The manipulator mechanism comprises a fixing frame, and the upper portion of the front end of the fixing frame is connected with an upper left mechanical arm and an upper right mechanical arm through an upper left-right transverse moving mechanism; a lower left-right transverse moving mechanism, a lower left mechanical arm and a lower right mechanical arm are symmetrically arranged on the lower portion of the front end of the fixing frame, the upper left-right transverse moving mechanism, the upper left mechanical arm and the upper right mechanical arm. The left mechanical arm is connected with a row of left transposition units, the right mechanical arm is connected with a row of right transposition units, the multiple left transposition units and the multiple right transposition units are arranged at intervals in the front-back horizontal direction, and the left transposition units and the right transposition units are the same in number and are alternately arranged in the front-back direction. A left rope is connected between each group of corresponding left transposition units on the left upper mechanical arm and the left lower mechanical arm; a right rope is connected between each group of corresponding right transposition units on the right upper mechanical arm and the right lower mechanical arm; and the connecting positions of the left transposition unit and the right transposition unit are mutually replaced, so that the underwater object to be grabbed is wrapped by the left rope and the right rope. The technical problem of stably and effectively grabbing underwater objects with irregular shapes is well solved.
本发明公开了一种用于水下夹取的机械手机构,包括固定架,固定架前端上部通过上左右横移机构连接有左上和右上机械臂;固定架前端下部与上左右横移机构、左上和右上机械臂上下对称设有下左右横移机构、左下和右下机械臂;左机械臂上连接有一排左换位单元,右机械臂上连接有一排右换位单元,左换位单元和右换位单元均沿前后水平方向间隔设有多个,左换位单元和右换位单元数量相同且在前后方向上交替设置;左上和左下机械臂上每一组相互对应的左换位单元之间均连接有一根左绳索;右上和右下机械臂上每一组相互对应的右换位单元之间均连接有一根右绳索;左换位单元和右换位单元相互更换连接位置,使左绳索和右绳索包裹住待抓取的水下物体。本发明很好地解决了稳定有效地抓取形状不规则的水下物体的技术问题。
Manipulator mechanism for underwater clamping and using method thereof
用于水下夹取的机械手机构及其使用方法
2024-07-12
Patent
Electronic Resource
Chinese
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