CN111376302A - Manipulator flexible clamping jaw for underwater environment - Google Patents

Abstract

The invention belongs to the field of ocean preparation engineering, and particularly relates to a manipulator flexible clamping jaw for an underwater environment, which comprises a spring sheet group and a coating layer, wherein the coating layer is wrapped outside the spring sheet group, the spring sheet group comprises a plurality of spring sheets which are sequentially abutted, the lower end of each spring sheet is fixedly connected, the upper end of each spring sheet is a free end, the length of each spring sheet is sequentially shortened from the inner side close to a clamped object to the outer side far away from the clamped object, and the free ends of other spring sheets except the innermost spring sheet are abutted against the previous spring sheet. The invention has the advantages of low cost, no maintenance, strong adaptability, low failure rate and the like.

Description

Translated fromChinese

一种用于水下环境的机械手柔性夹爪A Manipulator Flexible Gripper for Underwater Environment

技术领域technical field

本发明属于海洋准备工程领域，具体地说是一种用于水下环境的机械手柔性夹爪，应用于海洋开发、科考。The invention belongs to the field of marine preparation engineering, in particular to a flexible gripper of a manipulator used in an underwater environment, which is applied to marine development and scientific research.

背景技术Background technique

随着人类对海洋的开发、研究、探索的不断深入，对海洋装备的需求不断增加。如图1所示，目前现有的水下机械手6的夹爪均为刚性夹爪1，其结构复杂，不便于水下环境的应用。因此，对水下柔性抓取技术的需求愈加迫切。With the continuous deepening of human development, research and exploration of the ocean, the demand for marine equipment continues to increase. As shown in FIG. 1 , the clamping jaws of the existing underwater manipulator 6 are allrigid clamping jaws 1 , which are complicated in structure and inconvenient for application in an underwater environment. Therefore, the demand for underwater flexible grasping technology is more and more urgent.

发明内容SUMMARY OF THE INVENTION

为了满足水下柔性抓取的需求，本发明的目的在于提供一种用于水下环境的机械手柔性夹爪。In order to meet the requirement of flexible grasping under water, the purpose of the present invention is to provide a flexible gripper of a manipulator for use in an underwater environment.

本发明的目的是通过以下技术方案来实现的：The purpose of this invention is to realize through the following technical solutions:

本发明包括弹片组及包覆层，其中弹片组外部包裹有包覆层，所述弹片组包括多片依次抵接的弹簧片，各弹簧片的下端固接，上端为自由端，各所述弹簧片的长度由靠近夹持物的内侧向远离夹持物的外侧依次缩短，除最内侧的弹簧片以外的其他弹簧片的自由端均抵接于前一片弹簧片上；The present invention includes an elastic sheet group and a coating layer, wherein the outer portion of the elastic sheet group is wrapped with a coating layer, the elastic sheet group includes a plurality of spring sheets abutting in sequence, the lower ends of each spring sheet are fixedly connected, and the upper end is a free end, and each of the spring sheets is a free end. The lengths of the spring sheets are shortened sequentially from the inner side close to the clamp to the outer side away from the clamp, and the free ends of the other spring sheets except the innermost spring sheet all abut on the previous spring sheet;

所述弹簧片为弧形，由方形的弹簧片沿厚度方向弯曲而成，每片弹簧片的长度大于宽度、宽度大于厚度；The spring sheet is arc-shaped and is formed by bending a square spring sheet along the thickness direction, and the length of each spring sheet is greater than the width and the width is greater than the thickness;

各所述弹簧片的宽度均相等、厚度均相等；The width and thickness of each of the spring sheets are equal;

各所述弹簧片的下端对齐且相互固连，各所述弹簧片的自由端在受到外力时发生变形且产生相对滑动；The lower ends of the spring sheets are aligned and fixed to each other, and the free ends of the spring sheets are deformed and slide relative to each other when subjected to an external force;

各所述弹簧片之间相互传递弹力，实现各弹簧片沿叠加方向的柔性接触力；The elastic force is transmitted between the spring sheets to realize the flexible contact force of the spring sheets along the stacking direction;

各所述弹簧片的弧度相同；The radian of each said spring sheet is the same;

所述包覆层通过注塑包覆在弹片组的外面。The coating layer is coated on the outside of the elastic sheet group by injection molding.

本发明的优点与积极效果为：The advantages and positive effects of the present invention are:

1.成本低；本发明采用多弹簧片叠加的设计，成本低、易维护。1. Low cost; the present invention adopts the design of stacking multiple spring sheets, which is low in cost and easy to maintain.

2.适配性强；本发明的柔性夹爪的接口形式易定制，可适配不同的机械手平台。2. Strong adaptability; the interface form of the flexible gripper of the present invention is easy to customize and can be adapted to different manipulator platforms.

3.故障率低，本发明结构简单、无复杂的机构，故障率低。3. The failure rate is low. The present invention has a simple structure, no complicated mechanism, and has a low failure rate.

附图说明Description of drawings

图1为现有刚性夹爪的水下机械手结构示意图；Fig. 1 is the structural schematic diagram of the underwater manipulator of the existing rigid gripper;

图2为本发明的结构示意图；Fig. 2 is the structural representation of the present invention;

图3为本发明柔性夹爪的截面图；3 is a cross-sectional view of the flexible gripper of the present invention;

图4为图3的左视剖视图；Fig. 4 is the left side sectional view of Fig. 3;

图5为本发明柔性夹爪的结构示意图；5 is a schematic structural diagram of a flexible gripper of the present invention;

图6为本发明单个弹簧片的结构示意图；6 is a schematic structural diagram of a single spring sheet of the present invention;

其中：1为刚性夹爪，2为柔性夹爪，3为弹片组，4为包覆层，5为弹簧片，6为机械手。Among them: 1 is the rigid gripper, 2 is the flexible gripper, 3 is the shrapnel group, 4 is the coating layer, 5 is the spring sheet, and 6 is the manipulator.

具体实施方式Detailed ways

下面结合附图对本发明作进一步详述。The present invention will be described in further detail below in conjunction with the accompanying drawings.

如图3～6所示，本发明包括弹片组3及包覆层4，其中弹片组3外部包裹有包覆层4，起到缓冲保护、增加摩擦力、防腐蚀的作用；弹片组3包括多片依次抵接的弹簧片5，各弹簧片5的下端对齐且相互固连，上端为自由端；各弹簧片5的长度由靠近夹持物的内侧向远离夹持物的外侧依次缩短，除最内侧的弹簧片5以外的其他弹簧片5的自由端均抵接于前一片弹簧片5上。As shown in Figures 3 to 6, the present invention includes ashrapnel group 3 and a coating layer 4, wherein theshrapnel group 3 is wrapped with a coating layer 4 outside, which plays the role of buffering protection, increasing friction, and preventing corrosion; theshrapnel group 3 includes A plurality of spring pieces 5 abutting in turn, the lower ends of each spring piece 5 are aligned and connected to each other, and the upper end is a free end; The free ends of the other spring pieces 5 other than the inner spring piece 5 abut on the previous spring piece 5 .

本发明的弹簧片5为弧形，由方形(本实施例为长方形)的弹簧片沿厚度方向弯曲而成，各弹簧片5的弧度相同。每片弹簧片5的长度大于宽度、宽度大于厚度。各弹簧片5的宽度均相等、厚度均相等。每片弹簧片5的宽度方向的刚度远大于厚度方向的刚度，所以能够承受较大的力而不变形，实现柔性抓取的同时仍具有较大的负载能力。The spring sheet 5 of the present invention is arc-shaped, and is formed by bending a square (rectangular in this embodiment) spring sheet along the thickness direction, and the radian of each spring sheet 5 is the same. The length of each spring piece 5 is greater than the width, and the width is greater than the thickness. The width and thickness of each spring piece 5 are equal. The stiffness in the width direction of each spring piece 5 is much greater than the stiffness in the thickness direction, so it can withstand a large force without deformation, and achieves flexible grasping while still having a large load capacity.

本发明各弹簧片5的自由端在受到外力时会发生变形且产生相对滑动，各弹簧片5之间相互传递弹力，实现各弹簧片5沿叠加方向的柔性接触力。The free ends of each spring sheet 5 of the present invention will deform and slide relative to each other when subjected to external force, and each spring sheet 5 transmits elastic force to each other to realize the flexible contact force of each spring sheet 5 along the stacking direction.

本发明的包覆层4可以根据作业需求选定不同的材料(如橡胶或硅胶)，可通过注塑的方式均匀包覆在弹片组3的外面，利用包覆层4柔软、有弹性、高摩擦系数、耐腐蚀等特点改善柔性夹爪2的性能，降低柔性夹爪2的硬度并提高柔性夹爪2的摩擦系数。The coating layer 4 of the present invention can be selected from different materials (such as rubber or silica gel) according to the operation requirements, and can be uniformly coated on the outside of theelastic sheet group 3 by means of injection molding. The coating layer 4 is soft, elastic, and high friction. The characteristics of coefficient and corrosion resistance improve the performance of theflexible gripper 2, reduce the hardness of theflexible gripper 2 and increase the friction coefficient of theflexible gripper 2.

如图2所示，本发明的柔性夹爪2的末端可根据需求定制相应的安装接口，以适配不同的机械手6。As shown in FIG. 2 , the end of theflexible gripper 2 of the present invention can be customized with a corresponding installation interface according to requirements to adapt to different manipulators 6 .

本发明的工作原理为：The working principle of the present invention is:

本发明的中弹片组3包括多个弧形的弹簧片5，各弹簧片5具有相同的弧度，且长度依次变短。组装时，各弹簧片5的下端对齐且相互固连(如铆接、焊接或螺栓连接等)，上端为自由端。在受到外力时，各弹簧片5的自由端会变形、且会有相对滑动，实现沿叠加方向的柔性接触力；同时由于宽度方向的刚度远大于厚方向的刚度度，所以能够承受较大的力而不变形，实现沿叠加方向的柔性抓取的同时仍具有较大的负载能力。利用包覆层2柔软、高摩擦系数、耐腐蚀等特点改善柔性夹爪2的性能。且弹簧片的长度、宽度、厚度、数量、弧度及不同弹片的长度差可根据不同的需求设计。The middlespring plate group 3 of the present invention includes a plurality of arc-shaped spring plates 5, and each spring plate 5 has the same arc, and the lengths are successively shorter. During assembly, the lower ends of each spring sheet 5 are aligned and mutually fixed (eg, riveted, welded or bolted), and the upper ends are free ends. When subjected to external force, the free ends of each spring sheet 5 will deform and slide relative to each other to achieve a flexible contact force along the superposition direction; at the same time, since the stiffness in the width direction is much greater than the stiffness in the thickness direction, it can withstand large The force is not deformed, and the flexible grasping along the superposition direction is realized while still having a large load capacity. The performance of theflexible gripper 2 is improved by utilizing the characteristics of softness, high friction coefficient and corrosion resistance of thecoating layer 2 . And the length, width, thickness, quantity, radian and length difference of different shrapnel can be designed according to different needs.

本发明提供了一种用于水下环境的机械手柔性夹爪，易于适配现有的多种机械手，无需改变原机械手的结构即可实现柔性抓取功能。本发明具有成本低、免维护、适配性强、故障率低等优点。The invention provides a flexible gripper of a manipulator used in an underwater environment, which is easy to adapt to various existing manipulators, and can realize a flexible grasping function without changing the structure of the original manipulator. The invention has the advantages of low cost, maintenance-free, strong adaptability, low failure rate and the like.

Claims (7)

Translated fromChinese

1.一种用于水下环境的机械手柔性夹爪，其特征在于：包括弹片组(3)及包覆层(4)，其中弹片组(3)外部包裹有包覆层(4)，所述弹片组(3)包括多片依次抵接的弹簧片(5)，各弹簧片(5)的下端固接，上端为自由端，各所述弹簧片(5)的长度由靠近夹持物的内侧向远离夹持物的外侧依次缩短，除最内侧的弹簧片(5)以外的其他弹簧片(5)的自由端均抵接于前一片弹簧片(5)上。1. A flexible gripper of a manipulator for underwater environment, characterized in that: comprising a shrapnel group (3) and a coating (4), wherein the shrapnel group (3) is externally wrapped with a coating (4), so The spring plate group (3) includes a plurality of spring plates (5) that are in contact with each other in sequence, the lower ends of each spring plate (5) are fixedly connected, and the upper end is a free end, and the length of each spring plate (5) is determined by the length of the spring plate (5) close to the clamping object. The inner side is shortened in turn toward the outer side away from the clamp, and the free ends of the other spring sheets (5) except the innermost spring sheet (5) all abut on the previous spring sheet (5).2.根据权利要求1所述用于水下环境的机械手柔性夹爪，其特征在于：所述弹簧片(5)为弧形，由方形的弹簧片沿厚度方向弯曲而成，每片弹簧片(5)的长度大于宽度、宽度大于厚度。2. The flexible gripper of a manipulator for underwater environment according to claim 1, characterized in that: the spring piece (5) is arc-shaped, and is formed by bending a square spring piece along the thickness direction, and each piece of spring piece is curved. (5) The length is greater than the width, and the width is greater than the thickness.3.根据权利要求2所述用于水下环境的机械手柔性夹爪，其特征在于：各所述弹簧片(5)的宽度均相等、厚度均相等。3 . The flexible gripper of a manipulator for underwater environment according to claim 2 , wherein the spring pieces ( 5 ) have the same width and the same thickness. 4 .4.根据权利要求1所述用于水下环境的机械手柔性夹爪，其特征在于：各所述弹簧片(5)的下端对齐且相互固连，各所述弹簧片(5)的自由端在受到外力时发生变形且产生相对滑动。4. The flexible gripper of a manipulator for underwater environment according to claim 1, characterized in that: the lower ends of each of the spring sheets (5) are aligned and fixed to each other, and the free ends of each of the spring sheets (5) Deformation and relative sliding occur when external force is applied.5.根据权利要求4所述用于水下环境的机械手柔性夹爪，其特征在于：各所述弹簧片(5)之间相互传递弹力，实现各弹簧片(5)沿叠加方向的柔性接触力。5. The flexible gripper of a manipulator for underwater environment according to claim 4, characterized in that: each spring sheet (5) transmits elastic force to each other to realize the flexible contact of each spring sheet (5) along the stacking direction force.6.根据权利要求1所述用于水下环境的机械手柔性夹爪，其特征在于：各所述弹簧片(5)的弧度相同。6 . The flexible gripper of a manipulator for underwater environment according to claim 1 , wherein the curvature of each of the spring sheets ( 5 ) is the same. 7 .7.根据权利要求1所述用于水下环境的机械手柔性夹爪，其特征在于：所述包覆层(4)通过注塑包覆在弹片组(3)的外面。7 . The flexible gripper of a manipulator for underwater environment according to claim 1 , wherein the coating layer ( 4 ) is coated on the outside of the elastic sheet group ( 3 ) by injection molding. 8 .

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