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Robot frogman and palm assembly

A component and palm technology, applied in the field of robotics, can solve the problems of inconvenient installation and use, slow response speed, etc.

Active Publication Date: 2020-05-15
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to achieve sufficient driving displacement for the phalanx, it requires a long-distance shape memory alloy wire, but there is a problem that its response speed decreases as the length of the alloy wire increases, and usually the length of the alloy wire exceeds the palm seat range, not easy to install and use

Method used

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  • Robot frogman and palm assembly
  • Robot frogman and palm assembly
  • Robot frogman and palm assembly

Examples

Experimental program
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Effect test

Embodiment

[0030] see figure 1 , the robot frogman 1 of the present invention includes a fuselage 10 and a humanoid robotic arm 11 installed on the fuselage 10, the humanoid robotic arm 11 includes a shoulder joint 12, a big arm 13, an elbow joint 14, a small arm 15 and a The palm assembly 2 that the wrist joint is connected with the end of the forearm 15 . During the working process, it communicates with the transfer station 02 on the water surface through the optical fiber 01.

[0031] see Figure 2 to Figure 8 The palm assembly 2 includes a palm seat 20 and fingers 21 , 22 , 23 , 24 and 25 hinged on the edge base 21 of the palm seat 20 . Such as figure 2 and image 3 As shown, the axis of the hinge axis of the fingers 25 that constitute the thumb and the edge base 21 is deflected inward at a certain angle relative to the hinge axes of the other four fingers that are hinged with the edge base 21, so as to simulate the human hand when grasping an object. The closed state of the th...

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Abstract

The invention relates to a robot frogman and a palm assembly, and belongs to the technical field of robots. The palm assembly comprises a palm base and a plurality of fingers, wherein the each fingercomprises joints, knuckles and joint corner driving mechanisms which are sequentially arranged through connection, the each joint corner driving mechanism comprises a corresponding shape memory alloywire used for driving corresponding two adjacent knuckles to rotate forwards and reversely, the each shape memory alloy wire comprises two or more shape memory alloy wire sections, the adjacent ends of the two corresponding shape memory alloy wire sections of the each shape memory alloy wire are fixedly connected through a corresponding sliding block, and the sliding blocks on the shape memory alloy wires are installed in the palm base and / or the knuckles in a sliding mode. On the basis of the palm assembly with an improved structure, the effective length of the alloy wires can be effectivelyshortened while the knuckle action response speed is increased, and the palm assembly can be widely applied to the technical fields of robots, deep sea exploration and the like.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot frogman and a palm assembly that can be used to build the robot frogman. Background technique [0002] With the continuous development and utilization of major marine resources such as marine nuclear power, offshore wind power, and offshore oil, the demand for precise construction and installation of underwater equipment and safe operation and maintenance has increased sharply; although underwater autonomous navigation robots AUV, underwater remote control robots ROV, Marine robots such as UUV can complete tasks such as underwater detection, target search, underwater fault location, and sample collection. For some complex and delicate tasks, they still mainly rely on experienced divers to complete. The fatal flaw of high risk and high difficulty exists in the work of divers, and they can only work in better sea conditions, and after exceeding 350 meters of water depth, div...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/00B25J15/02B25J11/00B63C11/52
CPCB25J11/00B25J15/0009B25J15/0206B25J15/0213B63C11/52
Inventor 杨灿军吴威涛余林繁白昊天陈志坚许桢武鑫朱元超魏谦笑
Owner ZHEJIANG UNIV
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