CN108621184B - Mechanical pre-tightening type electric driving manipulator - Google Patents
Mechanical pre-tightening type electric driving manipulator Download PDFInfo
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- CN108621184B CN108621184B CN201810289187.XA CN201810289187A CN108621184B CN 108621184 B CN108621184 B CN 108621184B CN 201810289187 A CN201810289187 A CN 201810289187A CN 108621184 B CN108621184 B CN 108621184B
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- 238000013016 damping Methods 0.000 claims abstract description 53
- 230000001360 synchronised effect Effects 0.000 claims abstract description 42
- 230000006835 compression Effects 0.000 claims abstract description 6
- 238000007906 compression Methods 0.000 claims abstract description 6
- 230000003044 adaptive effect Effects 0.000 claims abstract description 5
- 230000035939 shock Effects 0.000 claims description 6
- 230000009471 action Effects 0.000 claims description 5
- 239000007788 liquid Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 229910000851 Alloy steel Inorganic materials 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 210000000078 claw Anatomy 0.000 description 3
- 241000190070 Sarracenia purpurea Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0286—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by chains, cables or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a mechanical pre-tightening type electric driving manipulator which comprises a supporting and guiding unit, a driving unit and a clamping unit, wherein the supporting and guiding unit is arranged on the supporting and guiding unit; the supporting and guiding unit comprises a supporting frame and two sliding blocks; the driving unit comprises a motor, a synchronous belt, a small synchronous belt pulley, a large synchronous belt pulley and two worms; the clamping unit comprises two baffle rings, two pre-tightening springs, two clamping blocks, two pre-tightening pistons and two damping cavities; the contact pre-tightening symmetrical grabbing manipulator disclosed by the invention creatively uses screws with different rotation directions to realize symmetrical grabbing, so that the displacement of two sliding blocks is the same; the large synchronous belt wheel and the left worm and the right worm are fixedly assembled into a whole, so that the structure is simple and compact, and the reliability is high; the compression amount of the spring is changed through the left and right rotation of the baffle ring, so that the damping coefficient of a spring damping second-order system is changed, and the clamping of objects with different weights is adapted; the wave screw on the surface of the clamping block can carry out adaptive micro-deformation according to the shape of the clamped object, so that the clamping stability and reliability are improved.
Description
Technical Field
The invention belongs to the technical field of manipulators, and particularly relates to a mechanical pre-tightening type electric driving manipulator.
Background
Currently, in various gripping manipulators, sensors, flexible materials and the like are mainly added to adapt to the shape of an object, and the object gripping purpose is achieved through rigid contact. However, the rigid grabbing is unreliable, and the error rate is high; the sensor has high cost, high requirement on environment and many interference factors. The existing manipulator is expensive, has single function, can complete certain clamping actions, but has small application range of clamping objects, has poor adaptability to the shape of the clamped objects, can clamp rectangular objects, and is very difficult to clamp cylindrical objects, and vice versa. In addition, the existing claws are not provided with an overload protection function, the clamping force of the claws is controlled by a sensor, the cost of the claw parts is extremely high, and the clamping reliability is low.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a mechanical pre-tightening type electric driving manipulator.
In order to solve the technical problems, the invention adopts the following technical scheme: a mechanical pre-tightening type electric driving manipulator comprises a supporting and guiding unit, a driving unit and a clamping unit;
the support guiding unit comprises a support frame, a left sliding block and a right sliding block; the support frame is integrally formed by a bottom plate and side plates vertically fixed on two sides of the bottom plate; a first linear slide rail and a second linear slide rail which are parallel to each other are fixed on a bottom plate of the support frame; the left sliding block and the right sliding block are spanned on the two linear sliding rails and can move along the two linear sliding rails in opposite directions; a motor mounting seat is also arranged on the bottom plate of the support frame;
the driving unit comprises a motor, a synchronous belt, a small synchronous pulley, a large synchronous pulley, a left worm and a right worm; the motor is fixedly connected to the motor mounting seat, a small synchronous pulley is arranged on the motor output shaft, one end of the left worm and one end of the right worm respectively penetrate through the left sliding block and the right sliding block to be mounted on the two side plates of the support frame, and the other end of the left worm and the other end of the right worm are fixedly connected with the large synchronous pulley; the small synchronous belt pulley is connected with the large synchronous belt pulley through a synchronous belt; the left worm and the right worm are oppositely rotated to drive the left sliding block and the right sliding block to oppositely move;
the clamping unit comprises a left baffle ring, a right baffle ring, a left pre-tightening spring, a right pre-tightening spring, a left clamping block, a right clamping block, a left pre-tightening piston, a right pre-tightening piston, a left damping cavity and a right damping cavity; the left clamping block can slide along the left sliding block, and the right clamping block can slide along the right sliding block; a left damping cavity is fixed on the left sliding block, a left baffle ring is arranged at the right end of the left damping cavity in a threaded manner, one end of a left pre-tightening piston is fixed on the left clamping block, the other end of the left pre-tightening piston stretches into the left damping cavity and can move left and right, and a left pre-tightening spring is sleeved on the left pre-tightening piston; a right damping cavity is fixed on the right sliding block, a right baffle ring is arranged at the left end of the right damping cavity in a threaded manner, one end of a right pre-tightening piston is fixed on the right clamping block, the other end of the right pre-tightening piston stretches into the right damping cavity and can move left and right, and a right pre-tightening spring is sleeved on the right pre-tightening piston; the surfaces of the left clamping block and the right clamping block are provided with a plurality of wave screws.
Further, the two side plates of the support frame are symmetrically provided with a first flange bearing and a second flange bearing; the left worm penetrates through the first flange bearing and is limited by the left clamp spring; the right worm penetrates through the second flange bearing and is limited through the right clamp spring.
Further, the wave screws are made of alloy steel, each wave screw has micro deformation of 0.5mm, and when a regular object is grabbed, each wave screw deforms the same; when an irregular object is grabbed, different wave screws are deformed differently to form an arc-shaped envelope surface, so that surface contact is ensured, and clamping force is increased.
Further, 10ml No. 375 shock oil is filled in the damping cavity, and the damping and shock absorbing functions are provided by matching with springs with the wire diameter of 1mm, the inner diameter of 12mm and the outer diameter of 14 mm.
Further, sliding grooves are formed in the left sliding block and the right sliding block, and the left clamping block and the right clamping block move in short distance on the sliding grooves.
Further, the baffle ring rotates for one circle, the springs are compressed, the resistance provided by the spring-damping system is improved by 10N, and the compression amount of the springs is guaranteed to be adjusted in advance by the manipulator according to different clamping objects.
The method for clamping the object by using the manipulator comprises the following steps: when the manipulator grabs an object, the motor drives the large synchronous pulley to rotate through the small synchronous pulley, and the left slider and the right slider are driven to move in opposite directions through the left worm and the right worm to clamp the object; after the left sliding block and the right sliding block are contacted with the object to be grasped, the left clamping block and the right clamping block are respectively subjected to outward force, the pre-tightening spring is further compressed, the spring is gradually compressed, the left pre-tightening piston and the right pre-tightening piston are respectively moved in the left damping cavity and the right damping cavity, the damping liquid provides partial resistance, the pre-tightening force on the object to be grasped is generated under the interaction of the forces, the object is tightly clamped, at the moment, the wave screw makes adaptive micro deformation under the action of the clamping force, and the grasping reliability is improved.
The invention has the beneficial effects that:
(1) The symmetrical grabbing is realized by innovatively using screws with different two rotation directions, and the displacement of the two sliding blocks can be absolutely ensured to be the same on the premise of neglecting the assembly precision. The large synchronous belt wheel and the left worm and the right worm are fixedly assembled into a whole, and the structure is simple and compact and the reliability is high.
(2) Through the left-right rotation of the baffle ring, the compression amount of the spring is increased or reduced, and then the damping coefficient of the spring damping second-order system is changed, so that the clamping of objects with different weights is adapted.
(3) A plurality of wave screws on the surface of the clamping block can make adaptive micro deformation according to the shape of the clamped object, so that an envelope surface is formed, and further the clamping stability and reliability are improved.
(4) The manipulator disclosed by the invention can be applied to grabbing articles for daily use such as a water cup and a book, and provides a certain mechanical pretightening force for the object to be grabbed, so that reliable grabbing is realized. Compared with the common manipulator, the manipulator has the advantages of adjustability, reliable grabbing and high stability.
(5) The manipulator disclosed by the invention can be used for being shifted and applied to a workpiece production line, a friction wheel symmetrical transmitting device and a part of measuring devices, and can adapt to objects with different shapes relative to other manipulators, and has good operability.
Drawings
FIG. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a top view of the present invention;
in the figure: the left clamp spring 1.1, the right clamp spring 1.2, the supporting frame 2.1, the left sliding block 3.1, the right sliding block 3.2, the left baffle ring 4.1, the right baffle ring 4.2, the left pre-tightening spring 5.1, the right pre-tightening spring 5.2, the left clamp block 6.1, the right clamp block 6.2, the Boeing screw 7.1, the motor 8.1, the first linear slide rail 9.1, the second linear slide rail 9.2, the synchronous belt 10.1, the left screw 11.1, the right screw 11.2, the inner hexagon bolt 12.1, the left pre-tightening piston 13.1, the right pre-tightening piston 13.2, the left damping cavity 14.1, the right damping cavity 14.2, the large synchronous pulley 15.1, the small synchronous pulley 16.1 and the motor mounting seat 17.1.
Detailed Description
The invention will be described in further detail with reference to the drawings and the specific examples.
As shown in fig. 1-3, the mechanical pre-tightening type electric driving manipulator provided by the invention comprises a supporting and guiding unit, a driving unit and a clamping unit;
the supporting and guiding unit comprises a supporting frame 2.1, a left sliding block 3.1 and a right sliding block 3.2; the support frame 2.1 is integrally formed by a bottom plate and side plates vertically fixed on two sides of the bottom plate; a first linear slide rail 9.1 and a second linear slide rail 9.2 which are parallel to each other are fixed on a bottom plate of the support frame 2.1; the left sliding block 3.1 and the right sliding block 3.2 are spanned on the two linear sliding rails and can move oppositely along the two linear sliding rails, the left sliding block 3.1 and the right sliding block 3.2 can adjust the left and right positions according to the width of a clamped object, and the double-row sliding rails play a role in fixing the translational clamping of the sliding blocks; a motor mounting seat 17.1 is also arranged on the bottom plate of the supporting frame 2.1;
the driving unit comprises a motor 8.1, a synchronous belt 10.1, a small synchronous pulley 16.1, a large synchronous pulley 15.1, a left worm 11.1 and a right worm 11.2; the motor 8.1 is fixedly connected to the motor mounting seat 17.1 through an inner hexagon bolt 12.1, a small synchronous pulley 16.1 is arranged on an output shaft of the motor 8.1, one end of a left worm 11.1 and one end of a right worm 11.2 respectively penetrate through a left sliding block 3.1 and a right sliding block 3.2 to be mounted on two side plates of the support frame 2.1, and the other end of the left worm 11.1 and the other end of the right worm 11.2 are fixedly connected with a large synchronous pulley 15.1; the small synchronous pulley 16.1 and the large synchronous pulley 15.1 are connected through a synchronous belt 10.1; the left worm 11.1 and the right worm 11.2 are opposite in rotation direction, and the left sliding block 3.1 and the right sliding block 3.2 are driven to move oppositely; the motor 8.1 drives the small synchronous pulley 16.1 to rotate, and power is transmitted to the large synchronous pulley 15.1 through the synchronous belt 10.1, so that the left worm 11.1 and the right worm 11.2 are driven to rotate, and the left sliding block 3.1 and the right sliding block 3.2 are driven to move in opposite directions; the driving unit combines the left worm 11.1, the right worm 11.2 and the large synchronous pulley 15.1 with two rotation directions, so that the structure is compact, and the clamped object is reliably grabbed;
the clamping unit comprises a left baffle ring 4.1, a right baffle ring 4.2, a left pre-tightening spring 5.1, a right pre-tightening spring 5.2, a left clamping block 6.1, a right clamping block 6.2, a left pre-tightening piston 13.1, a right pre-tightening piston 13.2, a left damping cavity 14.1 and a right damping cavity 14.2; the left clamping block 6.1 can slide along the left sliding block 3.1, and the right clamping block 6.2 can slide along the right sliding block 3.2; the left damping cavity 14.1 is fixed on the left sliding block 3.1, the left baffle ring 4.1 is arranged at the right end of the left damping cavity 14.1 in a threaded manner, one end of the left pre-tightening piston 13.1 is fixed on the left clamping block 6.1, the other end of the left pre-tightening piston extends into the left damping cavity 14.1 and can move left and right, and the left pre-tightening piston 13.1 is sleeved with the left pre-tightening spring 5.1; a right damping cavity 14.2 is fixed on the right sliding block 3.2, a right baffle ring 4.2 is arranged at the left end of the right damping cavity 14.2 in a threaded manner, one end of a right pre-tightening piston 13.2 is fixed on the right clamping block 6.2, the other end of the right pre-tightening piston extends into the right damping cavity 14.2 and can move left and right, and a right pre-tightening spring 5.2 is sleeved on the right pre-tightening piston 13.2; the surfaces of the left clamping block 6.1 and the right clamping block 6.2 are respectively provided with a plurality of wave screws 7.1, and the micro deformation of the steel balls at the tops of the wave screws 7.1 is suitable for different shapes of objects; the damping coefficient of the spring-damping system is adjusted through the rotation of the left baffle ring 4.1 and the right baffle ring 4.2, so that the clamping force is adjusted; the clamping unit can provide enough pretightening force, the pretightening piston and the damping cavity are used in combination, the pretightening spring with adjustable damping coefficient and the micro-deformed wave screw are used for providing guarantee for reliable grabbing of objects, and the method specifically comprises the following steps: when the left clamping block and the right clamping block contact an object, the pre-tightening spring and damping liquid between the sliding block and the clamping block act simultaneously to provide most pre-tightening force for grabbing the object, when the clamping block compression spring is at the maximum, the wave screw on the clamping block surface is compressed to provide less pre-tightening force for grabbing the object, and the combined action of the double pre-tightening forces generates enough friction force for grabbing the object.
Further, the two side plates of the support frame 2.1 are symmetrically provided with a first flange bearing and a second flange bearing; the left worm 11.1 passes through the first flange bearing and is limited by the left clamp spring 1.1; the right worm 11.2 passes through the second flange bearing and is limited by the right clamp spring 1.2.
Further, the wave screws 7.1 are made of alloy steel, each wave screw 7.1 has micro deformation of 0.5mm and acting force of 2-5N, and when a regular object is grabbed, each wave screw 7.1 deforms the same; when an irregular object is grabbed, the screws 7.1 of different waves are deformed differently to form an arc-shaped envelope surface, so that surface contact is ensured, clamping force is increased, and clamping reliability is improved.
Further, 10ml No. 375 shock oil is filled in the damping cavity, and the damping and shock absorbing functions are provided by matching with springs with the wire diameter of 1mm, the inner diameter of 12mm and the outer diameter of 14 mm.
Further, sliding grooves are formed in the left sliding block 3.1 and the right sliding block 3.2, and the left clamping block 6.1 and the right clamping block 6.2 move in short distances on the sliding grooves.
Further, the baffle ring rotates for one circle, the springs are compressed, the resistance provided by the spring-damping system is improved by 10N, and the compression amount of the springs is guaranteed to be adjusted in advance by the manipulator according to different clamping objects.
The method for clamping the object by using the manipulator comprises the following steps:
(1) When the manipulator grabs an object, the motor 8.1 drives the large synchronous pulley 15.1 to rotate through the small synchronous pulley 16.1, and the left slider 3.1 and the right slider 3.2 are driven to move in opposite directions through the left worm 11.1 and the right worm 11.2 so as to clamp the object;
(2) When the left sliding block 3.1 and the right sliding block 3.2 are contacted with a gripped object, the left clamping block 6.1 and the right clamping block 6.2 are respectively stressed by outward force, the left pre-tightening spring 5.1 and the right pre-tightening spring 5.2 are further compressed, the springs are gradually compressed, the left pre-tightening piston 13.1 and the right pre-tightening piston 13.2 respectively move in the left damping cavity 14.1 and the right damping cavity 14.2, partial resistance is provided by damping liquid, the pre-tightening force on the gripped object is performed under the interaction of the forces, and the object is tightly gripped;
(3) After an object is clamped by the left clamping block 6.1 and the right clamping block 6.2 with pretightening force, the wave screw 7.1 on the surface of the clamping block can carry out adaptive micro deformation under the action of clamping force, so that the grabbing reliability is further improved.
Finally, it should be noted that the above description is only specific to the present invention, and any simple modification, equivalent variation and variation of the above embodiments according to the technical principles of the present invention should fall within the scope of the present invention.
Claims (7)
1. The mechanical pre-tightening type electric driving manipulator is characterized by comprising a supporting and guiding unit, a driving unit and a clamping unit;
the support guiding unit comprises a support frame (2.1), a left sliding block (3.1) and a right sliding block (3.2); the supporting frame (2.1) is integrally formed by a bottom plate and side plates vertically fixed on two sides of the bottom plate; a first linear slide rail (9.1) and a second linear slide rail (9.2) which are parallel to each other are fixed on a bottom plate of the support frame (2.1); the left sliding block (3.1) and the right sliding block (3.2) are spanned on the two linear sliding rails and can move along the two linear sliding rails in opposite directions; a motor mounting seat (17.1) is also arranged on the bottom plate of the supporting frame (2.1);
the driving unit comprises a motor (8.1), a synchronous belt (10.1), a small synchronous pulley (16.1), a large synchronous pulley (15.1), a left worm (11.1) and a right worm (11.2); the motor (8.1) is fixedly connected to the motor mounting seat (17.1), a small synchronous pulley (16.1) is arranged on an output shaft of the motor (8.1), one end of the left worm (11.1) and one end of the right worm (11.2) respectively penetrate through the left sliding block (3.1) and the right sliding block (3.2) to be mounted on two side plates of the support frame (2.1), and the other end of the left worm (11.1) and the other end of the right worm (11.2) are fixedly connected with the large synchronous pulley (15.1); the small synchronous pulley (16.1) and the large synchronous pulley (15.1) are connected through a synchronous belt (10.1); the left worm (11.1) and the right worm (11.2) are opposite in rotation direction, and the left sliding block (3.1) and the right sliding block (3.2) are driven to move in opposite directions;
the clamping unit comprises a left baffle ring (4.1), a right baffle ring (4.2), a left pre-tightening spring (5.1), a right pre-tightening spring (5.2), a left clamping block (6.1), a right clamping block (6.2), a left pre-tightening piston (13.1), a right pre-tightening piston (13.2), a left damping cavity (14.1) and a right damping cavity (14.2); the left clamping block (6.1) can slide along the left sliding block (3.1), and the right clamping block (6.2) can slide along the right sliding block (3.2); a left damping cavity (14.1) is fixed on the left sliding block (3.1), a left baffle ring (4.1) is arranged at the right end of the left damping cavity (14.1) in a threaded manner, one end of a left pre-tightening piston (13.1) is fixed on the left clamping block (6.1), the other end of the left pre-tightening piston stretches into the left damping cavity (14.1) and can move left and right, and a left pre-tightening spring (5.1) is sleeved on the left pre-tightening piston (13.1); a right damping cavity (14.2) is fixed on the right sliding block (3.2), a right baffle ring (4.2) is arranged at the left end of the right damping cavity (14.2) in a threaded manner, one end of a right pre-tightening piston (13.2) is fixed on the right clamping block (6.2), the other end of the right pre-tightening piston stretches into the right damping cavity (14.2) and can move left and right, and a right pre-tightening spring (5.2) is sleeved on the right pre-tightening piston (13.2); the surfaces of the left clamping block (6.1) and the right clamping block (6.2) are provided with a plurality of wave screws (7.1).
2. A mechanically pre-tensioned electrically driven manipulator according to claim 1, characterized in that the two side plates of the support frame (2.1) are symmetrically provided with a first flange bearing and a second flange bearing; the left worm (11.1) passes through the first flange bearing and is limited by the left clamp spring (1.1); the right worm (11.2) passes through the second flange bearing and is limited by the right clamp spring (1.2).
3. A mechanically pre-tensioned electrically driven manipulator according to claim 1, characterized in that the wave screws (7.1) are of alloy steel, each wave screw (7.1) having a micro-deformation of 0.5mm, each wave screw (7.1) being deformed identically when gripping regular objects; when an irregular object is grabbed, different wave screws (7.1) deform differently to form an arc-shaped envelope surface, so that surface contact is ensured, and clamping force is increased.
4. The mechanical pre-tightening type electric driving manipulator according to claim 1, wherein 10ml 375 # shock oil is filled in the damping cavity, and the damping and shock absorbing functions are provided by matching with springs with the wire diameter of 1mm, the inner diameter of 12mm and the outer diameter of 14 mm.
5. The mechanically pre-tensioned electrically driven manipulator according to claim 1, characterized in that the left (3.1) and right (3.2) slide grooves are provided, on which the left (6.1) and right (6.2) clamp blocks are moved for a short distance.
6. The mechanically pre-tensioned electrically driven manipulator of claim 1 wherein the spring is compressed in one rotation of the stop ring and the resistance provided by the spring-damper system is increased by 10N to ensure that the manipulator pre-adjusts the compression of the spring for different grippers.
7. A method of gripping an object with the manipulator of any one of claims 1-6, comprising: when the manipulator grabs an object, the motor (8.1) drives the large synchronous pulley (15.1) to rotate through the small synchronous pulley (16.1), and the left slider (3.1) and the right slider (3.2) are driven to move in opposite directions through the left worm (11.1) and the right worm (11.2) so as to clamp the object; after the left sliding block (3.1) and the right sliding block (3.2) are contacted with the object to be grasped, the left clamping block (6.1) and the right clamping block (6.2) are respectively stressed by external force, the pre-tightening spring is compressed, the spring is gradually compressed, the left pre-tightening piston (13.1) and the right pre-tightening piston (13.2) are respectively moved in the left damping cavity (14.1) and the right damping cavity (14.2), partial resistance is provided by damping liquid, the pre-tightening force on the object to be grasped is carried out under the interaction of the forces, the object is tightly grasped, and at the moment, the Bozi screw (7.1) makes adaptive micro deformation under the action of the clamping force, so that the grasping reliability is improved.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810289187.XA CN108621184B (en) | 2018-04-03 | 2018-04-03 | Mechanical pre-tightening type electric driving manipulator |
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| CN201810289187.XA CN108621184B (en) | 2018-04-03 | 2018-04-03 | Mechanical pre-tightening type electric driving manipulator |
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| CN108621184A CN108621184A (en) | 2018-10-09 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109128222A (en) * | 2018-10-18 | 2019-01-04 | 宁波正丰机器人科技有限公司 | A kind of lathe manipulator and Full-automatic numerical-control lathe |
| CN110176830A (en) * | 2019-05-29 | 2019-08-27 | 中国电子科技集团公司第十六研究所 | A kind of superconduction flywheel head shaft positioning device and its application method |
| CN111591505A (en) * | 2020-06-05 | 2020-08-28 | 天津津亚电子有限公司 | Manipulator clamping jaw device for grabbing tundish box and using method thereof |
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