The invention discloses an intelligent flexible mechanical gripper applied to underwater operation, relates to the technical field of underwater robots, and is inspired by octopus tentacles, the concept of a flexible mechanical gripper which is subjected to injection molding by a novel silica gel material and internally adopts a rope driving mode of supplying force by a motor is provided by simulating octopus tentacles. The octopus-imitating flexible mechanical gripper developed on the basis of the conception comprises a palm-like support structure manufactured through the 3D printing technology; a micro camera for positioning a real object is arranged at the bottom of the bracket structure; the plurality of flexible fingers are fixed on the bracket structure through a motor and a finger plate; the flexible fingers are made of silica gel, and each flexible finger comprises a plurality of joints; a pressure sensor or a bending sensor is arranged at the fingertip of each flexible finger, and underwater grabbing condition data are fed back to a computer through the pressure sensors or the bending sensors. The device has high flexibility and good controllability, and can be widely applied to the application fields of submarine cultural relic fishing, marine organism fishing and the like.

    本发明公开了一种应用于水下作业的智能柔性机械抓手,涉及水下机器人技术领域,受章鱼触手启发,本发明通过仿章鱼须提出以新型硅胶材料注模,内部采用以电机供力的绳驱方式的柔性机械抓手的构思,基于该发明构思研制的仿章鱼柔性机械抓手包括:3D打印技术制作的类似手掌的支架结构;支架结构的底部设置有用于对实物进行定位的微型摄像头;若干根通过电机和指板固定于支架结构的柔性手指;柔性手指由硅胶制成,且每根柔性手指包括多个关节;每根柔性手指的指尖处设置有压力传感器或弯曲传感器,将水下抓取的情况数据通过压力传感器或弯曲传感器反馈在计算机上。具有灵活度高和良好的可控性,可广泛应用于海底文物打捞,海洋生物捕捞等应用领域。


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    Titel :

    Intelligent flexible mechanical gripper applied to underwater operation


    Weitere Titelangaben:

    一种应用于水下作业的智能柔性机械抓手


    Beteiligte:
    XU MINYI (Autor:in) / TAN ZHENG (Autor:in) / LIN FANG (Autor:in) / ZHAO CONG (Autor:in) / WANG HUIWEN (Autor:in)

    Erscheinungsdatum :

    2022-04-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / G06V



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