CN109849041A - A kind of wrist for hydraulic efficiency manipulator turns clamp structure - Google Patents
A kind of wrist for hydraulic efficiency manipulator turns clamp structure Download PDFInfo
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- CN109849041A CN109849041A CN201910245273.5A CN201910245273A CN109849041A CN 109849041 A CN109849041 A CN 109849041A CN 201910245273 A CN201910245273 A CN 201910245273A CN 109849041 A CN109849041 A CN 109849041A
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Abstract
The present invention relates to manipulator technologies, it is desirable to provide a kind of wrist for hydraulic efficiency manipulator turns clamp structure.The structure includes linear oil cylinder, micro-hydraulic motor, deceleration mechanism and gripper；Linear oil cylinder takes postposition mode to arrange, micro-hydraulic motor and deceleration mechanism are between linear oil cylinder and gripper；The output shaft of micro-hydraulic motor is connected to deceleration mechanism and arranges with the piston rod vertical interlaced of linear oil cylinder, the worm-gear output shaft of deceleration mechanism is hollow structure, linear oil cylinder piston rod passes through worm-gear output shaft and is followed by the driving mechanism of gripper and drives its folding, and micro-hydraulic motor drives gripper to realize both forward and reverse directions rotation by deceleration mechanism.The configuration of the present invention is simple, technical difficulty is low, high reliablity, maintainable good, good economy performance, it is easy to accomplish.Reduction ratio is big, and the torque of wrist rotation is big, and minimum steady revolving speed is low, and allows hydraulic motor and gripper interlaced arrangement, more compact structure flexible；Worm and gear has latching characteristics.
Description
Technical field
The present invention relates to manipulator technologies, and in particular to a kind of wrist for hydraulic efficiency manipulator turns clamp structure.
Background technique
Hydraulic efficiency manipulator is a kind of by hydraulic driven mechanical arm, its biggest characteristic is that load/self weight is than greatly, being suitable for
Not only responsive to load but also the occasion for requiring prudent ability strong, the sealing structure of itself were convenient for submerged applications again.Under water, hydraulic press
Tool hand is the standard configuration equipment of submersible and underwater robot, and achievable underwater sampling such as picks up, lays at the operations；In land, liquid
Press mechanical pressing hand is integrated in Operation Van, and end chucking device completes the remote job under dangerous scene.
It is the highest nuclear structure of manipulator integrated level that the wrist of manipulator, which turns clamp joint, and current manipulator technology
Development bottleneck.It is required under limited size and weight demands, integrates 360 degree of positive and negative continuous rotations of wrist and opening for gripper
Close two functions, and require its control it is upper can closed loop, in operation it is enough finely, Gao Gong in short and pithy, work capacity in structure
Rate density.
Turn in clamp structure in existing hydraulic machinery wrist, wrist rotating function generally uses coaxially arranged with the gripper centre of gyration
Hydraulic motor directly drive rotation, clamp function is generally driven by the oil cylinder for being located at hydraulic motor front.In view of wrist turns folder
The structure type of plier joint closed-loop control performance and operation tractability, the rotation of motor direct drive wrist requires the minimum steady revolving speed of motor
Generally less than 6r/min, it is contemplated that the work capacity of manipulator requires its output torque to be the bigger the better, generally higher than 100Nm；Oil
The preposition structure type in motor of cylinder requires to need to provide for oil cylinder with circulation road inside motor.These requirements cause motor configuration
Complicated, with high costs, weight weight, maintainability are poor.Currently on the market, existing motor is difficult to meet hydraulic efficiency manipulator to wrist
The requirement of rotating function, such as self-developing certainly will be limited to material, process ability and the factors such as market demand is small, lead to enterprise
Innovation Input is short of power, and with high costs, produces little effect, seriously constrain hydraulic efficiency manipulator tremendous development and more extensively
Application.
Summary of the invention
The technical problem to be solved by the present invention is to overcome deficiency in the prior art, provide a kind of for hydraulic efficiency manipulator
Wrist turn clamp structure.The technology that the wrist turns clamp structure is easily achieved, minimum steady revolving speed is low, output torque is big, operation essence
Thin property is good, good economy performance, wrist turn it is closed-loop control available can mechanical self-latching.
In order to solve the technical problem, solution of the invention is:
A kind of wrist for hydraulic efficiency manipulator is provided and turns clamp structure, including linear oil cylinder, micro-hydraulic motor, speed reducer
Structure and gripper；The linear oil cylinder takes postposition mode to arrange, micro-hydraulic motor and deceleration mechanism are located at linear oil cylinder and hand
Between pawl；The output shaft of micro-hydraulic motor is connected to deceleration mechanism and arranges with the piston rod vertical interlaced of linear oil cylinder, slows down
The worm-gear output shaft of mechanism be hollow structure, linear oil cylinder piston rod pass through worm-gear output shaft be followed by gripper driving mechanism simultaneously
Its folding is driven, micro-hydraulic motor drives gripper to realize both forward and reverse directions rotation by deceleration mechanism.
In the present invention, the deceleration mechanism is two reduction gear, and high speed grade is roller gear, and slow speed turbine stage is worm gear snail
Bar assembly；Micro-hydraulic motor directly drives high speed grade roller gear, passes through the pairing roller gear being disposed coaxially on worm screw
Drive worm screw rotation；Worm screw is further driven to worm gear rotation, and the centre of gyration of worm-gear output shaft and gripper is coaxial.
In the present invention, the worm gear set is set on worm-gear output shaft, and the two transmits torque by being arranged symmetrically flat key, and leads to
Cross spacer and shaft shoulder axial restraint；In on reduction box casing, worm-gear output shaft is slided in radial direction by front and back two worm-gear output shaft frame
Bearing branch endurance is withstood forces in axial direction by two needle roller thrust bearing branch of front and back；The end of worm-gear output shaft is directly sleeved on gripper
Rotor plate among in circular hole, the two transmits torque by being arranged symmetrically flat key, and passes through the shaft shoulder and locking nut axial restraint；
The rotor plate of gripper is in contactless state with reduction box casing always by the positioning shaft shoulder realization of worm-gear output shaft.
In the present invention, the both ends of the worm screw are optical axis, and for being set with pairing roller gear, other end end is used for for one end
Fixed angle sensor, worm screw middle position are equipped with the tooth engaged with worm gear；One end-rack of worm screw is in reduction box casing, another end-rack
In on reduction box casing cover board；Worm screw both ends in radial direction by two sliding supported condition stress, in axial direction by two needle roller thrust bearings
Branch endurance, and guarantee axial compression by adjusting gasket；Reduction box casing and reduction box casing cover board are by being located at corner
Boss positions centering, is fastened by screw.
In the present invention, the end of the linear oil cylinder piston rod is connected on the distribution block of the thrust in gripper driving mechanism；
The drive end bearing bracket and reduction box casing of linear oil cylinder are positioned by shoulder, and are fastened by screw.
In the present invention, the thrust distribution block is bilateral symmetry, and centre is a rectangular block, and rectangular block center is circle
Respectively there is one section of equal length optical axis in hole perpendicular to round hole axial direction at planar central at left and right sides of rectangular block；Linear oil cylinder piston
After bar end passes through the circular hole of thrust distribution block, it is tight that block front and back is distributed by the shaft shoulder and locking nut and thrust of piston-rod end
Gu face is locked, and the sliding bearing by being located in rectangular block center hole and the two thrusts rolling positioned at rectangular block front and back fastening face
Needle bearing contact (reduce friction).
In the present invention, the gripper is that translation clamps gripper, shares two panels finger up and down and keeps synchronous on-off, every finger
Driving mechanism be an individual parallelogram mechanism, the driving lever and follower lever in parallelogram mechanism respectively have one
End is articulated with same gripper base plate, and the other end is articulated with same finger, each hinge hole line of centres parallelogram；It drives
Two driving levers of dynamic fingers opening-closing up and down are spatially asymmetric arrangement, are located at the side of respective finger；Gripper base plate
It is each a piece of about gripper principal section bilateral symmetry, it is sandwiched in the two sides of class C-shaped rotor plate and finger parallelogram mechanism respectively, leads to
It crosses array studs rotor plate and gripper base plate are integrally fixed.
In the present invention, the follower lever is double bullet nose rods, and centre section is overlapped with rotor plate and finger centre section；Institute
Driving lever is stated in L like shape, if there are two circular hole and a waist-shaped holes, the corner's circular hole and gripper base plate of driving lever are hinged,
The axis of symmetry of gripper base plate inner plane is equipped with a U-shaped sliding slot.
Linear oil cylinder of the present invention, the peaceful pawl of starting of two reduction gear are all that technology is highly developed and be readily produced
Process component；Micro-hydraulic motor belongs to commercially available matured product, and cheap and range of choice is more.
Compared with prior art, the beneficial effects of the present invention are:
1, wrist of the invention turns that clamp structure is simple, and technical difficulty is low, high reliablity, maintainable good, good economy performance, easily
In realization.
2, micro-hydraulic motor is using worm and gear double reduction driving wrist rotating manner in the present invention, and reduction ratio is big, hand
The torque of wrist rotation is big, and minimum steady revolving speed is low, and allows hydraulic motor and gripper interlaced arrangement, more compact structure flexible；Snail
Worm and gear have latching characteristics, make wrist cradle head achieve the purpose that be guaranteed by mechanical structure it is self-locking.
3, angular transducer of the present invention is located at deceleration mechanism speed end, and opposite with for low speed end, wrist rotation is finally closed
Ring control precision is higher, and micro- rotation may be implemented, and is convenient for manipulator refinement
4, the present invention uses the arrangement of drive cylinder postposition, avoids passing through motor internal flow distribution to using preposition arrangement
Oil cylinder, be conducive to simplify structure, reduce wrist axial dimension.
Detailed description of the invention
Fig. 1 is the equal shaft side figures that a kind of hydraulic machinery wrist of the present invention turns clamp structure；
Fig. 2 is main sectional view of the invention；
Fig. 3 is linear oil cylinder main sectional view；
Fig. 4 is two reduction gear main sectional view；
Fig. 5 is Fig. 4 right view partial sectional view；
Fig. 6 is gripper main sectional view；
Fig. 7 is the A-A cross-sectional view of Fig. 6；
Fig. 8 is the B-B cross-sectional view of Fig. 6；
Fig. 9 is the C-C cross-sectional view of Fig. 6.
Appended drawing reference in each figure:
Fig. 1: 1 linear oil cylinder, 2 deceleration mechanisms, 3 grippers；
Fig. 2: 4 holding screws, 5 piston stem jam nuts, 6 needle roller thrust bearings, 7 sliding bearings, the locking of 8 worm-gear output shafts
Nut, 9 flat keys；
Fig. 3: 1-1 oil cylinder rear end cap, 1-2O type circle, 1-3 cylinder body, 1-4 pull rod, 1-5 oil cylinder drive end bearing bracket, 1-6 Glais ring, 1-
7 guidance tapes, 1-8 dust seal, 1-9 piston rod, 1-10 holding screw, 1-11 guidance tape, 1-12 Glais ring, 1-13 piston body；
Fig. 4: 2-1 micro-hydraulic motor, 2-2 sleeve, 2-3 roller gear, 2-4 axial direction pressing plate, 2-5 flat key, 2-6 Cylinder Gear
Wheel, 2-7 flat key, 2-8 worm screw, 2-9 sliding bearing, 2-10 adjustment gasket, 2-11 flat key, 2-12 reduction gearbox cover board, 2-13 worm gear,
2-14 worm-gear output shaft, 2-15 reduction box casing, 2-16 sensor seal receptacle, 2-17 double acting sealing block, 2-18 Glais ring, 2-
19 screws, 2-20 magnetic coder, 2-21 magnet, 2-22 special screw, 2-23O type circle, 2-24 excessively oily plug, 2-25O type circle；
Fig. 5: 2-26 sliding bearing, 2-27 thrust sleeve, 2-28 needle roller thrust bearing, 2-29 reduction gearbox rear end cap, 2-30
Sliding bearing；
Fig. 6: 3-1 rotor plate, 3-2 studs, 3-3 gripper base plate, 3-4 thrust distribution block, 3-5 driving lever, 3-6 pin
Axis, 3-7 driving lever widen block, 3-8 sliding bearing, 3-9 pin shaft, 3-10 follower lever, 3-11 pin shaft, 3-12 finger；
Fig. 7: 3-13 copper sheathing, 3-14 partition；
Fig. 9: 3-15F type copper sheathing.
Specific embodiment
Embodiment below can make the technical staff of this professional skill field more fully understand the present invention, but not to appoint
Where formula limitation is of the invention.
Turn clamp structure, including linear oil cylinder 1, deceleration mechanism 2, gripper provided by the present invention for the wrist of hydraulic efficiency manipulator
3 three parts.Wherein: deceleration mechanism 2 is further real for realizing the amplification of micro-hydraulic motor 2-1 torque and the reduction of revolving speed
Existing 3 low-speed big of gripper rotation；Linear oil cylinder 1 drives the parallel folding of gripper 3 by parallelogram mechanism, realizes to mesh
Mark the crawl and release of object.
Fig. 1 is the normal axomometric drawing that hydraulic machinery wrist turns clamp structure specific implementation, shows linear oil cylinder 1, deceleration mechanism
2, the spatial relation between 3 three of gripper and the wrist turn the specific appearance of clamp structure, and visible line oil cylinder 1 is taken in figure
Postposition mode is arranged, 2 rear portion of deceleration mechanism is located at, and gripper 3 is located at 2 front of deceleration mechanism.
Fig. 2 is the main sectional view that hydraulic machinery wrist turns clamp structure, shows linear oil cylinder 1, deceleration mechanism 2, gripper 3 three
Installation connection type between person.The deceleration that linear oil cylinder 1 passes through locating shoulder and deceleration mechanism 2 on oil cylinder drive end bearing bracket 1-5
Box back lid 2-29 positioning, and be fixedly connected by screw.Thrust distribution block 3-4 is set in gripper 3, component bilateral symmetry is tied
Structure, centre are a rectangular block, and rectangular block center is circular hole, perpendicular to round hole axial side at planar central at left and right sides of rectangular block
To respectively there is one section of equal length optical axis；The end piston rod 1-9 of linear oil cylinder 1 is placed in thrust distribution block 3-4 centre bore, is passed through
Shaft shoulder positioning, and it is fixed by piston stem jam nut 5, it marks closely screw 4 and is used to prevent piston stem jam nut 5 and piston rod 1-
9 loosen；7 outer ring of sliding bearing and thrust distribution block 3-4 interference fit, inner ring and piston rod 1-9 clearance fit, are distributed in thrust
Two sides respectively sets a needle roller thrust bearing 6 before and after block 3-4, and frictional resistance when for reducing relative rotation rotates convenient for gripper 3
When, piston rod 1-9 is remained stationary.Worm-gear output shaft 2-14 and rotor plate 3-1 in gripper 3 is positioned by shoulder, defeated by worm gear
Axle lock nut 8 guarantees fixed locking out, transmits torque by being arranged symmetrically flat key 9.Rotor plate 3-1 and reduction box casing 2-15
Guarantee to be in contactless state always by the positioning shaft shoulder of worm-gear output shaft 2-14.
It is as shown in Figure 3: the rear end cap 1-1 of linear oil cylinder, cylinder body 1-3, to pass through two O-ring 1-2 between oil cylinder drive end bearing bracket 1-5
Sealing is kept, is fixed by pull rod 1-4.There are screw thread and the shaft shoulder in the both ends piston rod 1-9, and one end is for being connected to piston body
On 1-13, the other end loosens, threaded connection place, which is provided with, marks closely screw 1-10 in order to prevent for fastening thrust distribution block 3-4.
Sealing and radial support anti-attrition are kept with Glais ring 1-12, guidance tape 1-11 between piston body 1-13 and cylinder body 1-3.Piston rod 1-
Sealing, the anti-attrition of guidance tape 1-7 radial support, dust seal 1-8 is kept to prevent with Glais ring 1-6 between 9 and oil cylinder drive end bearing bracket 1-5 miscellaneous
Matter enters oil cylinder.
As shown in Figures 4 and 5, in deceleration mechanism 2, roller gear 2- is set on the output shaft of micro-hydraulic motor 2-1
3, it is arranged with the piston rod 1-9 vertical interlaced of linear oil cylinder 1, is set to the mating roller gear 2- on worm screw 2-8 for actuating sleeve
6, it forms high speed grade and slows down；Roller gear 2-6 drives worm screw 2-8 driving worm gear 2-13 and the worm-gear output shaft with hollow structure
2-14 rotation, it is final that the gripper 3 for being fastened on the end worm-gear output shaft 2-14 is driven to rotate, it forms slow speed turbine stage and slows down, wherein cylinder
Gear 2-6 and micro-hydraulic motor 2-1 transmits torque by flat key 2-5, passes through axial pressing plate 2-4 and sleeve 2-2 axial compression
Positioning, roller gear 2-6 send power to worm screw 2-8 by flat key 2-7, worm-gear output shaft 2-14 in the revolution of gripper 3
The heart is coaxial.Magnetic coder 2-20 and magnet 2-21 (being the two parts for forming angular transducer) are mounted on the high worm screw 2-8 of revolving speed
End, by worm and gear decelerating effect, the final control precision of gripper is improved.It is opened in double acting sealing block 2-17 plane
There are a blind hole and a through-hole, is respectively served as the end cap and micro-hydraulic motor 2-1 radial direction flow block of angular transducer, throughhole portions
The three O-ring 2-25 that radial direction is dispersed with, are separated out two flow circuit regions, and each circuit respectively corresponds micro hydraulic horse
The radial hole being connected on up to 2-1 with P, T mouthfuls, so that the hydraulic fluid port direction of micro-hydraulic motor be reduced by being axially changed to radial direction
Total size.Former P, T hydraulic fluid port of micro-hydraulic motor 2-1 respectively passes through an oil plug 2-24 excessively and blocks, excessively oily plug 2-
It is connected on 24 by a radial hole and an axial hole, prevents connection screw thread from blocking the radial assignment hole on micro-hydraulic motor 2-1.
Deceleration mechanism cabinet is fastened by reduction gearbox cover board 2-12, reduction box casing 2-15 two parts, and the boss by being located at corner positions, and
It is fastened and is constituted with screw；The both ends worm screw 2-8 are respectively fitted over and reduction gearbox cover board 2-12 and reduction box casing 2-15 interference fit
In two sliding bearing 2-9, and by shoulder axially position, friction is reduced by the axial thrust needle bearing at both ends, is passed through
Adjust gasket 2-10 adjustment worm screw 2-8 and deceleration mechanism cabinet axial fit clearance.Worm-gear output shaft 2-14 frame as shown in Figure 5 in
On reduction box casing 2-15, worm-gear output shaft 2-14 is born in radial direction by advancing slip dynamic bearing 2-26 and rear sliding bearing 2-30 branch
Power is withstood forces in axial direction by two needle roller thrust bearing 2-28 branch of front and back；Sensor seal receptacle 2-16 is O-shaped by Glais ring 2-18
Circle 2-23 is sealed and is isolated with worm screw 2-8 and double acting sealing block 2-17 respectively, oil-filled can protect when to be lauched use
Angular transducer.This structure meets worm and gear condition of self-locking, and gripper has structure latching characteristics.To sum up the mechanism makes gripper most
It is self-locking that extremely low minimum steady revolving speed, very big output torque, good closed-loop control precision and structure can be obtained eventually.
Fig. 6, Fig. 7, Fig. 8 and Fig. 9 are the specific structure of gripper 3, and gripper 3 is translation gripper, share two finger 3-12 up and down
And synchronous on-off is kept, it is used to clamp object.Each finger 3-12 has a corresponding parallelogram mechanism to be driven
It is dynamic, parallelogram mechanism by driving lever 3-5, follower lever 3-10, the gripper base plate 3-3 for playing rack, play connecting rod
Finger 3-12 constitute, as shown in fig. 6, hinged by pin shaft 3-6, pin shaft 3-9, pin shaft 3-11 respectively, each hinge hole center connects
Line parallelogram.As shown in fig. 7, gripper base plate 3-3 bilateral symmetry is each a piece of, the two sides rotor plate 3-1 are sandwiched in, by more
Group studs 3-2 fixes three.Driving lever 3-5 is in L like shape, and there are two circular hole and a waist-shaped holes for distribution above, actively
Corner's circular hole of bar 3-5 and gripper base plate 3-3 are hinged, and the axis of symmetry of gripper base plate inner plane is sliding equipped with a U-shaped
Slot, the optical axis of thrust distribution block 3-4 is each passed through the waist-shaped hole of driving lever 3-5 and the sliding of gripper base plate 3-3U shape sliding slot is matched
It closes；It is arranged two inside and outside c-type a copper sheathing 3-13, copper sheathing 3-13 between the optical axis of thrust distribution block 3-4 and the waist-shaped hole of driving lever 3-5
Side is clearance fit therewith, forms contact slide；Another circular hole and finger 3-12 are hinged on driving lever 3-5.Linear oil cylinder 1 is stretched
When contracting, U-shaped sliding slot linear movement of the piston rod 1-9 with dynamicthrust distribution block 3-4 on gripper base plate 3-3, while along actively
The waist-shaped hole of bar 3-5 slides, and drives the driving lever 3-5 in the parallelogram mechanism of two panels finger 3-12 up and down around pin shaft 3-6
It swings, two finger 3-12 translation folding is made under parallelogram linkage effect.Driving lever widens block 3-7 to thicken master
Lever 3-5 thickness is supported simultaneously in the two sides finger 3-12, keeps structure stress more preferable.Follower lever 3-10 is double bullet nose rods,
Centre section is overlapped with rotor plate 3-1 and finger 3-12 centre section.
In the present invention, the linear oil cylinder 1 and worm-gear output shaft 2-14 are coaxially arranged, worm-gear output shaft in deceleration mechanism 2
2-14 is hollow structure, and the piston rod 1-9 of linear oil cylinder 1 passes through the hollow part of output shaft 2-14, is ultimately attached to gripper drive
It moves on thrust distribution block 3-4 within the organization；Oil cylinder drive end bearing bracket 1-5 and reduction box casing 2-15 is positioned by axis hole, passes through screw
Fastening.When linear oil cylinder 1 stretches, piston rod 1-9 band dynamicthrust distributes block 3-4, while driving the parallel of upper and lower two panels gripper 3
Driving lever 3-5 in quadrangular mechanism, then two grippers 3 are translatable and open and close.
The hydraulic actuator that wherein entire wrist turns clamp structure should connect hydraulic control clack box, be convenient for flow, pressure, side
It is controlled to distribution；Should the main hand of attended operation and controller, be easy to implement closed-loop control and order issue；In order to adapt to make under water
Industry, entire wrist turns linear oil cylinder 1, micro-hydraulic motor 2-1, corresponding oil pipe and the flow distribution pipeline of clamp structure, angle passes
All sealed volumes such as sensor should all be connected with hydraulic compensating device, and work opportunity tool wrist turns clamp structure inner and outer ring under equilibrium water
Border pressure and to the oil-filled protection of circuit.
The actual scope of the present invention not only includes the disclosed embodiments, further include under claims implement or
Execute all equivalent schemes of the invention.
Claims (8)
1. a kind of wrist for hydraulic efficiency manipulator turns clamp structure, including linear oil cylinder, micro-hydraulic motor, deceleration mechanism and hand
Pawl；It is characterized in that, the linear oil cylinder takes postposition mode to arrange, micro-hydraulic motor and deceleration mechanism are located at linear oil cylinder
Between gripper；The output shaft of micro-hydraulic motor is connected to deceleration mechanism and arranges with the piston rod vertical interlaced of linear oil cylinder,
The worm-gear output shaft of deceleration mechanism is hollow structure, and linear oil cylinder piston rod passes through worm-gear output shaft and is followed by the driving machine of gripper
Structure simultaneously drives its folding, and micro-hydraulic motor drives gripper to realize both forward and reverse directions rotation by deceleration mechanism.
2. wrist according to claim 1 turns clamp structure, which is characterized in that the deceleration mechanism is two reduction gear,
Its high speed grade is roller gear, and slow speed turbine stage is worm and gear component；Micro-hydraulic motor directly drives high speed grade roller gear, leads to
It crosses the pairing roller gear being disposed coaxially on worm screw and drives worm screw rotation；Worm screw is further driven to worm gear rotation, worm gear output
The centre of gyration of axis and gripper is coaxial.
3. wrist according to claim 2 turns clamp structure, which is characterized in that the worm gear set is set on worm-gear output shaft,
The two transmits torque by being arranged symmetrically flat key, and passes through spacer and shaft shoulder axial restraint；Worm-gear output shaft frame is in deceleration box shell
On body, worm-gear output shaft, by two sliding supported condition stress of front and back, is supported in axial direction by two needle roller thrust bearing of front and back in radial direction
Stress；The end of worm-gear output shaft is directly sleeved among the rotor plate of gripper in circular hole, and the two is transmitted by being arranged symmetrically flat key
Torque, and pass through the shaft shoulder and locking nut axial restraint；The rotor plate of gripper is realized by the positioning shaft shoulder of worm-gear output shaft to be begun
Contactless state is in reduction box casing eventually.
4. wrist according to claim 2 turns clamp structure, which is characterized in that the both ends of the worm screw are optical axis, and one end is used
Roller gear is matched in suit, other end end is used for fixed angle sensor, and worm screw middle position is equipped with and engages with worm gear
Tooth；One end-rack of worm screw is in reduction box casing, and another end-rack is on reduction box casing cover board；Worm screw both ends are in radial direction by two sliding axles
Branch endurance is held, is withstood forces in axial direction by two needle roller thrust bearing branch, and guarantees axial compression by adjusting gasket；Deceleration box shell
Body and reduction box casing cover board are fastened by the boss positioning centering positioned at corner by screw.
5. wrist according to claim 1 turns clamp structure, which is characterized in that the end of the linear oil cylinder piston rod connects
In on the thrust distribution block in gripper driving mechanism；The drive end bearing bracket and reduction box casing of linear oil cylinder are positioned by shoulder, and are led to
Cross screw fastening.
6. wrist according to claim 5 turns clamp structure, which is characterized in that the thrust distribution block is that bilateral symmetry is tied
Structure, centre are a rectangular block, and rectangular block center is circular hole, perpendicular to round hole axial side at planar central at left and right sides of rectangular block
To respectively there is one section of equal length optical axis；After linear oil cylinder piston-rod end passes through the circular hole of thrust distribution block, pass through piston-rod end
The shaft shoulder and locking nut and thrust distribution block before and after fastening face lock, and pass through be located at rectangular block center hole in sliding axle
Hold and before and after the rectangular block fastening face two needle roller thrust bearing contacts.
7. wrist according to claim 1 turns clamp structure, which is characterized in that the gripper is that translation clamps gripper, is shared
Upper and lower two panels finger keeps synchronous on-off, and the driving mechanism of every finger is an individual parallelogram mechanism, in parallel
Driving lever and follower lever in quadrangular mechanism respectively have one end to be articulated with same gripper base plate, and the other end is articulated with on the other hand
Refer to, each hinge hole line of centres parallelogram；Two driving levers for driving fingers opening-closing up and down are spatially asymmetric arrangement,
It is located at the side of respective finger；Gripper base plate is each a piece of about gripper principal section bilateral symmetry, is sandwiched in class C-shaped respectively and turns
Rotor plate and gripper base plate are fixed into one by array studs by the two sides of movable plate and finger parallelogram mechanism
Body.
8. wrist according to claim 7 turns clamp structure, which is characterized in that the follower lever is double bullet nose rods, center
Section is overlapped with rotor plate and finger centre section；The driving lever is in L like shape, if there are two circular hole and a waist-shaped hole, it is main
The corner's circular hole and gripper base plate of lever are hinged, and the axis of symmetry of gripper base plate inner plane is equipped with a U-shaped sliding slot.
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| CN201910245273.5A CN109849041A (en) | 2019-03-28 | 2019-03-28 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
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| CN201910245273.5A CN109849041A (en) | 2019-03-28 | 2019-03-28 | A kind of wrist for hydraulic efficiency manipulator turns clamp structure |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110202555A (en) * | 2019-07-10 | 2019-09-06 | 贵州大学 | Mechanical structure and driving method suitable for upper limb exoskeleton mechanism wrist motion |
| CN110480671A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of rotary machine hand for machining |
| CN111069959A (en) * | 2019-12-23 | 2020-04-28 | 东莞市蓝企信息科技有限公司 | Automatic feeding and discharging robot for machine tool machining equipment |
| CN112621798A (en) * | 2020-12-03 | 2021-04-09 | 亿嘉和科技股份有限公司 | Robot paw |
| CN113043303A (en) * | 2021-03-08 | 2021-06-29 | 中海油能源发展装备技术有限公司 | Underwater manipulator paw driving device capable of realizing compound motion |
| CN113432023A (en) * | 2021-07-07 | 2021-09-24 | 武汉船舶通信研究所（中国船舶重工集团公司第七二二研究所） | Remote control quick capture and release device |
| CN113928973A (en) * | 2021-11-09 | 2022-01-14 | 万基控股集团石墨制品有限公司 | Graphite electrode hoist |
| CN114368000A (en) * | 2021-12-30 | 2022-04-19 | 镇江市高等专科学校 | Clamping device with rotating mechanism |
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| CN110480671A (en) * | 2019-08-30 | 2019-11-22 | 桂林航天工业学院 | A kind of rotary machine hand for machining |
| CN110480671B (en) * | 2019-08-30 | 2020-12-01 | 桂林航天工业学院 | Rotary mechanical arm for machining |
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| CN113043303A (en) * | 2021-03-08 | 2021-06-29 | 中海油能源发展装备技术有限公司 | Underwater manipulator paw driving device capable of realizing compound motion |
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| CN114368000A (en) * | 2021-12-30 | 2022-04-19 | 镇江市高等专科学校 | Clamping device with rotating mechanism |
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