The underwater soft manipulator comprises an arm and three fingers, the arm is connected with the three fingers, and the underwater soft manipulator is characterized in that the arm and the three fingers respectively comprise a flexible structure fabric, an elastic tubular air bag and a sealing film, the elastic tubular air bag serves as a framework, the flexible structure fabric is arranged on the outer side face of the framework in a sleeving mode, and the sealing film is arranged on the outer side face of the framework. The sealing film wraps the flexible structure fabric. The arm and the three fingers respectively form a sealing cavity formed by a sealing film and a connecting piece, and the elastic tubular air bags in the sealing cavities are independently controlled through negative pressure and positive pressure respectively, so that underwater multi-degree-of-freedom movement, space positioning and grabbing actions are achieved. The multi-degree-of-freedom motion and the variable rigidity performance can be achieved, so that the flexibility, adaptability and reliability of underwater operation of the manipulator are improved, and the advantage of being light in weight is achieved; according to the grabbing method, complex actions such as underwater multi-degree-of-freedom movement, space positioning and grabbing are achieved through positive and negative air pressure control.

    本发明提供一种水下软体机械手、水下机器人及其抓取方法,包括1个手臂和3根手指,手臂与3根手指连接,其特点是:手臂和3根手指均包括柔性结构织物、弹性管状气囊及密封膜,弹性管状气囊作为骨架,柔性结构织物套在其外侧面上,密封膜将柔性结构织物包覆。手臂与3根手指各自形成一个由密封膜与连接件形成的密封腔室,且分别通过负压和正压对其中的所述弹性管状气囊进行独立控制,实现水下多自由度运动、空间定位及抓取动作。可以实现多自由运动和可变刚度性能,从而提高机械手水下操作的灵活性、适应性和可靠性,而且,还具有质量轻的优势;抓取方法是通过正、负气压控制,以实现水下多自由度运动、空间定位及抓取等复杂动作。


    Access

    Download


    Export, share and cite



    Title :

    Underwater soft manipulator, underwater robot and grabbing method of underwater soft manipulator


    Additional title:

    一种水下软体机械手、水下机器人及其抓取方法


    Contributors:
    WANG HAIBO (author) / BING YUANQIANG (author) / CHANG ZONGYU (author) / LIU XINWEI (author)

    Publication date :

    2024-11-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

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



    Underwater robot operation grabbing manipulator and operation method thereof

    LIU YUAN / CHENG LEI / XU JIANMIN et al. | European Patent Office | 2024

    Free access

    Telescopic grabbing manipulator of underwater unmanned vehicle

    YANG ZHENXIN / ZHOU XIAOYU / YANG FEI et al. | European Patent Office | 2024

    Free access

    Single-manipulator underwater robot

    FU XIANPING / LIN PENG / YUAN GUOLIANG et al. | European Patent Office | 2021

    Free access

    Manipulator device for grabbing underwater large target object

    MAO ZHAOYONG / JIAO HUIFENG / LIU WEIDONG | European Patent Office | 2024

    Free access

    Manipulator and underwater robot

    SHANG WEIYAN / YI XINHUA / LIAO QINGBIN et al. | European Patent Office | 2021

    Free access