Variable-stiffness flexible clamping jaw suitable for turbid liquid environment and having near-field vision

Abstract

The invention discloses a variable-rigidity flexible clamping jaw suitable for a turbid liquid environment and having a near-field vision. The variable-rigidity flexible clamping jaw comprises an elastic film bag and a camera device, wherein the elastic film bag is filled with a solid-liquid mixture of solid particles and liquid, the liquid in the elastic film bag is pumped out when an object is grabbed to enable the solid particles to subjected to blocked agglomeration, the shape of the elastic film bag is changed in a self-adaptive mode according to the surface shape of the object, and the object is clamped through the blocked agglomeration effect of solid particles so as to grab the object, wherein the solid-liquid mixture is prepared into transparent mixed liquid, the elastic film bag is made of a transparent material, and the camera device is installed on the inner side of the grabbing surface of the elastic film bag, so that the situation outside the elastic film bag can be shot through the solid-liquid mixture and the elastic film bag, and a target object can be observed, positioned and grabbed under the shooting assistance of the camera device. Due to the near-field vision, the variable-rigidity flexible clamping jaw is particularly suitable for being used in the turbid liquid environment and is particularly suitable for grabbing objects with complex surface characteristics.

Description

Technical field [0001] The present invention relates to the field of robots, in particular to a variable flexible clamp having a near field visual in a cloudy liquid environment. Background technique [0002] With the development of urban rivers, the development of marine resources, underwater robot technology has become the key research direction of robot technology, of which underwater grabbing is the key technology of underwater robots, and has become a study with its higher implementation difficulty. difficulty. A large application environment that is crawled underwater is a cloudy liquid environment, such as non-flowing natural water, underwater mud environments, underwater oil and gas environments. For example, when the building industry may have a drill bit underground, because the drilling is often reinforced by the groundwater and cannot be reinforced with the drilling wall, the drilling eye is a mud environment, and it is not possible to salvage the drill bit through th...

AI Technical Summary

Problems solved by technology

Its disadvantages are: when using it, objects can only be picked up and down, otherwise the distribution of particles in the soft bag is uneven, and this solution cannot pick up objects that are relatively large in size compared to the soft bag; there is a large amount of gas in the soft bag, making it difficult to use underwater ; Lack of feedback sensors, without the assistance of machine vision, it is difficult to locate the object to be grasped and the situation of grasping in place

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