged to both sides of the driving block (2). The other two mechanical fingers are fixed mechanical fingers: the two inner joints (12) thereon are respectively hinged to both sides of the main slide rail opening and closing turntable (6), and the two primary joints (13) thereon are respectively hinged to both sides of the main slide rail (1).

5. The manipulator for the experiment of a square-channel ramjet engine according to claim 4, characterized in that, The damping at the hinged position between the fingertip joint (16) and the inner joint (12) is greater than the damping at the hinged position between the fingertip joint (16) and the secondary joint (14).

6. A method for using a manipulator for a square flow channel ramjet engine experiment, characterized in that, Based on the manipulator for a square flow channel ramjet engine experiment according to any one of claims 1-5, the manipulator has three different working modes: a flexible gripper mode, a rigid gripper mode, and a suction cup mode. The usage method of the flexible gripper mode is as follows: Fill the flexible grasping sleeve (9) with filling liquid so that the flexible grasping sleeve (9) expands into a spherical shape, and then use the flexible grasping sleeve (9) to contact the part to be grasped, so that the part to be grasped is embedded in the flexible grasping sleeve (9).

7. The method of using a manipulator for a square flow channel ramjet engine experiment according to claim 6, characterized in that, The usage method of the rigid gripper is as follows: First, drain the filling liquid in the flexible grasping sleeve (9) so that the flexible grasping sleeve (9) tightly wraps around the manipulator, exposing the outer shape of the manipulator; then, control the movement of the lead screw (5) to achieve the grasping and picking actions of the manipulator.

8. The usage method of a manipulator for a square flow channel ramjet engine experiment according to claim 6, characterized in that, The usage method of the suction cup mode is as follows: Move the driving block (2) to the extreme position away from the actuator motor (8) to expand the manipulator to the maximum angle; then, drain part of the filling liquid in the flexible grasping sleeve (9) to make the flexible grasping sleeve (9) softer; then, make the front end of the flexible grasping sleeve (9) closely fit the surface of the flow channel component (11) through an external force; finally, drain part of the filling liquid in the flexible grasping sleeve (9) to form a local low-pressure area on the surface of the flow channel component (11), and grasp the flow channel component (11) through the suction cup effect.

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