The invention relates to a modularized detachable reconfigurable magnetic suction type movable underwater manipulator which comprises five fingers, each finger comprises three knuckles which are hinged through a pin shaft, the first knuckle is connected with a driving device through a ball head pull rod, and finger mounting mortises and magnetic suction device mounting finger modules are arranged on the two sides of a main body; the control system circuit board controls the driving device, and each finger controls the driving device to perform independent bending action through the control system circuit board; the finger module can be installed and recombined in different directions; when the mounting direction of the detachable magnetic finger module is the same as the direction of the fingers on the main body, the grabbing mode is adopted, and otherwise, the crawling mode is adopted. A distance sensor is arranged on the middle finger, a gyroscope and a posture sensor are arranged on the mechanical arm body and used for recording the posture and angle of the mechanical arm during crawling, a resistance type force measuring sensor connected with a control system circuit board is arranged at the front end of the third knuckle, and the mechanical arm can independently enter a narrow water area when being separated from the mechanical arm to work underwater.

    本发明涉及一种模块化可拆卸可重组磁吸式可移动水下可用机械手,包含五根手指,手指包含三个指节,通过销轴铰接,第一指节通过球头拉杆连接驱动装置,主体两侧有手指安装卯眼及磁吸装置安装手指模块;控制系统电路板对驱动装置进行控制,每根手指都通过控制系统电路板控制驱动装置进行独立的弯曲动作;手指模块可以以不同朝向进行安装重组;可拆卸磁吸手指模块安装方向与主体上的手指方向相同时则为抓取模式,相反时则为爬行模式。最中间手指上置有距离传感器,机械手主体上置有陀螺仪及姿态传感器,记录机械手在爬行时的姿态和角度,第三指节前端置有与控制系统电路板连接的电阻式测力传感器,机械手在水下脱离机械臂工作可以独立进入狭小水域。


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    Title :

    Modularized detachable and reorganizable magnetic attraction type movable underwater usable manipulator


    Additional title:

    一种模块化可拆卸可重组磁吸式可移动水下可用机械手


    Contributors:
    NING DAYONG (author) / WU XIWEN (author) / HOU JIAOYI (author) / ZHANG ZENGMENG (author) / CHEN SHENGTAO (author) / ZHANG KANG (author) / TIAN HAO (author) / GONG YONGJUN (author)

    Publication date :

    2024-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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