The invention relates to the technical field of underwater unmanned vehicles, in particular to a manipulator device. The underwater robot comprises an underwater mechanical arm, a lifting device and a tail end accessory, wherein the underwater mechanical arm is used for transferring a target object; the lifting device is used for adjusting the position of the underwater mechanical arm, and the lifting device is connected with the underwater mechanical arm through a flange; the tail end accessory is used for achieving the purpose that the underwater mechanical arm grabs a target object, and the tail end accessory is connected with the underwater mechanical arm through a joint module. According to the invention, the manipulator device can be controlled by the aircraft to carry out precise operation work, and objects can be grabbed and precisely placed in a range of 180 degrees * 360 degrees. By adopting motor control, the manipulator has the capabilities of high power-to-weight ratio, difficulty in corrosion and precise torque control, and has the advantage of stronger flexible movement capability in a local space compared with the defects that a common aircraft only controls own attitude to realize object throwing and collision and the like.
本发明涉及水下无人航行器技术领域,特别是涉及一种机械手装置。本发明包括水下机械臂、升降装置、末端属具,水下机械臂用于目标物体转移;升降装置用于实现所述水下机械臂位置的调整,所述升降装置与所述水下机械臂通过法兰连接;末端属具用于实现所述水下机械臂对目标物体的抓取,所述末端属具与所述水下机械臂通过关节模组连接。本发明通过航行器可以控制本发明的机械手装置展开精准的作业工作,可实现180°×360°范围内的物体抓取并精准放置。采用电机控制,具有高功率重量比、不易腐蚀、精准控制力矩的能力,相较于普通航行器仅控制自身姿态实现物体抛落、撞击等缺点,本发明的机械手能够在局部空间具备更强大的灵活运动能力的优点。
Manipulator device
一种机械手装置
2025-03-28
Patent
Electronic Resource
Chinese