CN105364912B - A kind of mechanical paw under vacuum environment - Google Patents
A kind of mechanical paw under vacuum environment Download PDFInfo
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- CN105364912B CN105364912B CN201510827528.0A CN201510827528A CN105364912B CN 105364912 B CN105364912 B CN 105364912B CN 201510827528 A CN201510827528 A CN 201510827528A CN 105364912 B CN105364912 B CN 105364912B
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Abstract
The invention discloses a kind of mechanical paws under vacuum environment,Motor and planetary reduction gear link together and are fixed with main platform by retarder flange,Encoder is fixed on the tail portion of motor,Temperature sensor is fixed on the surface of motor,Two gears are matched with the brearing bore in primary seal lid,Primary seal lid is fixed with driving box by screw,Welding bellows component cylinder end is fixed by flat key and nut,Another end flanges are bolted with driving box,It is sealed by O-ring between sealing flange and driving box,Steel wire rope one end is connect with bellows component,One end is fixed together by the sheave segment of outside connecting rod guide pulley mechanism and drive connecting rod,Drive connecting rod is fixed on follower link one end in the rotation axis of main platform,Pass through partial gear engaged transmission between the two,Finger component is mounted on the other end of connection rod set,Resetting spring one end is connected with master/slave connecting rod,The other end is connected with main platform.
Description
Technical field
The present invention relates to gripper field, specifically a kind of mechanical paw under vacuum environment.
Background technology
Controlled nuclear fusion research is the great world that world today scientist carries out for solution human future energy problem
Cooperative programme.EAST（ExperimentalAdvancedSuperconductingTokamak）Precisely in order in the height of nearly reactor core
Study the stable state of plasma and advanced operation under Parameter Conditions, further investigation realize the engineering of fusion energy resource, physical problem and
The nuclear fusion experimental device of construction.During device discharges, vacuum chamber the first wall components graphite tile is due to being in high temperature high vacuum
Running environment under have different degrees of damage, even partial exfoliation.It will be right if cleared up not in time graphite tile
The operation of device affects.It is a kind of that device is carried out in discharging gap in order to reduce device operating cost as far as possible
It detects and safeguards and the mechanical arm system for not destroying vacuum environment is developed.High temperature high vacuum（10-6pa）Environment give
Realize that the structure design of robot arm end effector-paw of clean-up task brings difficulty.And in existing industrial products
It is difficult to find a kind of mechanical paw structure suitable for the environment.
Paw both at home and abroad under complex environment designs certain Research foundation at present, for example, apply space, deep-sea or
Paw under dust atmosphere has more successful story.But existing design can not meet simultaneously paw structure size and
EAST devices high temperature and the requirement for not destroying vacuum environment.
The object of the present invention is to provide a kind of mechanical paws under vacuum environment for invention content, to be suitable for holding in the palm card
Mark's vacuum chamber vacuum environment, uses ball-screw-transmission, efficient, chucking power is big, is sealed using welding bellows,
It is compact-sized, ensure that it does not pollute vacuum environment, be also applicable in industrial circle, is particluarly suitable for high vacuum, underwater or dust
Grasping manipulation is carried out to target object under environment.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of mechanical paw under vacuum environment, it is characterised in that：Include the central shaft of siphunculus shape along left and right water
Square to setting driving box, driving box left end, right end box mouth periphery are respectively equipped with land, and drive box left end box mouth and land
Upper flange is connected with sealing flange, and box right end box mouth and the conjunction of land upper cover is driven to be equipped with primary seal lid, driving box internal upper part from
From left to right is sequentially installed with encoder, motor, retarder, and being sticked on the motor has temperature sensor, and encoder is mounted on electricity
Owner's axis left end, electric machine main shaft right end are sequentially connected with retarder, and drive is fixed on by retarder flange on the right side of the retarder
In dynamic box, reducer output shaft is directed toward to the right primary seal lid, and gear one is equipped on reducer output shaft, in one right side of gear
The heart is equipped with boss, and primary seal covers one position of corresponding gear and is fixed with needle bearing one, and the boss rotation peace on one right side of gear
In needle bearing one, encoder position is corresponded on the sealing flange and is equipped with seal nipple one, the output of the encoder
Line, the output line of temperature sensor, motor electric wire respectively from seal nipple one draw；
Lower part is equipped with bellows component in the driving box, and the bellows component is by cylindrical part, bellows diaphragm
It constitutes, wherein cylindrical part central shaft is arranged along left and right horizontal direction, and cylindrical part left end center is connected with connecting pole to the left, institute
It states sealing flange and is correspondingly connected with column left position equipped with seal nipple two, the connecting pole left end is mounted on corresponding on sealing flange
In the seal nipple two of position, and connecting pole left end is fixed with steel wire rope, and steel wire rope is pierced by from seal nipple two, the ripple
Periosteum piece is sleeved on connecting pole, and bellows diaphragm right end is fixedly connected with cylindrical part left end, bellows diaphragm left end with it is close
Envelope flange is fixedly connected, and is rotated coaxially in cylindrical part and is provided with ball-screw, ball-screw left end is rotatably installed in connecting pole
In, ball-screw right end is pierced by from cylindrical part, is screwed togather on the ball-screw in cylindrical part and is equipped with feed screw nut, and
It is connected by flat key between feed screw nut right end and cylindrical part right end, the ball-screw is pacified on the right end of cylindrical part
Equipped with gear two, the gear two is engaged with the transmission of gear one, and two right center of gear is equipped with boss, and primary seal covers corresponding teeth
It takes turns two positions and is fixed with needle bearing two, and the boss on two right side of gear is rotatably installed in needle bearing two, on ball-screw
It is equipped with the shaft shoulder close to two position of gear, driving box low inside is respectively equipped with thrust ball axis in shaft shoulder left and right side on ball-screw
It holds, two thrust ball bearings, which are respectively fitted on ball-screw and are relatively rotated with ball-screw, to be coordinated；
On front side of the driving box main platform, the platform of main platform are connected between the sealing flange, primary seal lid in direction
Face is vertically arranged, and is respectively perpendicular positioned at upper and lower side on main platform table top and is connected with mounting plate, and two mounting plates are respectively parallel to
The upper and lower side of main platform, and two mounting plate left ends cross sealing flange respectively after be bent downwardly；
Further include the drive connecting rod being arranged along the longitudinal direction, outside connecting rod one, follower link, outside connecting rod two, wherein outside connecting rod
One rear end and an outside connecting rod pulley coaxle are rotatably installed in left end between two mounting plates, and drive connecting rod rear end connects with an active
Bar pulley, a partial gear shape drive connecting rod gear rotate coaxially between two mounting plates left side, outside connecting rod two
Rear end thereof is mounted on right end between two mounting plates, the follower link gear of follower link rear end and a partial gear shape
The right side between two mounting plates is rotated coaxially, and transmission is engaged between follower link gear and drive connecting rod gear, it is described
Steel wire rope winds and is fixed on drive connecting rod pulley after bypassing outside connecting rod pulley, the drive connecting rod and one front end of outside connecting rod it
Between, be connected separately with finger component between two front end of follower link and outside connecting rod, on the upside of the drive connecting rod, follower link or under
Side also respectively be connected with resetting spring between respective side mounting plate on main platform.
A kind of mechanical paw under vacuum environment, it is characterised in that：Finger component per side respectively includes
The finger deckle board pair that the L-shaped finger deckle board of one pairing approximation is constituted, the L-shaped bottom edge difference of two finger deckle board of left side finger deckle board centering
By pin joint pivot pin be connected on drive connecting rod, outside connecting rod one the upper and lower side in front end on, two finger deckle board of right side finger deckle board centering
L-shaped bottom edge respectively by pin joint pivot pin be connected on follower link, outside connecting rod two the upper and lower side in front end on, both sides finger deckle board is to perpendicular
Side is opposite, and flexible board is provided with respectively per the vertical edge of side finger deckle board pair, among the vertical edge per side finger deckle board pair respectively
Equipped with sliding slot, be vertically connected with connecting pole on the flexible board, and connecting pole pass through corresponding finger deckle board to the sliding slot of vertical edge simultaneously
It stretches between two finger deckle boards, each finger deckle board centering, is respectively arranged with positioned at the forward and backward side of connecting pole between two finger deckle boards
Press spring base, the press spring base of forward and backward side have a compression spring to connecting pole horizontal connection respectively, before the rear end of front compression spring, rear compression spring
End is connected separately with wedge, and wedge is stuck in by arc groove on the forward and backward side of connecting pole respectively, each finger deckle board centering, and two
It is also respectively provided with tabletting seat positioned at the upper and lower side of connecting pole styletable on finger deckle board, embedded connection is connected between two tabletting seats
The tabletting of column styletable.
A kind of mechanical paw under vacuum environment, it is characterised in that：Pushing away on the right side of the shaft shoulder on ball-screw
The bearing baffle being sleeved on ball-screw is equipped between power ball bearing and gear two.
A kind of mechanical paw under vacuum environment, it is characterised in that：It is located at outside connecting rod in two mounting plates to slide
Transition wheel is also rotatablely equipped between wheel, drive connecting rod pulley, the steel wire rope twines after bypassing outside connecting rod pulley, transition wheel successively
Around and be fixed on drive connecting rod pulley.
A kind of mechanical paw under vacuum environment, it is characterised in that：In the bellows component, cylindrical part
It is separately installed with ball pin in central symmetry position on part, corresponding to ball pins position in the driving box box wall has installed along right and left
Ball pin to horizontal-extending sliding slot, and on cylindrical part is slidably mounted in the sliding slot in driving box box wall.
A kind of mechanical paw under vacuum environment, it is characterised in that：The sealing flange, primary seal lid with
It is respectively equipped with O-ring seal between the land of respective side.
A kind of mechanical paw under vacuum environment, it is characterised in that：The motor uses high-temperature resistant direct
Galvanic electricity machine.
A kind of mechanical paw under vacuum environment, it is characterised in that：The encoder uses absolute type
Encoder calculates the folding distance of finger by the rotational angle of measurement motor, and temperature sensor is using patch type platinum electricity
Temperature sensor is hindered, for detecting motor surface temperature, prevents motor from being burnt under hot environment operation.
A kind of mechanical paw under vacuum environment, it is characterised in that：The partial gear is complete
A part for gear determines the size of the sector region of incomplete gear according to the folding range of paw.
Ball bearing screw precision is high in the present invention, it is big to bear load, and motor mechanomotive force is through retarder, a pair of of gear and ball wire
After thick stick is transmitted, output torque greatly increases.The rotary motion that retarder exports is converted to feed screw nut by ball-screw
Linear motion, two thrust ball bearings are mounted on ball-screw both sides for axial limiting and bear axial load.
Bellows component includes cylindrical part, bellows diaphragm in the present invention, cylindrical part, sealing flange respectively with ripple
Periosteum piece welds together, and sealing flange is bolted with driving box and in contact surface mounting O-shaped rings for sealing, tubular
Component is connect by flat key with feed screw nut, and feed screw nut, which moves in a straight line, drives bellows component to carry out stretching motion, will answer
Miscellaneous rotary dynamic seal is converted to simple bellows static seal.
Steel wire rope one end is fixed with cylindrical part in bellows component in the present invention, and the other end passes through outside connecting rod pulley, mistake
Ferry boat is fixed together with the drive connecting rod sheave segment in drive connecting rod, and the linear motion of steel wire rope is converted into drive connecting rod
Around the rotary motion of fixing axle, drive connecting rod is engaged by partial gear thereon with the partial gear in follower link.
Partial gear is a part for complete gear wheel in the present invention, can determine incomplete tooth according to the folding range of paw
The size of the sector region of wheel, to keep overall structure compacter.
Left hand finger assembly is identical with right hand finger assembly structure in the present invention, including finger deckle board pair, pin joint axis, flexible board,
Compression spring, tabletting, connecting rod is connected by pin joint axis with finger deckle board, free to rotate, and flexible board is connect with finger deckle board, is allowed small
Rotation in range and sliding, compression spring apply damping force in flexible board glide direction, and tabletting applies in flexible board rotation direction to be hindered
Buddhist nun's power makes finger have certain flexibility when contacting object, plays a certain protective role.
Partial gear and the equal surface of pin joint axis carry out solid lubrication in the present invention, to reduce these components in vacuum
The degree of wear under environment avoids the reduction of transmission efficiency.
Resetting spring one end is fixed on drive connecting rod, in follower link in the present invention, and one end is fixed on main platform, multiple
Position spring is in continuous tensional state in paw closing course, resistance is provided, when motor reversal, due to the flexibility of steel wire rope
Power is caused not transmit inversely, resetting spring provides power at this time, and driving paw is opened.
Encoder uses absolute type encoder in the present invention, and opening for finger is calculated by the rotational angle of measurement motor
Distance is closed, temperature sensor uses patch type platinum resistance temperature sensor, when for detecting motor operation under hot environment in real time
Surface temperature, prevent burn-down of electrical machinery.
The present invention solves its reliable fortune under tokamak vacuum chamber vacuum environment using high temperature direct current generator
Capable problem.
The present invention uses heat safe sealing plug, and the line of motor and sensor is extracted.
Feed screw nut in the present invention is connect with cylindrical part by flat key, and ball pin, ball are installed in cylindrical part both sides
The sliding slot sold along main platform interior moves, and limits the rotation of nut.
Two needle bearings that primary seal covers in the present invention are matched with gear boss respectively, bear radial load.
The present invention will have reference significance in fusion reactor technology, space technology, the fields such as underwater husbandry.
The beneficial effects of the present invention are：Structure of the invention is compact, light weight, built in all electronic components and drive system
Inside driving box, and encapsulation process is done, its working environment and external vacuum environment are kept apart, vacuum is effectively protected
Environment is not contaminated and electrical components operation will not be interfered by vacuum environment, while its clamping force is big, and crawl precision is high.
Description of the drawings
Fig. 1 is overall structure of the present invention.
Fig. 2 is bellows component structure sectional view of the present invention.
Fig. 3 is bellows component structure external view of the present invention.
Fig. 4 is executing agency's schematic diagram of the present invention
Fig. 5 is finger component diagram of the present invention.
Specific implementation mode
Shown in Fig. 1-Fig. 5, a kind of mechanical paw under vacuum environment includes the central shaft of siphunculus shape along left
Right horizontally arranged driving box 22,22 left end of driving box, right end box mouth periphery are respectively equipped with land, and drive 22 left end of box
Box mouth and land upper flange are connected with sealing flange 15, and 22 right end box mouth of box and the conjunction of land upper cover is driven to be equipped with primary seal lid 8,
Driving 22 internal upper part of box is sequentially installed with encoder 1, motor 2, retarder 3 from left to right, and being sticked on motor 2 has temperature sensing
Device, encoder 1 are mounted on 2 main shaft left end of motor, and 2 main shaft right end of motor is sequentially connected with retarder 3, and 3 right side of retarder passes through
Retarder flange 4 is fixed in driving box 22, and 3 output shaft of retarder is directed toward to the right primary seal lid 8, and on 3 output shaft of retarder
Gear 1 is installed, one 5 right center of gear is equipped with boss, and one 5 position of corresponding gear is fixed with needle roller axis on primary seal lid 8
One is held, and the boss on one 5 right side of gear is rotatably installed in needle bearing one, and 1 position of encoder is corresponded on sealing flange 15 and is set
Have a seal nipple 1, the output line of encoder 1, the output line of temperature sensor, motor 2 electric wire respectively from seal nipple one
27 draw；
Lower part is equipped with bellows component in driving box 22, and bellows component is by cylindrical part 11,13 structure of bellows diaphragm
At, wherein 11 central shaft of cylindrical part is arranged along left and right horizontal direction, and 11 left end center of cylindrical part is connected with connecting pole to the left,
Sealing flange 15 is correspondingly connected with column left position and is equipped with seal nipple two, and connecting pole left end is mounted on sealing flange 15 and corresponds to position
In the seal nipple two set, and connecting pole left end is fixed with steel wire rope 16, and steel wire rope 16 is pierced by from seal nipple two, bellows
Diaphragm 13 is sleeved on connecting pole, and 13 right end of bellows diaphragm is fixedly connected with 11 left end of cylindrical part, and bellows diaphragm 13 is left
End is fixedly connected with sealing flange 15, is rotated coaxially in cylindrical part 11 and is provided with ball-screw 39, and 39 left end of ball-screw turns
Dynamic to be mounted in connecting pole, 39 right end of ball-screw is pierced by from cylindrical part 11, the ball-screw 39 being located in cylindrical part 11
On screw togather feed screw nut 12 be installed, and connected by flat key between 11 right end of 12 right end of feed screw nut and cylindrical part, ball
Leading screw 39 is equipped with gear 26 on the right end of cylindrical part 11, and gear 26 is engaged with the transmission of gear 1, and gear 26 is right
Side center is equipped with boss, and 26 position of corresponding gear is fixed with needle bearing 27 on primary seal lid 8, and 26 right side of gear is convex
Platform is rotatably installed in needle bearing 27, and the shaft shoulder is equipped with close to 26 position of gear on ball-screw 39, drives lower part in box 22
Shaft shoulder left and right side is respectively equipped with thrust ball bearing 10 on ball-screw 39, and two thrust ball bearings 10 are respectively fitted over ball wire
It relatively rotates on thick stick 39 and with ball-screw 39 and coordinates；
It is connected with main platform 17, main platform 17 between the sealing flange 15 in driving box 22 front side direction, primary seal lid 8
Table top it is vertically arranged, and be respectively perpendicular positioned at upper and lower side on 17 table top of main platform and be connected with mounting plate, two mounting plates difference
Be parallel to 17 upper and lower side of main platform, and two mounting plate left ends cross sealing flange 15 respectively after be bent downwardly；
Further include the drive connecting rod 19 being arranged along the longitudinal direction, outside connecting rod 1, follower link 20, outside connecting rod 2 21,
One 18 rear end of middle outside connecting rod and an outside connecting rod pulley 29 rotate coaxially the left end between two mounting plates, after drive connecting rod 19
End and the drive connecting rod gear 30 of 28, partial gear shapes of a drive connecting rod pulley are rotated coaxially mounted on two mounting plates
Between left side, 2 21 rear end thereof of outside connecting rod be mounted on two mounting plates between right end, 20 rear end of follower link and one it is endless
The follower link gear 31 of all gear shape rotates coaxially the right side between two mounting plates, and follower link gear 31 and active
Engagement is driven between link gear 30, steel wire rope 16 winds after bypassing outside connecting rod pulley 29 and is fixed on drive connecting rod pulley 28
On, between one 18 front end of drive connecting rod 19 and outside connecting rod, follower link 20 and outside connecting rod be connected separately with hand between 2 21 front end
Finger assembly 24, drive connecting rod 19, the upside of follower link 20 or downside also respectively with connect between respective side mounting plate on main platform
It is connected to resetting spring 26.
Finger component 24 per side respectively includes the finger deckle board pair that the L-shaped finger deckle board 36 of a pairing approximation is constituted, left side
The L-shaped bottom edge of two finger deckle board of finger deckle board centering is respectively by 23 pin joint of pin joint axis in drive connecting rod 19, outside connecting rod 1
On the upper and lower side in front end, the L-shaped bottom edge of two finger deckle board of right side finger deckle board centering is connected on follower link by pin joint pivot pin respectively
20, on the upper and lower side in the front end of outside connecting rod 2 21, both sides finger deckle board is opposite to vertical edge, the vertical edge difference per side finger deckle board pair
It is provided with flexible board 25, sliding slot is respectively equipped among the vertical edge per side finger deckle board pair, is vertically connected on flexible board 25
Connecting pole, and connecting pole is across corresponding finger deckle board to the sliding slot of vertical edge and stretching into two finger deckle boards 36, each finger frame
Plate centering is respectively arranged with press spring base 37, the press spring base 37 of forward and backward side between two finger deckle boards 36 positioned at the forward and backward side of connecting pole
There is compression spring 34 to connecting pole horizontal connection respectively, the rear end of front compression spring, the front end of rear compression spring are connected separately with wedge, and press
Seat is stuck in by arc groove on the forward and backward side of connecting pole respectively, each finger deckle board centering, and connecting pole is located on two finger deckle boards 36
The upper and lower side of styletable is also respectively provided with tabletting seat 38, and the tabletting of embedded connecting pole styletable is connected between two tabletting seats 38.
It is equipped with and is sleeved on ball-screw 39 between thrust ball bearing on ball-screw 39 on the right side of the shaft shoulder and gear 26
Bearing baffle 9.
Transition wheel 32, steel are also rotatablely equipped in two mounting plates between outside connecting rod pulley 29, drive connecting rod pulley 28
Cord 16 winds after bypassing outside connecting rod pulley 29, transition wheel 32 successively and is fixed on drive connecting rod pulley 28.
In bellows component, it is separately installed with ball pin 33 in central symmetry position on cylindrical part 11, drives 22 box of box
33 position of ball pin is corresponded on wall and is equipped with horizontal-extending sliding slot in left-right direction, and the ball pin 33 on cylindrical part 11 slides
In the sliding slot in driving 22 box wall of box.
It is respectively equipped with O-ring seal 14 between sealing flange 15, primary seal lid 8 and the land of respective side.
Motor 2 uses high temperature resistant direct current generator.
Encoder 1 uses absolute type encoder, by the rotational angle of measurement motor 2 come calculate the folding of finger away from
From temperature sensor prevents motor in high temperature ring using patch type platinum resistance temperature sensor for detecting motor surface temperature
It is burnt under the operation of border.
Partial gear is a part for complete gear wheel, and the fan section of incomplete gear is determined according to the folding range of paw
The size in domain.
In the present invention, each component interconnected relationship is：Absolute type encoder, high temperature resistant direct current generator, retarder slow down
Device flange is fixed together along straight line in order, and retarder flange is bolted with driving box.Gear one by pin with
Reducer output shaft carries out axial restraint, and gear two is fixed by pin and ball-screw, the projection section difference of two gears
Coordinate with the needle bearing covered mounted on primary seal, needle bearing is realized circumferentially positioned and bears radial load.Primary seal lid
It is bolted between driving box, is sealed by O-ring between two planes.Cylindrical part in bellows component and leading screw
It is connected by flat key between nut, two thrust ball bearings are separately mounted to the both sides of the ball-screw shaft shoulder, and bearing catch are fixed
Inside driving box, the axially position of ball-screw is realized.Cylindrical part installs ball pin, ball respectively in central symmetry part
Pin is for linear motion along the sliding slot inside driving box.Bellows diaphragm one end is welded with cylindrical part, one end and sealing flange
Welding, is bolted between sealing flange and main platform, and contact surface is sealed using O-ring.Steel wire rope and cylindrical part one
End is fixed, and is moved with the movement of cylindrical part, that is, realizing power output again realizes main platform interior and vacuum environment
Between sealing.Steel wire rope is fixed after pulley commutates with drive connecting rod pulley, is passed through between drive connecting rod and follower link
Gear engages, and nut movement drives steel wire rope movement, to realize the closure of paw.Motor reversal, resetting spring provide pulling force,
Paw is driven to open.
Above-mentioned motor uses high temperature resistant direct current generator, motor surface to install patch type platinum resistance, detect motor operation in real time
When surface temperature.
Heat safe seal nipple is fixed on sealing flange, and one end is connected with encoder and temperature sensor, one end with
Master controller is connected, and adapts to not influence the stability of signal transmission in the case of environmental requirement in guarantee.
As shown in figure 4, executing agency includes two parallelogram mechanisms and its attached pulley, gear mechanism.Steel wire
Rope is connected after bypassing outside connecting rod pulley, transition wheel with drive connecting rod pulley, the drive connecting rod gear of pulley and partial gear shape
It is concentrically mounted on connecting rod, drive connecting rod gear is engaged with follower link gear, and each connecting rod passes through pin and main platform upper mounting plate
Connection, connecting rod can be rotated around pin rod.One of resetting spring one end is fixed with drive connecting rod, and the other end is pacified on main platform
Loading board is fixed, another resetting spring one end is fixed with follower link, and one end is fixed with main platform upper mounting plate, two resets
Spring is arranged symmetrically.Paw is in normally open, when needing to be closed paw crawl target, motor operation tense wire rope, this
When rope belt moving gear rotate, paw is opened, and resetting spring constantly elongates in paw opening procedure, and elastic potential energy constantly increases
Greatly.Driving motor moves round about when opening paw, and steel wire rope cannot drive claw to open due to being compliant member, at this time
The elastic potential energy of resetting spring works, and elastic potential energy is gradually converted to the kinetic energy of connecting rod, and driving paw is opened.
In order to mitigate the weight of paw as far as possible, ensure the compact of structure as far as possible, the gear on connecting rod is not using
Complete gear opens and closes distance according to claw and calculates the number of gear teeth for needing to retain.
As shown in Fig. 5, left hand finger assembly and right hand finger assembly use structure identical but symmetrical structure, including：
Finger deckle board, pin joint axis, flexible board, compression spring, tabletting.Finger deckle board is connect by pin joint mode with connecting rod, and the two opposite can turn
It is dynamic.Paw and working environment are caused to prevent especially long cantilever robot of robot from slight jitter occurring in pick-and-place object
The collision of generation illustrates a kind of simple flexible contact mechanism in figure.Two compression spring one end are separately mounted on spring base, separately
One end is connected with flexible board so that flexible board can be moved along sliding slot, and tabletting is mounted on flexible board so that flexible board is convex with its
Rotatable certain angle centered on platform, flexible board can restore automatically in the case of not by external forces.It in addition can be according to waiting for
Capture the shape of the different modification flexible boards of body form.
Claims (6)
1. a kind of mechanical paw under vacuum environment, it is characterised in that：Include the central shaft of siphunculus shape along left and right horizontal
The driving box of direction setting, driving box left end, right end box mouth periphery are respectively equipped with land, and drive in box left end box mouth and land
Flanged joint has sealing flange, drives box right end box mouth and the conjunction of land upper cover to be equipped with primary seal lid, drives box internal upper part from a left side
It is sequentially installed with encoder, motor, retarder to the right, being sticked on the motor has temperature sensor, and encoder is mounted on motor
Main shaft left end, electric machine main shaft right end are sequentially connected with retarder, and driving is fixed on by retarder flange on the right side of the retarder
In box, reducer output shaft is directed toward to the right primary seal lid, and gear one is equipped on reducer output shaft, one right center of gear
Equipped with boss, primary seal covers one position of corresponding gear and is fixed with needle bearing one, and the boss rotational installation on one right side of gear
In needle bearing one, corresponded on the sealing flange encoder position be equipped with seal nipple one, the output line of the encoder,
The output line of temperature sensor, the electric wire of motor are drawn from seal nipple one respectively；
Lower part is equipped with bellows component in the driving box, and the bellows component is made of cylindrical part, bellows diaphragm,
Wherein cylindrical part central shaft is arranged along left and right horizontal direction, and cylindrical part left end center is connected with connecting pole one to the left, described
Sealing flange is correspondingly connected with one left position of column and is equipped with seal nipple two, and one left end of the connecting pole is mounted on right on sealing flange
In the seal nipple two for answering position, and one left end of connecting pole is fixed with steel wire rope, and steel wire rope is pierced by from seal nipple two, described
Bellows diaphragm is sleeved on connecting pole one, and bellows diaphragm right end is fixedly connected with cylindrical part left end, and bellows diaphragm is left
End is fixedly connected with sealing flange, is rotated coaxially in cylindrical part and is provided with ball-screw, ball-screw left end is rotatably installed in
In connecting pole one, ball-screw right end is pierced by from cylindrical part, is screwed togather on the ball-screw in cylindrical part and is equipped with silk
Thick stick nut, and connected by flat key between feed screw nut right end and cylindrical part right end, the ball-screw passes through cylindrical part
Right end on gear two is installed, the gear two engage with the transmission of gear one, and two right center of gear is equipped with boss, primary seal
It covers two position of corresponding gear and is fixed with needle bearing two, and the boss on two right side of gear is rotatably installed in needle bearing two,
It is equipped with the shaft shoulder close to two position of gear on ball-screw, driving box low inside is set respectively in shaft shoulder left and right side on ball-screw
There is thrust ball bearing, two thrust ball bearings, which are respectively fitted on ball-screw and are relatively rotated with ball-screw, to be coordinated；
Main platform is connected on front side of the driving box between the sealing flange, primary seal lid in direction, the table top of main platform is perpendicular
It to setting, and is respectively perpendicular positioned at upper and lower side on main platform table top and is connected with mounting plate, two mounting plates are respectively parallel to main body
The upper and lower side of platform, and two mounting plate left ends cross sealing flange respectively after be bent downwardly；
Further include the drive connecting rod being arranged along the longitudinal direction, outside connecting rod one, follower link, outside connecting rod two, wherein after outside connecting rod one
End and an outside connecting rod pulley coaxle are rotatably installed in left end between two mounting plates, and drive connecting rod rear end is slided with a drive connecting rod
It takes turns, the drive connecting rod gear of a partial gear shape rotates coaxially left side, two rear end of outside connecting rod between two mounting plates
It is rotatably installed in right end between two mounting plates, the same shaft rotation of follower link gear of follower link rear end and a partial gear shape
Dynamic right side between being mounted on two mounting plates, and transmission is engaged between follower link gear and drive connecting rod gear, the steel wire rope
Wind and be fixed on drive connecting rod pulley around after outside connecting rod pulley, between one front end of the drive connecting rod and outside connecting rod, from
Finger component is connected separately between dynamic two front end of connecting rod and outside connecting rod, the drive connecting rod, follower link upside or downside are also
Respectively be connected with resetting spring between respective side mounting plate on main platform；
The encoder uses absolute type encoder, by the rotational angle of measurement motor come calculate the folding of finger away from
From temperature sensor prevents motor in high temperature ring using patch type platinum resistance temperature sensor for detecting motor surface temperature
It is burnt under the operation of border；
Finger component per side respectively includes the finger deckle board pair that the L-shaped finger deckle board of a pairing approximation is constituted, left side finger deckle board
The L-shaped bottom edge of two finger deckle board of centering respectively by pin joint pivot pin be connected on drive connecting rod, outside connecting rod one the upper and lower side in front end on,
Before the L-shaped bottom edge of two finger deckle board of right side finger deckle board centering is connected on follower link, outside connecting rod two by pin joint pivot pin respectively
It holds on upper and lower side, both sides finger deckle board is opposite to vertical edge, and flexible board is provided with respectively per the vertical edge of side finger deckle board pair,
It is respectively equipped with sliding slot among vertical edge per side finger deckle board pair, connecting pole two, and connecting pole are vertically connected on the flexible board
Two across corresponding finger deckle board to the sliding slot of vertical edge and stretching into two finger deckle boards, each finger deckle board centering, two finger frames
It is respectively arranged with press spring base positioned at two forward and backward side of connecting pole between plate, the press spring base of forward and backward side is horizontal even to connecting pole two respectively
It is connected to compression spring, the rear end of front compression spring, the front end of rear compression spring are connected separately with wedge, and wedge is stuck in by arc groove respectively
On two forward and backward side of connecting pole, each finger deckle board centering is also distinguished positioned at the upper and lower side of two styletable of connecting pole on two finger deckle boards
It is provided with tabletting seat, the tabletting of two styletable of embedded connecting pole is connected between two tabletting seats；
The partial gear is a part for complete gear wheel, and the sector of incomplete gear is determined according to the folding range of paw
The size in region.
2. a kind of mechanical paw under vacuum environment according to claim 1, it is characterised in that：Axis on ball-screw
The bearing baffle being sleeved on ball-screw is equipped between thrust ball bearing on the right side of shoulder and gear two.
3. a kind of mechanical paw under vacuum environment according to claim 1, it is characterised in that：Position in two mounting plates
Also be rotatablely equipped with transition wheel between outside connecting rod pulley, drive connecting rod pulley, the steel wire rope bypass successively outside connecting rod pulley,
It winds and is fixed on drive connecting rod pulley after transition wheel.
4. a kind of mechanical paw under vacuum environment according to claim 1, it is characterised in that：The bellows group
In part, it is separately installed with ball pin in central symmetry position on cylindrical part, corresponding to ball pins position in the driving box box wall sets
Ball pin equipped with horizontal-extending sliding slot in left-right direction, and on cylindrical part is slidably mounted on the sliding slot in driving box box wall
In.
5. a kind of mechanical paw under vacuum environment according to claim 1, it is characterised in that：The Sealing Method
It is respectively equipped with O-ring seal between blue, primary seal lid and the land of respective side.
6. a kind of mechanical paw under vacuum environment according to claim 1, it is characterised in that：The motor is adopted
With high temperature resistant direct current generator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510827528.0A CN105364912B (en) | 2015-11-23 | 2015-11-23 | A kind of mechanical paw under vacuum environment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510827528.0A CN105364912B (en) | 2015-11-23 | 2015-11-23 | A kind of mechanical paw under vacuum environment |
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| Publication Number | Publication Date |
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| CN105364912A CN105364912A (en) | 2016-03-02 |
| CN105364912B true CN105364912B (en) | 2018-09-04 |
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| CN106272501B (en) * | 2016-08-31 | 2018-12-18 | 清华大学 | Toggle slide bar adaptive robot finger apparatus |
| CN108068118B (en) * | 2016-11-14 | 2021-06-22 | 中国科学院苏州纳米技术与纳米仿生研究所 | Sample conveying system applied to vacuum interconnection system |
| CN106514689B (en) * | 2017-01-05 | 2019-05-03 | 北京一维弦科技有限责任公司 | Grasping mechanism for robot |
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| CN111266606A (en) * | 2020-03-29 | 2020-06-12 | 张晓卫 | Grabbing device for electromechanical integrated lathe |
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| CN114425769A (en) * | 2021-12-31 | 2022-05-03 | 中石化四机石油机械有限公司 | Size self-adaptive drill floor pipe grabbing manipulator |
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| CN105364912A (en) | 2016-03-02 |
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Address after: 230001 no.181 Gucheng Road, shiyangang Township, Hefei City, Anhui Province Patentee after: INSTITUTE OF PLASMA PHYSICS, CHINESE ACADEMY OF SCIENCES Address before: 230031 Shushan Lake Road, Shushan District, Anhui, China, No. 350, No. Patentee before: INSTITUTE OF PLASMA PHYSICS, CHINESE ACADEMY OF SCIENCES |