A flexible gripper robot

Abstract

The application provides a flexible grabbing robot, and belongs to the field of robots, and solves the technical problems that the existing underwater salvage robot is difficult to realize flexible contact, difficult to adapt to the size of the salvaged target object, and difficult to realize nondestructive salvage, the robot comprises a buoyancy adjusting module, a power module, a pose adjusting module, a pose adjusting control valve group, a water tank module, a carrier, an initial grabbing angle adjusting module and a grabbing module. The buoyancy adjusting module is used for adjusting the upward floating, downward diving and pitch angle of the robot; the power module is matched by a high-pressure pump source and a low-pressure pump source, and provides power for grabbing and pose adjustment; the pose adjusting module realizes pose matching through orthogonal antagonism of water pressure artificial muscles; the grabbing module is composed of modular mechanical arm strings and parallel connections, and can be quickly expanded and flexibly enveloped with the target object. The application uses pure water as the medium, has good environmental compatibility, high modular degree, can adapt to the size of the target object to realize nondestructive salvage, and has compact structure and simple control.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a flexible gripping robot. Background Technology

[0002] Existing surface and underwater salvage robots mainly employ either hydraulic or electric drive systems. Hydraulic drive systems offer advantages such as a high power-to-weight ratio, overload protection, and good corrosion resistance, making them particularly effective in heavy-duty operations. However, hydraulic systems use hydraulic oil as the working medium, making them prone to leaks in marine environments, posing a risk of environmental pollution. Furthermore, the overall weight of hydraulic systems is relatively large, hindering the miniaturization and flexibility of the equipment.

[0003] In contrast, motor-driven systems offer a compact structure, high motion control precision, and torque output capability, but require stringent sealing performance to prevent seawater intrusion and damage to electrical components. Furthermore, motor-driven systems have relatively low power density, often necessitating larger robotic arms for high-load operations, thus limiting the overall compactness and reliability of the structure.

[0004] Existing underwater salvage robots have the following limitations in practical applications: While hydraulic systems offer high output force, the hydraulic oil is incompatible with the seawater environment, posing a risk of leakage and requiring complex maintenance; although motor-driven systems offer high precision, they are constrained by sealing requirements and power density, making long-term stable operation in the high-pressure environment of the deep sea difficult. Flexible salvage robots, by encasing the target object with a flexible structure, increase the contact area and reduce stress concentration, enabling the non-destructive grasping of small targets, but they lack adaptability to large and heavy targets. Traditional rigid grasping devices, while capable of grasping large targets, employ a rigid contact method, resulting in poor adaptability and a tendency to damage the target object. Summary of the Invention

[0005] To address the aforementioned technical challenges of existing underwater salvage robots in achieving flexible contact with large objects, adapting to object dimensions, and performing non-destructive salvage, this invention provides a flexible gripping robot. This invention maintains the advantages of high modularity, compact structure, and simple control, providing the flexible gripping robot with more flexible and efficient movement and load-bearing capabilities.

[0006] The technical means employed in this invention are as follows: A flexible gripping robot includes: a buoyancy adjustment module, a power module, a posture adjustment module, a posture adjustment module control valve group, a water tank module, a carrier, an initial gripping angle adjustment module, and a gripping module, wherein: The buoyancy adjustment module is installed above the carrier and connected to the carrier. It includes a basic buoyancy chamber and a front buoyancy adjustment chamber and a rear buoyancy adjustment chamber respectively set at both ends of the basic buoyancy chamber. The front buoyancy adjustment chamber is provided with a first inlet / outlet and is connected to a front reversing valve. The rear buoyancy adjustment chamber is provided with a second inlet / outlet and is connected to a rear reversing valve. The power module includes a high-pressure low-flow pump source and a low-pressure high-flow pump source. The high-pressure low-flow pump source includes a dry chamber, a high-pressure low-flow pump source base, and a high-pressure pump and a pre-centrifugal pump installed in the dry chamber. The inlet of the pre-centrifugal pump is connected to the inlet of the high-pressure low-flow pump source in the dry chamber. The outlet of the pre-centrifugal pump is connected to the inlet of the high-pressure pump. The outlet of the high-pressure pump is connected to the outlet of the high-pressure low-flow pump source in the dry chamber. The dry chamber is connected to the L-shaped crossbeam through the high-pressure low-flow pump source base and is located at the front end of the load-bearing body. The low-pressure high-flow pump source is connected to the U-shaped longitudinal beam and is located at the rear end of the load-bearing body. The posture adjustment module includes a front posture adjustment module and a rear posture adjustment module, which are respectively set at the front and rear ends of the flexible gripping robot. Both the front and rear posture adjustment modules include a posture adjustment module base, a lower connecting plate, an upper connecting plate, a nozzle, and two pairs of water-pressure artificial muscles. The nozzle of the front posture adjustment module is the front posture adjustment module nozzle, and the nozzle of the rear posture adjustment module is the rear posture adjustment module nozzle. The posture adjustment module base is connected to the carrier. The water inlet of the water-pressure artificial muscle is connected to the lower connecting plate, and the closed end is connected to the upper connecting plate through the first universal joint. The two pairs of water-pressure artificial muscles are orthogonally distributed around the top rod. The nozzles of the front and rear posture adjustment modules are respectively connected to the upper connecting plate, and the water inlets of the nozzles of the front and rear posture adjustment modules are connected to the water outlet of the low-pressure high-flow pump source. The pose adjustment module control valve group includes a valve block, a first front-end pose adjustment module differential pressure control valve, a second front-end pose adjustment module differential pressure control valve, a first rear-end pose adjustment module differential pressure control valve, and a second rear-end pose adjustment module differential pressure control valve. The first and second front-end pose adjustment module differential pressure control valves are located on the left side of the valve block and control the front-end pose adjustment module. The first and second rear-end pose adjustment module differential pressure control valves are located on the right side of the valve block and control the rear-end pose adjustment module. The valve block has a high-pressure water inlet for the first pose adjustment control valve group, a high-pressure water inlet for the second pose adjustment control valve group, and... The return water inlet of the posture adjustment control valve group, the high-pressure water inlet of the first posture adjustment control valve group and the high-pressure water inlet of the second posture adjustment control valve group are connected to the high-pressure low-flow pump source outlet of the dry compartment. The valve block is also equipped with the high-pressure water outlet of the first posture adjustment control valve group, the high-pressure water outlet of the second posture adjustment control valve group, the high-pressure water outlet of the third posture adjustment control valve group and the high-pressure water outlet of the fourth posture adjustment control valve group. The high-pressure water outlet of the first posture adjustment control valve group and the high-pressure water outlet of the second posture adjustment control valve group are connected to the inlet / outlet of the lower connecting plate of the front posture adjustment module. The high-pressure water outlet of the third posture adjustment control valve group and the high-pressure water outlet of the fourth posture adjustment control valve group are connected to the inlet / outlet of the lower connecting plate of the rear posture adjustment module. The water tank module includes a water tank, which has a water tank return port and a water tank outlet. The water tank outlet is connected to the high-pressure low-flow pump source inlet of the dry compartment, and the water tank return port is connected to the return port of the posture adjustment control valve group. The load-bearing body includes an L-shaped crossbeam, a U-shaped crossbeam, and a U-shaped longitudinal beam. The L-shaped crossbeam and the U-shaped crossbeam are arranged in parallel, and the U-shaped longitudinal beam is vertically distributed below the L-shaped crossbeam and the U-shaped crossbeam. The initial gripping angle adjustment module includes multiple initial angle adjustment plates, and the initial angle adjustment plates are distributed with equally spaced through holes. One end of the initial angle adjustment plate is connected to the U-shaped longitudinal beam. The gripping module includes multiple modular robotic arms driven by a hydraulic artificial muscle module. These modular robotic arms are connected in series longitudinally, in parallel laterally, and via shared links. Each modular robotic arm includes a first joint link, a second joint link, and a water inlet for the robotic arm module. The water inlet of the hydraulic artificial muscle module is connected to the water inlet of the robotic arm module. The first joint link is connected to the other end of the initial angle adjustment plate. The water inlet of the robotic arm module is connected to the outlet of the high-pressure, low-flow pump source in the dry chamber. The hydraulic circuit of the gripping module is equipped with an overflow valve, which is used to adjust the maximum gripping pressure after the gripping module grips the target object. After the gripping module contacts the target object, the overflow pressure of the overflow valve is adjusted to achieve a firm grip on the target object without damaging the target object or the hydraulic artificial muscle module.

[0007] Furthermore, the buoyancy provided by the basic buoyancy chamber is equal to the weight of the flexible gripping robot in the water; by controlling the front reversing valve and the rear reversing valve to inject ballast water of different masses into the front buoyancy adjustment chamber and the rear buoyancy adjustment chamber, the surfacing, diving and pitch angle adjustment of the flexible gripping robot can be realized.

[0008] Furthermore, both the front-end pose adjustment module and the rear-end pose adjustment module include a wire displacement sensor, a push rod, a second universal joint, a stop plate, a spring, and a sleeve; one end of the wire displacement sensor is connected to the lower connecting plate, and the other end is connected to the upper connecting plate, with the two wire displacement sensors vertically distributed; one end of the push rod is connected to the upper connecting plate via the second universal joint, and the other end is provided with a stop plate, a spring, and a sleeve, and is connected to the lower connecting plate; the spring is used to restore the hydraulic artificial muscle to its original length when not in operation; the stop plate cooperates with the sleeve to limit the contraction rate of the hydraulic artificial muscle in its initial working state.

[0009] Furthermore, the differential pressure control valves of the first control front-end pose adjustment module, the second control front-end pose adjustment module, the first control back-end pose adjustment module, and the second control back-end pose adjustment module are all differential pressure control valves driven by voice coil motors.

[0010] Furthermore, the modular robotic arm also includes a rotating shaft, a torsion spring, a first connector, and a second connector; the first joint link is connected to the second joint link through the rotating shaft, the torsion spring is sleeved on the outside of the rotating shaft, and its two ends are respectively connected to the first joint link and the second joint link; the water-passing end of the hydraulic artificial muscle module is connected to the first joint link through the first connector, and the closed end is connected to the second joint link through the second connector.

[0011] Furthermore, the vertically connected modular robotic arms are connected by a shared joint link, with the second joint link of the two upper modular robotic arms serving as the first joint link of the lower modular robotic arm; the horizontally connected modular robotic arms are arranged in parallel, with the distance between each modular robotic arm being the width of the second connector, and the rotation axes of each modular robotic arm being arranged at the same height; the gripping module forms an M-layer × N-column robotic arm array.

[0012] Furthermore, the load-bearing body includes two L-shaped crossbeams, four U-shaped crossbeams, and eight U-shaped longitudinal beams. The two L-shaped crossbeams and four U-shaped crossbeams are arranged in parallel, with the L-shaped crossbeams located in the middle and the U-shaped crossbeams located on both sides of the L-shaped crossbeams. The U-shaped longitudinal beams are vertically distributed below the L-shaped crossbeams and U-shaped crossbeams and are fastened together by bolts. The installation width of the U-shaped crossbeams is consistent with the width of the first joint connecting rod.

[0013] Furthermore, the water tank module also includes a water tank inlet filter, a metal clamp, and a water tank base. The water tank is connected to the water tank base via the metal clamp, the water tank base is connected to an L-shaped crossbeam, and the water tank inlet is connected to the water tank inlet filter.

[0014] Furthermore, the outlet of the low-pressure high-flow pump source is connected to the inlet of the nozzle of the front-end posture adjustment module through a front-end switching valve, and is connected to the inlet of the nozzle of the rear-end posture adjustment module through a rear-end switching valve.

[0015] Furthermore, the hydraulic circuit of the gripping module is also equipped with a filter, a check valve, a safety valve, and a gripping directional valve. The water inlet of the robotic arm module is connected to the water outlet of the gripping directional valve through a hydraulic hose. The water inlet of the gripping directional valve is connected to the high-pressure, low-flow pump outlet of the dry compartment. The safety valve is used to limit the ultimate gripping pressure.

[0016] Compared with the prior art, the present invention has the following advantages: 1. The present invention provides a flexible gripping robot that is driven by pure water as the working medium, which makes the drive system fully compatible with the marine environment, improves environmental adaptability and avoids oil pollution.

[0017] 2. The present invention provides a flexible gripping robot that uses a low-pressure, high-flow pump as a power source for posture adjustment to adapt to the posture of the target object being retrieved, thereby avoiding rigid collisions and entanglement risks during the gripping process.

[0018] 3. The present invention provides a flexible gripping robot, which forms a gripping module by connecting individual robotic arm modules in series and parallel, thereby enabling rapid expansion of the system in the length and width directions without welding or tools.

[0019] 4. The present invention provides a flexible grasping robot that, through the coordinated drive of the contraction of hydraulic artificial muscles in multiple robotic arm modules, adapts to the size of the target object being grasped, so that the hydraulic artificial muscles can flexibly envelop the target object, avoid rigid collisions, and improve the gripping compliance, thereby achieving non-destructive grasping and retrieval. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the flexible gripping robot of the present invention.

[0022] Figure 2 This is a schematic diagram of the buoyancy adjustment module of the present invention.

[0023] Figure 3 This is a schematic diagram of the power module structure of the present invention.

[0024] Figure 4 This is a schematic diagram of the pose adjustment module of the present invention.

[0025] Figure 5 This is a schematic diagram of the posture adjustment control valve group of the present invention.

[0026] Figure 6 This is a schematic diagram of the water tank module of the present invention.

[0027] Figure 7 This is a schematic diagram of the carrier structure of the present invention.

[0028] Figure 8 This is a schematic diagram of the initial gripping angle adjustment module of the present invention.

[0029] Figure 9 This is a schematic diagram of the gripping module of the present invention.

[0030] Figure 10 This is a schematic diagram of the overall hydraulic circuit of the flexible gripping robot of the present invention.

[0031] In the diagram: Ⅰ. Buoyancy Adjustment Module; 1. Basic Buoyancy Chamber; 2-1. Front Buoyancy Adjustment Chamber; 2-2. Rear Buoyancy Adjustment Chamber; 3-1. Front Buoyancy Adjustment Chamber Inlet / Outlet; 3-2. Rear Buoyancy Adjustment Chamber Inlet / Outlet; Ⅱ. Power Module; Ⅱ-1. High-Pressure Low-Flow Pump Source; 4. Dry Chamber; 5. High-Pressure Pump; 6. High-Pressure Low-Flow Pump Source Power Port; 7. Pre-Centrifugal Pump; 8. High-Pressure Low-Flow Pump Source Outlet; 9. High-Pressure Low-Flow Pump Source Inlet; 10. High-Pressure Low-Flow Pump Source Base; Ⅱ-2. Low-Pressure High-Flow Pump Source; Ⅲ. Attitude Adjustment Module; Ⅲ-1. Front Attitude Adjustment Module; Ⅲ-2. Rear Attitude Adjustment Module; 11. Cable Position 12. Motion sensor; 13. Hydraulic artificial muscle; 14. First universal joint; 15. Second universal joint; 16. Nozzle; 17. Front posture adjustment module nozzle; 18. Rear posture adjustment module nozzle; 19. Upper connecting plate; 20. Push rod; 21. Stop plate; 22. Spring; 23. Sleeve; 23. Lower connecting plate; 24. Posture adjustment module base; 25. Posture adjustment control valve group; 26. Valve block; 27. First posture adjustment control valve group high-pressure water outlet; 28. Second posture adjustment control valve group high-pressure water outlet; 29. ​​Third posture adjustment control valve group high-pressure water outlet; 20. Fourth posture adjustment control valve group high-pressure water outlet 23-5, High-pressure water inlet of the first posture adjustment control valve group; 23-6, High-pressure water inlet of the second posture adjustment control valve group; 23-7, Return water outlet of the posture adjustment control valve group; 24-1, Differential pressure control valve of the first control front-end posture adjustment module; 24-2, Differential pressure control valve of the second control front-end posture adjustment module; 24-3, Differential pressure control valve of the first control rear-end posture adjustment module; 24-4, Differential pressure control valve of the second control rear-end posture adjustment module; V, Water tank module; 25, Water tank; 26, Water tank return water outlet; 27, Water tank inlet filter; 28, Metal clamp; 29, Water tank base; 30, Water tank outlet; VI, Support body; 31, L 32. U-shaped crossbeam; 33. U-shaped longitudinal beam; VII. Initial gripping angle adjustment module; 34. Initial angle adjustment plate; VIII. Gripping module; 35. First joint connecting rod; 36. Torsion spring; 37. Rotating shaft; 38. Second joint connecting rod; 39. Second connecting piece; 40. Hydraulic artificial muscle module; 41. Robotic arm module inlet; 42. First connecting piece; 43. Safety valve; 44. Low-pressure high-flow pump; 45. Check valve; 46. Overflow valve; 47. Filter; 48. Check valve; 49. Gripping reversing valve; 50-1. Front-end switching valve; 50-2. Rear-end switching valve; 51-1. Front-end reversing valve; 51-2. Rear-end reversing valve. Detailed Implementation

[0032] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0036] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0037] For ease of description, spatial relative terms such as "above," "over," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation besides the orientation of the device as described in the figures. For example, if the device in the figures is inverted, a device described as "above" or "above" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0038] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0039] This invention provides a flexible gripping robot, the overall structure of which is shown in the schematic diagram below. Figure 1 As shown, it includes: buoyancy adjustment module I, power module II, posture adjustment module III, posture adjustment module control valve group IV, water tank module V, carrier VI, initial gripping angle adjustment module VII, and gripping module VIII, wherein: The buoyancy adjustment module I, such as Figure 2 As shown, it includes a basic buoyancy chamber 1, a forward buoyancy adjustment chamber 2-1, and a rearward buoyancy adjustment chamber 2-2, with the following connection relationships: The basic buoyancy chamber 1 is located between the front buoyancy adjustment chamber 2-1 and the rear buoyancy adjustment chamber 2-2, and is connected by a flange. The basic buoyancy chamber 1 provides buoyancy equal to the weight of the flexible gripping robot in the water. Ballast water is injected into the front buoyancy adjustment chamber 2-1 and the rear buoyancy adjustment chamber 2-2 by controlling the opening and closing of the front reversing valve 51-1 and the rear reversing valve 51-2. By adjusting the mass of ballast water in the two buoyancy adjustment chambers, the flexible gripping robot can rise and fall in the water and its pitch angle can be adjusted to match the position and posture of the target object being retrieved. The buoyancy adjustment module I is connected to the carrier VI by metal clamps 28.

[0040] The power module II, such as Figure 3As shown, it includes a high-pressure low-flow pump source II-1 and a low-pressure high-flow pump source II-2. The high-pressure low-flow pump source II-1 includes a dry chamber 4, a high-pressure pump 5, a high-pressure low-flow pump source power port 6, a pre-centrifugal pump 7, a high-pressure low-flow pump source outlet 8, a high-pressure low-flow pump source inlet 9, and a high-pressure low-flow pump source base 10. The connection relationships are as follows: The bases of the high-pressure pump 5 and the pre-centrifugal pump 7 are bolted to the bottom of the dry compartment 4. The inlet of the pre-centrifugal pump 7 is connected to the high-pressure low-flow pump source inlet 9 of the dry compartment 4 via a pipeline. The outlet of the pre-centrifugal pump 7 is connected to the inlet of the high-pressure pump 5. The outlet of the high-pressure pump 5 is connected to the high-pressure low-flow pump source outlet 8 of the dry compartment 4, providing high-pressure water for the posture adjustment module III and gripping module VIII of the flexible gripping robot. The high-pressure low-flow pump source base 10 of the dry compartment 4 is connected to the L-shaped crossbeam 31 of the carrier VI and is located at the front end of the carrier VI. The low-pressure high-flow pump source II-2 is located at the rear end of the carrier VI and is connected to the L-shaped crossbeam 31 via a metal clamp 28.

[0041] The pose adjustment module III includes a front-end pose adjustment module III-1 and a rear-end pose adjustment module III-2, such as... Figure 4 As shown, both the front-end posture adjustment module Ⅲ-1 and the rear-end posture adjustment module Ⅲ-2 include a wire displacement sensor 11, a water pressure artificial muscle 12, a first universal joint 13, a second universal joint 14, a nozzle 15, an upper connecting plate 16, a push rod 17, a stop plate 18, a spring 19, a sleeve 20, a lower connecting plate 21, and a posture adjustment module base 22. The connection method is as follows: One end of the wire displacement sensor 11 is connected to the lower connecting plate 20, and the other end is connected to the upper connecting plate 16. The two wire displacement sensors are vertically distributed to measure the deflection angle of the nozzle 15. The water inlet of the water-pressure artificial muscle 12 is connected to the lower connecting plate 20, and the closed end of the water-pressure artificial muscle 12 is connected to one end of the first universal joint 13. The other end of the first universal joint 13 is connected to the upper connecting plate 16. The four water-pressure artificial muscles 12 are installed in an orthogonal arrangement around the top rod 17. The nozzle 15 is fixedly connected to the upper connecting plate 16 by bolts. The water inlet of the nozzle 15... The nozzle 15 is connected to the posture adjustment module III via a pipeline; one end of the push rod 17 is connected to the second universal joint 14, and the other end of the second universal joint 14 is connected to the upper connecting plate 16 to provide support for the deflection of the nozzle 15; the other end of the push rod 17 is equipped with a stop plate 18, a spring 19, and a sleeve 20, and is then connected to the lower connecting plate 21; the spring 19 restores the water pressure artificial muscle 12 to its original length when it is not in working condition; the stop plate 18 and the sleeve 20 work together to limit the contraction rate of the water pressure artificial muscle 12 in the initial working state; the posture adjustment module base 22 is connected to the carrier VI.

[0042] The pose adjustment control valve IV, such as Figure 5As shown, the system includes valve block 23 and four voice coil motor-driven differential pressure control valves: first control front-end pose adjustment module differential pressure control valve 24-1, second control front-end pose adjustment module differential pressure control valve 24-2, first control rear-end pose adjustment module differential pressure control valve 24-3, and second control rear-end pose adjustment module differential pressure control valve 24-4. The connection method is as follows: The differential pressure control valves 24-1 and 24-2 of the first and second front-end pose adjustment modules are installed on the left side of valve block 23, controlling the front-end pose adjustment module III-1; the differential pressure control valves 24-3 and 24-4 of the first and second rear-end pose adjustment modules are installed on the right side of valve block 23, controlling the rear-end pose adjustment module III-2; the high-pressure water inlet 23-5 and the high-pressure water inlet 23-6 of the first pose adjustment control valve group of valve block 23 are connected to the high-pressure small-flow pump source outlet 8 of dry chamber 4, and the high-pressure water outlet 23-3 of the third pose adjustment control valve group is connected to the water tank return outlet 26; the differential pressure control valves 24-1 and 24-2 of the first and second front-end pose adjustment modules are installed on the left side of valve block 23, controlling the front-end pose adjustment module III-1; The differential pressure control valve 24-2 of the second control front-end posture adjustment module controls the front-end posture adjustment module III-1, and the differential pressure control valve 24-3 of the first control rear-end posture adjustment module and the differential pressure control valve 24-4 of the second control rear-end posture adjustment module control the rear-end posture adjustment module III-2. The water passages of the first control front-end posture adjustment module differential pressure control valve 24-1, the second control front-end posture adjustment module differential pressure control valve 24-2, the first control rear-end posture adjustment module differential pressure control valve 24-3 and the second control rear-end posture adjustment module differential pressure control valve 24-4 are connected to the inlet and outlet of the lower connecting plate 21 of the front-end posture adjustment module III-1. The entire posture adjustment control valve group IV is located in the middle position of the carrier VI, adjacent to the water tank module V on the left and the low-pressure high-flow pump source II-2 on the right.

[0043] The water tank module V, such as Figure 6 As shown, the system includes a water tank 25, a metal clamp 28, and a water tank base 29, with the following connection relationships: Water tank 25 has five water tank return ports 26, a water tank inlet, a water tank inlet filter 27 connected to the water tank inlet, and a water tank outlet 30. Metal clamps 28 and water tank base 29 are connected to water tank 25 as a whole. Water tank base 29 is connected to L-shaped crossbeam 31 in bearing body VI. Water tank module V is adjacent to dry compartment 4 on the left and to position adjustment control valve group IV on the right. Water tank outlet 30 is connected to high-pressure low-flow pump source inlet 9 of dry compartment 4 to provide water source for high-pressure low-flow pump source II-1.

[0044] The carrier VI, such as Figure 7 As shown, it includes two L-shaped crossbeams 31, four U-shaped crossbeams 32, and eight U-shaped longitudinal beams 33, connected as follows: Two L-shaped crossbeams 31 and four U-shaped crossbeams 32 are arranged in parallel. The two L-shaped crossbeams 31 are located in the middle, and the four U-shaped crossbeams 32 are located on both sides of the L-shaped crossbeams 31. U-shaped longitudinal beams 33 are vertically distributed below the L-shaped crossbeams 31 and U-shaped crossbeams 32 and are fastened together with bolts. The installation width of the U-shaped crossbeams 32 is consistent with the width of the first joint of the gripping module VIII.

[0045] The initial gripping angle adjustment module VII, such as Figure 8 As shown, it includes 16 initial angle adjustment plates 34, one side of which is connected to the U-shaped longitudinal beam 33 of the carrier VI, and the other end is connected to the first joint connecting rod 35 of the gripping module VIII, located below the carrier VI.

[0046] The gripping module VIII, such as Figure 9 As shown, the system includes multiple modular robotic arms driven by hydraulic artificial muscle modules 40, forming an M-layer × N-column gripping module through series and parallel connections. Each robotic arm module comprises a first joint link 35, a torsion spring 36, a rotating shaft 37, a second joint link 38, a second connector 39, a hydraulic artificial muscle module 40, a robotic arm module inlet 41, and a first connector 42, connected in the following manner: The first joint link 35 is connected to the second joint link 38 via a pivot 37. The two ends of the torsion spring 36 are connected to the first joint link 35 and the second joint link 38 respectively, and are sleeved on the outside of the pivot 37 to provide restoring torque for the robotic arm module to return to its initial state. The water inlet of the hydraulic artificial muscle module 40 is connected to the water inlet 41 of the robotic arm module, and then to the first connector 42. The closed end of the hydraulic artificial muscle module 40 is connected to the second connector 39. The first connector 42 is connected to the first joint link 35 by bolts. The second connector 39 is connected to the second joint link 38 by bolts.

[0047] In a specific implementation, as a preferred embodiment of the present invention, the robotic arm modules connected in series are connected by a continuous joint formed by a shared joint link. The second joint link 38 of the two upper robotic arm modules serves as the first joint link 35 of the lower robotic arm module, and this part serves as the shared joint link for the series connection. The robotic arm modules are arranged in parallel on the carrier. The robotic arm modules are arranged in parallel at a set distance, which is equal to the width of the second connector 39. The rotating shafts 37 of each robotic arm module are arranged at the same height.

[0048] In a specific implementation, as a preferred embodiment of the present invention, a schematic diagram of the hydraulic circuit of the flexible gripping robot is shown below. Figure 10As shown, the water in the water tank 25 enters the water tank 25 after being filtered by the external environment water through the water tank inlet filter 27, providing a water source for the pre-centrifugal pump 7, and then supplying water to the high-pressure pump 5; the overflow valve 43 limits the extreme gripping pressure of the flexible gripping robot during use to prevent damage to the gripped target; the overflow valve 46 is used to adjust the maximum gripping pressure after gripping the target to prevent damage to the target during the gripping process.

[0049] In this embodiment, based on the working characteristics of the robotic arm module, before the gripping module VIII contacts the target object, it fills the target object with a large amount of low-pressure water through the low-pressure high-flow pump II-2 to quickly grip the target object. After the gripping module VIII grips the target object, the high-pressure pump 5 fills the gripping module VIII with high-pressure water. By adjusting the overflow pressure of the overflow valve 46, the target object is gripped firmly to the greatest extent without damaging the target object and the rapid contraction and stable pressurization of the water pressure artificial muscle. At this time, the radial force of the water pressure artificial muscle module 40 can also flexibly bear the load, avoiding rigid contact between the target object and the robotic arm module.

[0050] In a specific implementation, as a preferred embodiment of the present invention, firstly, high-pressure water is injected into the front buoyancy adjustment chamber 2-1 and the rear buoyancy adjustment chamber 2-2 by the high-pressure pump 5. By injecting different amounts of ballast water into the two buoyancy adjustment chambers, the flexible gripping robot can be made to float and dive, and the front posture adjustment module III-1 and the rear posture adjustment module III-2 can be used to adjust the pitch angle of the flexible gripping robot. Then, water is supplied to the nozzle 15 by the low-pressure high-flow pump 44 to provide power for posture adjustment. At this time, the high-pressure pump 5 supplies high-pressure water to the water-pressure artificial muscle 12, through the first... The differential pressure control valves 24-1, 24-2, 24-3, 24-4 of the first and second control front-end posture adjustment modules adjust the water pressure of the orthogonally arranged artificial muscles 12 to achieve the deflection of the upper connecting plate 16, which in turn drives the deflection of the nozzle 15. This enables the overall posture of the flexible gripping robot to match the posture of the target object, preventing collisions with the target object during the gripping process and avoiding damage to the target object due to collisions.

[0051] In this embodiment, when the flexible gripping robot is working, its gripping module VIII's hydraulic artificial muscle module 40 can completely envelop the target object, isolating the target object from contact with the rigid structure, thereby protecting the integrity of the target object.

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexible gripping robot, characterized in that, include: The system comprises: buoyancy adjustment module (Ⅰ), power module (Ⅱ), posture adjustment module (Ⅲ), posture adjustment module control valve group (Ⅳ), water tank module (Ⅴ), carrier (Ⅵ), initial gripping angle adjustment module (Ⅶ), and gripping module (Ⅷ), wherein: The buoyancy adjustment module (Ⅰ) is installed above the carrier (Ⅵ) and connected to the carrier (Ⅵ). It includes a basic buoyancy chamber (1) and a front buoyancy adjustment chamber (2-1) and a rear buoyancy adjustment chamber (2-2) respectively located at both ends of the basic buoyancy chamber (1). The front buoyancy adjustment chamber (2-1) is provided with a first inlet / outlet (3-1) and is connected to a front reversing valve (51-1). The rear buoyancy adjustment chamber (2-2) is provided with a second inlet / outlet (3-2) and is connected to a rear reversing valve (51-2). The power module (II) includes a high-pressure low-flow pump source (II-1) and a low-pressure high-flow pump source (II-2). The high-pressure low-flow pump source (II-1) includes a dry chamber (4), a high-pressure low-flow pump source base (10), a high-pressure pump (5) and a pre-centrifugal pump (7) installed in the dry chamber (4). The inlet of the pre-centrifugal pump (7) is connected to the high-pressure low-flow pump source inlet (9) of the dry chamber (4). The outlet of the pre-centrifugal pump (7) is connected to the inlet of the high-pressure pump (5). The outlet of the high-pressure pump (5) is connected to the high-pressure low-flow pump source outlet (8) of the dry chamber (4). The dry chamber (4) is connected to the L-shaped crossbeam (31) through the high-pressure low-flow pump source base (10) and is located at the front end of the support body (VI). The low-pressure high-flow pump source (II-2) is connected to the U-shaped longitudinal beam (33) and is located at the rear end of the support body (VI). The pose adjustment module (Ⅲ) includes a front pose adjustment module (Ⅲ-1) and a rear pose adjustment module (Ⅲ-2), which are respectively located at the front and rear ends of the flexible gripping robot. Both the front pose adjustment module (Ⅲ-1) and the rear pose adjustment module (Ⅲ-2) include a pose adjustment module base (22), a lower connecting plate (21), an upper connecting plate (16), a nozzle (15), and two pairs of hydraulic artificial muscles (12). The nozzle of the front pose adjustment module (Ⅲ-1) is the front pose adjustment module nozzle (15-1), and the nozzle of the rear pose adjustment module (Ⅲ-2) is the rear pose adjustment module nozzle (15-1). 2) The position adjustment module base (22) is connected to the carrier (VI), the water inlet of the water pressure artificial muscle (12) is connected to the lower connecting plate (21), and the closed end is connected to the upper connecting plate (16) through the first universal joint (13). The two pairs of water pressure artificial muscles (12) are orthogonally distributed around the top rod (17). The front position adjustment module nozzle (15-1) and the rear position adjustment module nozzle (15-2) are respectively connected to the upper connecting plate (16), and the water inlets of the front position adjustment module nozzle (15-1) and the rear position adjustment module nozzle (15-2) are connected to the water outlet of the low pressure high flow pump source (Ⅱ-2). The pose adjustment module control valve group (Ⅳ) includes a valve block (23), a first control front-end pose adjustment module differential pressure control valve (24-1), a second control front-end pose adjustment module differential pressure control valve (24-2), a first control rear-end pose adjustment module differential pressure control valve (24-3), and a second control rear-end pose adjustment module differential pressure control valve (24-4). The first control front-end pose adjustment module differential pressure control valve (24-1) and the second control front-end pose adjustment module differential pressure control valve (24-2) are located on the left side of the valve block (23) and control the front-end pose adjustment module (Ⅲ-1). The first control rear-end pose adjustment module differential pressure control valve (24-3) and the second control rear-end pose adjustment module differential pressure control valve (24-4) are located on the right side of the valve block (23) and control the rear-end pose adjustment module (Ⅲ-2). The valve block (23) is provided with a first pose adjustment control valve group high-pressure water inlet (23-5), a second pose adjustment control valve group high-pressure water inlet (23-6), and a pose adjustment... The return water inlet (23-7) of the control valve group, the high-pressure water inlet (23-5) of the first posture adjustment control valve group, and the high-pressure water inlet (23-6) of the second posture adjustment control valve group are connected to the high-pressure low-flow pump source outlet (8) of the dry compartment (4). The valve block (23) is also equipped with the high-pressure water outlet (23-1) of the first posture adjustment control valve group, the high-pressure water outlet (23-2) of the second posture adjustment control valve group, the high-pressure water outlet (23-3) of the third posture adjustment control valve group, and the high-pressure water outlet (23-4) of the fourth posture adjustment control valve group. The high-pressure water outlet (23-4) of the valve group, the high-pressure water outlet (23-1) of the first posture adjustment control valve group and the high-pressure water outlet (23-2) of the second posture adjustment control valve group are connected to the inlet / outlet of the lower connecting plate (21) of the front posture adjustment module (Ⅲ-1), and the high-pressure water outlet (23-3) of the third posture adjustment control valve group and the high-pressure water outlet (23-4) of the fourth posture adjustment control valve group are connected to the inlet / outlet of the lower connecting plate (21) of the rear posture adjustment module (Ⅲ-2). The water tank module (V) includes a water tank (25), which is provided with a water tank return port (26) and a water tank outlet (30). The water tank outlet (30) is connected to the high-pressure low-flow pump source inlet (9) of the dry chamber (4), and the water tank return port (26) is connected to the posture adjustment control valve group return port (23-7) of the posture adjustment control valve group (Ⅳ). The load-bearing body (VI) includes an L-shaped crossbeam (31), a U-shaped crossbeam (32) and a U-shaped longitudinal beam (33). The L-shaped crossbeam (31) and the U-shaped crossbeam (32) are arranged in parallel, and the U-shaped longitudinal beam (33) is vertically distributed below the L-shaped crossbeam (31) and the U-shaped crossbeam (32). The initial gripping angle adjustment module (VII) includes multiple initial angle adjustment plates (34), and the initial angle adjustment plates (34) are distributed with equally spaced through holes. One end of the initial angle adjustment plate (34) is connected to the U-shaped longitudinal beam (33). The gripping module (VIII) includes multiple modular robotic arms driven by a hydraulic artificial muscle module (40). These modular robotic arms are connected longitudinally in series, laterally in parallel, and via shared links. Each modular robotic arm includes a first joint link (35), a second joint link (38), and a robotic arm module inlet (41). The water inlet of the hydraulic artificial muscle module (40) is connected to the robotic arm module inlet (41). The first joint link (35) is connected to the initial angle adjustment plate (…). The other end of 34) is connected to the water inlet (41) of the robotic arm module and the high-pressure low-flow pump source outlet (8) of the dry chamber (4). The hydraulic circuit of the gripping module (VIII) is equipped with an overflow valve (46). The overflow valve (46) is used to adjust the maximum gripping pressure after the gripping module (VIII) grips the target object. After the gripping module (VIII) contacts the target object, the overflow pressure of the overflow valve (46) is adjusted to achieve a firm grip on the target object without damaging the target object and the water pressure artificial muscle module (40).

2. The flexible gripping robot according to claim 1, characterized in that, The buoyancy provided by the basic buoyancy chamber (1) is equal to the weight of the flexible gripping robot in the water; by controlling the front reversing valve (51-1) and the rear reversing valve (51-2) to inject ballast water of different masses into the front buoyancy adjustment chamber (2-1) and the rear buoyancy adjustment chamber (2-2), the floating, diving and pitch angle adjustment of the flexible gripping robot can be realized.

3. The flexible gripping robot according to claim 1, characterized in that, The front-end pose adjustment module (Ⅲ-1) and the rear-end pose adjustment module (Ⅲ-2) also include a pull-wire displacement sensor (11), a push rod (17), a second universal joint (14), a stop plate (18), a spring (19), and a sleeve (20); one end of the pull-wire displacement sensor (11) is connected to the lower connecting plate (21), and the other end is connected to the upper connecting plate (16), and the two pull-wire displacement sensors (11) are vertically distributed; one end of the push rod (17) is connected to the upper connecting plate (16) through the second universal joint (14), and the other end is provided with a stop plate (18), a spring (19), and a sleeve (20), and is connected to the lower connecting plate (21); the spring (19) is used to restore the water pressure artificial muscle (12) in the non-working state to its original length; the stop plate (18) cooperates with the sleeve (20) to limit the contraction rate of the water pressure artificial muscle (12) in the initial working state.

4. The flexible gripping robot according to claim 1, characterized in that, The differential pressure control valves (24-1), (24-2), (24-3), and (24-4) of the first control front-end posture adjustment module, the second control front-end posture adjustment module, and the second control back-end posture adjustment module are all differential pressure control valves driven by voice coil motors.

5. A flexible gripping robot according to claim 1, characterized in that, The modular robotic arm also includes a pivot (37), a torsion spring (36), a first connector (42), and a second connector (39); the first joint link (35) is connected to the second joint link (38) through the pivot (37), the torsion spring (36) is sleeved on the outside of the pivot (37), and its two ends are connected to the first joint link (35) and the second joint link (38) respectively; the water-conducting end of the water-pressure artificial muscle module (40) is connected to the first joint link (35) through the first connector (42), and the closed end is connected to the second joint link (38) through the second connector (39).

6. A flexible gripping robot according to claim 5, characterized in that, The vertically connected modular robotic arms are connected by a shared joint link, with the second joint link (38) of the two upper modular robotic arms serving as the first joint link (35) of the lower modular robotic arm; the horizontally connected modular robotic arms are arranged in parallel, with the distance between each modular robotic arm being the width of the second connector (39), and the rotation shafts (37) of each modular robotic arm being arranged at the same height; the gripping module (VIII) forms an M-layer × N-column robotic arm array.

7. A flexible gripping robot according to claim 1, characterized in that, The load-bearing body (VI) includes two L-shaped crossbeams (31), four U-shaped crossbeams (32) and eight U-shaped longitudinal beams (33). The two L-shaped crossbeams (31) and the four U-shaped crossbeams (32) are arranged in parallel. The L-shaped crossbeams (31) are located in the middle, and the U-shaped crossbeams (32) are located on both sides of the L-shaped crossbeams (31). The U-shaped longitudinal beams (33) are vertically distributed below the L-shaped crossbeams (31) and the U-shaped crossbeams (32) and are fastened together by bolts. The installation width of the U-shaped crossbeams (32) is consistent with the width of the first joint connecting rod (35).

8. A flexible gripping robot according to claim 1, characterized in that, The water tank module (V) also includes a water tank inlet filter (27), a metal clamp (28), and a water tank base (29). The water tank (25) is connected to the water tank base (29) via the metal clamp (28). The water tank base (29) is connected to the L-shaped crossbeam (31). The water inlet of the water tank (25) is connected to the water tank inlet filter (27).

9. A flexible gripping robot according to claim 1, characterized in that, The outlet of the low-pressure high-flow pump source (Ⅱ-2) is connected to the inlet of the nozzle (15-1) of the front-end posture adjustment module through the front-end switch valve (50-1), and is connected to the inlet of the nozzle (15-2) of the rear-end posture adjustment module through the rear-end switch valve (50-2).

10. A flexible gripping robot according to claim 1, characterized in that, The hydraulic circuit of the gripping module (VIII) is also equipped with a filter (47), a check valve (45), a check valve (48), a safety valve (43), and a gripping reversing valve (49). The water inlet (41) of the robotic arm module is connected to the water outlet of the gripping reversing valve (49) through a hydraulic hose. The water inlet of the gripping reversing valve (49) is connected to the high-pressure low-flow pump source outlet (8) of the dry chamber (4). The safety valve (43) is used to limit the ultimate gripping pressure.

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