CN112692861A - Four-connecting-rod screw nut electric-drive underwater manipulator paw - Google Patents
Four-connecting-rod screw nut electric-drive underwater manipulator paw Download PDFInfo
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- CN112692861A CN112692861A CN202110014077.4A CN202110014077A CN112692861A CN 112692861 A CN112692861 A CN 112692861A CN 202110014077 A CN202110014077 A CN 202110014077A CN 112692861 A CN112692861 A CN 112692861A
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- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 238000007789 sealing Methods 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 210000000078 claw Anatomy 0.000 claims abstract description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 239000010720 hydraulic oil Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000003921 oil Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 230000005520 electrodynamics Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention discloses a four-connecting-rod screw nut electrically-driven underwater manipulator paw, which comprises a finger execution structure assembly, a four-connecting-rod driving structure, a screw nut transmission assembly, a motor driving system, a sealing element and a fastening element, wherein the finger execution structure assembly is arranged on the finger execution structure assembly; the finger execution structural component is a finger-shaped structural component and is used for grabbing and clamping an object; the four-connecting-rod driving structure is connected with the finger execution structure assembly and is used for driving the finger execution structure assembly to perform opening and closing movement; the screw rod nut transmission assembly is respectively connected with the four-connecting-rod driving structure and the motor driving system and is used for driving the four-connecting-rod driving structure to move; and the motor driving system is used for driving the screw nut transmission assembly to move. The invention adopts the screw-nut transmission and the four-bar structure, and the rotary motion of the motor is converted into the linear motion required by the driving of the four-bar structure through the screw-nut transmission, thereby realizing the opening and closing of the two finger mechanical claws which are driven, and having the advantages of compact structure, flexible rotation, large load capacity, difficult clamping and the like.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a four-connecting-rod screw nut electric-drive type underwater manipulator paw.
Background
At present, the underwater mechanical gripper mainly has two driving modes: hydraulic drive and electric drive. The hydraulic drive manipulator mainly comprises a drive system consisting of a hydraulic motor, a servo valve, an oil pump, an oil tank and the like, and a hydraulic oil cylinder drives a manipulator actuating mechanism to work, so that the hydraulic drive manipulator has high grabbing and lifting capacity. The hydraulic drive type mechanical gripper is mainly characterized by large grabbing and lifting force, but a drive system of the hydraulic drive type mechanical gripper is complex, and the hydraulic drive type mechanical gripper also has higher manufacturing precision and sealing requirements on hydraulic elements. Compared with a hydraulic drive type manipulator paw, the electric drive type manipulator has the advantages of small volume, stable motion, compact structure, high precision and simple system composition. The driving motor generally adopts a stepping motor and a direct current servo motor, and a speed reducing mechanism is usually needed due to the high speed of the motor. The electrodynamic type manipulator is applicable to the occasions that clamping force is little, working space is limited, need accurate control.
The main problems and drawbacks of the prior art include:
(1) the hydraulic drive type mechanical gripper needs the support of a hydraulic drive system, the drive system is complex, the hydraulic element has high manufacturing precision and sealing requirements, the applicability is not high, and the hydraulic drive type mechanical gripper is particularly not suitable for occasions without the hydraulic system.
(2) The gripper structure of the existing electric drive type manipulator easily causes the jamming of finger movement.
(3) The gripper structure clamping force of the existing electric drive type manipulator is small.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the invention provides the four-bar lead screw nut electric drive type underwater manipulator paw, the manipulator paw adopts a lead screw nut transmission and a four-bar structure, and the rotary motion of a motor is converted into the linear motion required by driving the four-bar structure through the lead screw nut transmission, so that the opening and the closing of the two-finger mechanical paw are realized, and the four-bar underwater manipulator paw has the advantages of compact structure, flexible rotation, large load capacity, difficulty in clamping and the like.
Therefore, the invention adopts the following technical scheme:
a four-connecting-rod screw nut electrically-driven underwater manipulator paw comprises a finger execution structure assembly, a four-connecting-rod driving structure, a screw nut transmission assembly, a motor driving system, a sealing element and a fastening element; the finger execution structural component is a finger-shaped structural component and is used for grabbing and clamping an object; the four-connecting-rod driving structure is connected with the finger execution structure assembly and is used for driving the finger execution structure assembly to perform opening and closing movement; the screw rod nut transmission assembly is respectively connected with the four-connecting-rod driving structure and the motor driving system and is used for driving the four-connecting-rod driving structure to move; the motor driving system is used for driving the screw rod nut transmission assembly to move; the sealing elements are respectively arranged at the interfaces of the components and used for sealing the cavity of the whole structure; the fasteners are respectively arranged at the connecting positions of the structures and are used for fixedly connecting the whole structures.
Furthermore, the finger execution structure assembly comprises a first external clamp and a second external clamp, the first external clamp and the second external clamp are both L-shaped, symmetrically distributed on two sides of the mechanical claw axis and are parts directly contacted with a clamped object; a semi-cylindrical groove hole is processed in the direction of one side of the L shape, and a semi-cylindrical through groove hole is processed transversely along the grasping face of the holder and penetrates through the vertical semi-cylindrical groove.
Furthermore, the four-bar driving structure is a four-bar driving structure with 2 sets of fingers, which is formed by an L-shaped clamp, one side supported by a jaw, a positioning rod end, a square driving rod and a connecting rod group;
the connecting rod group comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod, the connecting rods are rectangular, two round pin holes are symmetrically processed along the center of the connecting rods and are respectively used for connecting the L-shaped external clamp holder, the jaw support and the positioning rod end;
the positioning rod end is a rectangular square block, two round pin holes are machined in the front face of the positioning rod, and a stepped inclined hole is machined in the symmetrical center of the top end of the positioning rod;
the jaw support is of a bilateral symmetry structure and is Y-shaped, a large square groove and a penetrating cylindrical hole are processed on a jaw support central shaft, a flange plate is arranged at the bottom end, through holes are uniformly processed along the flange plate, and the jaw support is connected with a shell at the upper end outside the motor through a first hexagon socket head bolt; pin holes for fixing the first external holder and the second external holder are processed on two sides of the jaw support, and sliding bearings are respectively installed on the two pin holes; a cylindrical central through hole of the jaw support is provided with grooves distributed along the axial direction, and a first O-shaped sealing ring is arranged in the grooves;
one side of the square driving rod is a stepped cylindrical shaft, and the other side of the square driving rod is a square shaft; a threaded hole is axially processed in the top of the stepped cylindrical shaft end and used for fixing the square driving rod and the positioning end rod by a second fastening screw; a threaded hole and a round hole are formed in the inner side of the square shaft, and the threaded hole is used for connecting a nut of a feed screw nut; a cylindrical shaft of the square driving rod is arranged on a cylindrical hole of the jaw support center; the square shaft of the square driving rod is matched with the square hole of the jaw support, so that the square driving rod can axially move on the jaw support.
Furthermore, two cylindrical pin holes are processed on the other side of the L shape of the first external clamp and the second external clamp, the first support connecting pin and the second support connecting pin respectively fix the external cylindrical pin holes of the first external clamp and the second external clamp to corresponding pin holes of the jaw support and fix the pin through a first fastening screw, and one end of each of two sides of the round pin is additionally provided with a stop elastic retainer ring; the inner side round pin holes of the first outer holder and the second outer holder are fixedly arranged on the first connecting rod, the fourth connecting rod, the second connecting rod and the third connecting rod respectively through the first push rod connecting pin, the second push rod connecting pin, the first connecting rod connecting pin and the second connecting rod connecting pin, and the two sides of the round pin are respectively provided with a locking elastic check ring.
Preferably, the screw rod nut transmission assembly comprises a screw rod nut assembly, the screw rod nut assembly consists of a screw rod and a rolling nut, threads are machined on the outer circle of the nut, and the nut of the screw rod nut assembly is connected with an internal thread hole on the square shaft side of the square driving rod through the threads; and an external thread is processed on one side shaft of the screw rod, is connected to an inner hole of the driving adapter plate through a thread and is fixed by a screw rod fastening nut.
Furthermore, the motor driving system comprises a motor outer upper end shell, a motor outer interface shell, a precision harmonic speed reducer assembly, a frameless torque motor, a friction type braking retainer assembly and a driving adapter plate; the frameless torque motor and the friction type automatic retainer assembly are arranged in a manner of clinging to the precise harmonic speed reducer assembly and are fixed by a third inner hexagon head bolt, and the outer parts of the frameless torque motor and the friction type automatic retainer assembly are sleeved with a shell at the outer upper end of the motor; and the flange plate side of the outer interface shell of the motor is connected with the flange plate of the outer upper end shell of the motor through a fourth inner hexagon head bolt and a nut.
Furthermore, the outer interface shell of the motor is a cylindrical shell, a through inner hole is axially arranged, and a flange plate is processed at one end and is used for being connected with the flange plate of the outer shell at the upper end outside the motor; the outer surfaces of two ends of a cylinder of an external interface shell of the motor are respectively provided with an O-shaped ring groove for mounting a second O-shaped sealing ring and a third O-shaped sealing ring; through holes which are uniformly distributed are processed at the position close to the flange plate along the radial direction of the cylinder and are used for connecting and fixing the outer interface shell of the motor with external equipment.
Furthermore, an O-shaped ring groove is processed at the joint of the motor external interface shell and external equipment and used for installing a fourth O-shaped sealing ring.
Preferably, the driving adapter plate is in the shape of a flange, and a stepped hole is formed in the center of the disk and used for accommodating a screw rod of a screw nut; the driving adapter plate is tightly attached to an output shaft of the precision harmonic reducer assembly and is fixed with the harmonic reducer through a second inner hexagon head bolt.
Preferably, the motor driving system converts the rotary motion of the motor into the linear motion of the screw nut transmission assembly, the screw nut transmission assembly drives the four-bar linkage driving structure to make the linear motion along the central axis, and the four-bar linkage driving structure drives the two sets of fingers of the finger execution structure assembly to make the opening and closing motion.
Compared with the prior art, the invention has the beneficial effects that:
(1) the electrically-driven manipulator paw system is simple in composition and wide in application range.
(2) The system is simple, high in control precision and stable in movement by adopting a servo motor, a screw rod nut and a two-split finger master-slave structure with four connecting rods swinging.
(3) The finger clamping force of the four-bar mechanism is large, the movement is flexible, and the four-bar mechanism is not easy to be blocked.
(4) Compared with a hydraulic driving manipulator, the electric driving manipulator has no problem of environmental pollution caused by hydraulic oil.
(5) Compared with a hydraulic driving manipulator, the electric driving manipulator is suitable for occasions without a hydraulic system.
(6) Compared with a hydraulic drive manipulator, the electric drive manipulator has smaller paw volume and is convenient to use in the field with limited space.
Drawings
Fig. 1 is a schematic perspective view of a four-bar lead screw nut electric drive type underwater manipulator claw provided by the invention.
Fig. 2 is a right side view of a four-bar lead screw nut electric drive type underwater manipulator claw provided by the invention.
Fig. 3 is a cross-sectional view of a four-bar lead screw nut electric drive type underwater manipulator claw in a cross section from a to a.
Fig. 4 is an exploded view of a paw structure of a four-bar lead screw nut electric drive type underwater manipulator paw provided by the invention.
Fig. 5 is a front view of a gripper structure of a four-bar lead screw nut electric drive type underwater manipulator gripper provided by the invention.
Fig. 6 is a top view of a gripper structure of a four-bar lead screw nut electric drive type underwater manipulator gripper provided by the invention.
Fig. 7 is a left side view of a gripper structure of a four-bar lead screw nut electric drive type underwater manipulator gripper provided by the invention.
Fig. 8 is an exploded view of a feed screw nut and a driving structure of a four-bar feed screw nut electric-driven underwater manipulator claw provided by the invention.
Fig. 9 is a front view of a motor of a four-bar lead screw nut electric drive type underwater manipulator claw provided by the invention.
Fig. 10 is a top view of a motor of a four-bar lead screw nut electric drive type underwater manipulator claw provided by the invention.
Fig. 11 is an exploded view of the interior of a motor of a four-bar lead screw nut electric drive type underwater manipulator claw provided by the invention.
Description of reference numerals: 1. a first outer holder; 2. a second outer holder; 3. a first push rod connecting pin; 4. a first fastening screw; 5. a jaw support; 6. a second fastening screw; 7. positioning the end rod; 8. a square drive rod; 9. a first O-ring seal; 10. a feed screw nut assembly; 11. a first hexagon socket head bolt; 12. a second O-ring seal; 13. a motor outer upper end shell; 14. a second hexagon socket head bolt; 15. a third hexagon socket head bolt; 16. a precision harmonic reducer assembly; 17. a frameless torque motor and a friction type automatic retainer assembly; 18. an external electrical connection terminal; 19. a nut; 20. a drive adapter plate; 21. a screw rod fastening nut; 22. a third O-shaped sealing ring; 23. a fourth hexagon socket head bolt; 24. a motor external interface housing; 25. a fourth O-shaped sealing ring; 26. a circlip; 27. a first link; 28. a sliding bearing; 29. a first support connection pin; 30. a first link connecting pin; 31. a second push rod connecting pin; 32. a second support connection pin; 33. a second link connecting pin; 34. a second link; 35. a third link; 36. and a fourth link.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments, which are provided for illustration only and are not to be construed as limiting the invention.
The invention discloses a four-connecting-rod screw nut electrically-driven underwater manipulator paw, which comprises a finger execution structure assembly, a four-connecting-rod driving structure, a screw nut transmission assembly, a motor driving system, a sealing element and a fastening element, wherein the finger execution structure assembly is arranged on the finger execution structure assembly; the finger execution structural component is a finger-shaped structural component and is used for grabbing and clamping an object; the four-connecting-rod driving structure is connected with the finger execution structure assembly and is used for driving the finger execution structure assembly to perform opening and closing movement; the screw rod nut transmission assembly is respectively connected with the four-connecting-rod driving structure and the motor driving system and is used for driving the four-connecting-rod driving structure to move; the motor driving system is used for driving the screw rod nut transmission assembly to move; the sealing elements are respectively arranged at the interfaces of the components and used for sealing the cavity of the whole structure; the fasteners are respectively arranged at the connecting positions of the structures and are used for fixedly connecting the whole structures.
Specifically, as shown in fig. 1 to 11, the finger-actuated structural assembly includes a first external gripper 1 and a second external gripper 2, and the first external gripper 1 and the second external gripper 2 are both L-shaped, symmetrically distributed on two sides of the gripper axis, and are parts directly contacted by a clamped object; a semi-cylindrical groove hole is processed in the direction of one side of the L shape, and a semi-cylindrical through groove hole is processed transversely along the grasping face of the holder and penetrates through the vertical semi-cylindrical groove.
The four-bar driving structure is a four-bar driving structure with 2 sets of fingers, and consists of an L-shaped clamp, one side of a jaw support 5, a positioning bar end 7, a square driving bar 8 and a connecting bar group;
the connecting rod group comprises a first connecting rod 27, a second connecting rod 34, a third connecting rod 35 and a fourth connecting rod 36, the connecting rods are rectangular, two round pin holes are symmetrically processed along the central positions of the connecting rods and are respectively used for connecting the L-shaped external clamp holder, the jaw support 5 and the positioning rod end 7;
the positioning rod end 7 is a rectangular square block, two round pin holes are machined in the front face of the positioning rod, and a stepped inclined hole is machined in the symmetrical center of the top end of the positioning rod;
the jaw support 5 is of a bilateral symmetry structure and is Y-shaped, a large square groove and a penetrating cylindrical hole are processed on a central shaft of the jaw support 5, a flange plate is arranged at the bottom end of the jaw support 5, through holes are uniformly processed along the flange plate, and the jaw support 5 is connected with an outer shell 13 at the upper end outside the motor through a first inner hexagon head bolt 11; pin holes for fixing the first external holder 1 and the second external holder 2 are processed on two sides of the jaw support 5, and sliding bearings 28 are respectively installed on the two pin holes; a groove is axially distributed on a cylindrical central through hole of the jaw support 5, and a first O-shaped sealing ring 9 is arranged in the groove;
one side of the square driving rod 8 is a stepped cylindrical shaft, and the other side of the square driving rod is a square shaft; a threaded hole is axially processed in the top of the stepped cylindrical shaft end and used for fixing the square driving rod 8 and the positioning end rod 7 by a second fastening screw 6; a threaded hole and a round hole are formed in the inner side of the square shaft, and the threaded hole is used for connecting a nut of a feed screw nut; a cylindrical shaft of the square driving rod 8 is arranged on a central cylindrical hole of the jaw support 5; the square shaft of the square drive rod 8 mates with the square hole of the jaw support 5 such that the square drive rod 8 is axially movable within the jaw support 5.
Two cylindrical pin holes are processed on the other L-shaped sides of the first external clamp 1 and the second external clamp 2, the first support connecting pin 29 and the second support connecting pin 32 are used for respectively and fixedly installing the external cylindrical pin holes of the first external clamp 1 and the second external clamp 2 on corresponding pin holes of the jaw support 5 and are fixed through the first fastening screw 4, and one stop elastic retainer ring 26 is additionally arranged at one end of each of two sides of the round pin; the inner round pin holes of the first outer holder 1 and the second outer holder 2 are respectively fixed on the first connecting rod 27, the fourth connecting rod 36, the second connecting rod 34 and the third connecting rod 35 through the first push rod connecting pin 3, the second push rod connecting pin 31, the first connecting rod connecting pin 30 and the second connecting rod connecting pin 33, and one stop elastic retainer ring 26 is respectively arranged on two sides of the round pin.
The screw rod nut transmission assembly comprises a screw rod nut assembly 10, the screw rod nut assembly 10 consists of a screw rod and a rolling nut, threads are machined on the outer circle of the nut, and the nut of the screw rod nut assembly 10 is connected with an internal thread hole on the square shaft side of the square driving rod 8 through threads; an external thread is processed on one side shaft of the screw rod, and the screw rod is connected to an inner hole of the driving adapter plate 20 through a screw thread and is fixed by a screw rod fastening nut 21.
The motor driving system comprises a motor outer upper end shell 13, a motor outer interface shell 24, a precision harmonic speed reducer assembly 16, a frameless torque motor and friction type brake retainer assembly 17 and a driving adapter plate 20; a disc-shaped driving adapter plate 20 is tightly attached to an output shaft of the precision harmonic speed reducer assembly 16 and fixed by a second inner hexagon head bolt 14, a frameless torque motor and friction type automatic retainer assembly 17 is tightly attached to the precision harmonic speed reducer assembly 16 and fixed by a third inner hexagon head bolt 15, and a motor outer upper end shell 13 is sleeved outside the frameless torque motor and the friction type automatic retainer assembly; the flange side of the motor outer interface shell 24 is connected with the flange of the motor outer upper end shell 13 through a fourth hexagon socket head bolt 23 and a nut 19.
The motor outer interface shell 24 is a cylindrical shell, a through inner hole is axially arranged, and a flange is processed at one end and is used for being connected with a flange of the motor outer upper end shell 13; an O-shaped ring groove is respectively processed on the surfaces of the two cylindrical ends of the motor external interface shell 24 and is used for installing a second O-shaped sealing ring 12 and a third O-shaped sealing ring 22; through holes which are uniformly distributed are processed at the position close to the flange plate along the radial direction of the cylinder and are used for connecting and fixing the external interface shell 24 of the motor with external equipment.
An O-ring groove is processed at the connection of the motor external interface shell 24 and external equipment, and is used for installing a fourth O-ring 25.
The driving adapter plate 20 is in a flange shape, and a stepped hole is formed in the center of the disk and used for installing a screw rod of a screw rod nut; the driving adapter plate 20 is tightly attached to the output shaft of the precise harmonic reducer assembly 16 and fixed with the harmonic reducer by a second hexagon socket head cap screw 14.
The motor driving system converts the rotary motion of the motor into the linear motion of the screw nut transmission assembly, the screw nut transmission assembly drives the four-bar driving structure to do linear motion along the central axis, and the four-bar driving structure drives two sets of fingers of the finger execution structure assembly to do opening and closing motion.
Examples
As shown in fig. 1 to 11, a four-bar lead screw nut electrically-driven underwater manipulator paw comprises a finger execution structure assembly, a four-bar driving structure, a lead screw nut transmission assembly, a motor driving system, a sealing element, a fastening element and the like; the finger execution structure assembly consists of a first external clamp 1 and a second external clamp 2, the clamps are L-shaped and symmetrically distributed on two sides of the axis of the mechanical claw and are parts for clamping objects to directly contact, and semi-cylindrical grooves are processed on the clamping surfaces of the first external clamp 1 and the second external clamp 2 and are used for clamping a T-shaped handle; the four-connecting-rod driving structure consists of an L-shaped clamp holder, one side of a jaw support 5, a positioning rod end 7, a square driving rod 8 and a connecting rod; the motor is used as a power source, rotary motion is transmitted to the screw nut, a rolling nut of the screw nut assembly 10 is fastened to a square driving rod 8 through threads, the square driving rod 8 is installed in a central hole of the jaw support 5, a square edge is matched with four corner holes in the jaw support 5, the rotary motion of the square driving rod 8 is limited and only linear motion can be achieved, the upper end of the square driving rod 8 is connected with a positioning rod end 7 through a second fastening screw 6, and a four-bar structure is driven through the linear motion of the positioning rod end 7, so that two sets of fingers are opened and closed; the screw rod nut assembly 10 consists of a screw rod and a rolling nut, the lower end of the screw rod is connected to a driving adapter plate 20 through threads, the driving adapter plate 20 is fixed to a motor output shaft and drives the screw rod to do rotary motion, and the rolling nut matched with the screw rod makes linear and rotary motion along the screw rod; the motor driving system comprises a frameless torque motor, a friction type braking retainer component 17, a precise harmonic reducer component 16 and a driving adapter plate 20, wherein the frameless torque motor and the friction type automatic retainer component 17 are connected with a screw rod through the driving adapter plate 20, the precise harmonic reducer component 16 reduces the speed of the motor and improves the output torque, and when a paw finishes grabbing motion, the friction type braking retainer component can keep the output shaft of the motor immovable by using friction force, so that the paw keeps a paw-grabbing state; the sealing elements are respectively arranged in the inner hole groove of the jaw support 5, the outer shell 13 at the upper end of the outer part of the motor and the outer interface shell 24 of the outer part of the motor, and the cavity of the whole structure is sealed; an external electrical wiring terminal 18 is arranged on the inner wall of the motor external interface shell 24 and is used for connecting an external power supply; the motor driving system drives the screw rod nut to move by driving the adapter plate 20, the rotary motion of the motor is converted into the linear motion of the screw rod nut, the screw rod nut drives the square driving rod 8 to do linear motion in the inner hole of the jaw support 5 along the central axis, and therefore the four-bar driving system is driven to drive the two sets of fingers to do the opening and closing motion swinging around the jaw support 5.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and scope of the present invention are intended to be covered thereby.
Claims (10)
1. The utility model provides a four connecting rod screw-nut electricity drives formula underwater manipulator hand claw which characterized in that: the finger-actuated four-bar linkage type three-dimensional finger-actuated four-bar linkage type four-; the finger execution structural component is a finger-shaped structural component and is used for grabbing and clamping an object; the four-connecting-rod driving structure is connected with the finger execution structure assembly and is used for driving the finger execution structure assembly to perform opening and closing movement; the screw rod nut transmission assembly is respectively connected with the four-connecting-rod driving structure and the motor driving system and is used for driving the four-connecting-rod driving structure to move; the motor driving system is used for driving the screw rod nut transmission assembly to move; the sealing elements are respectively arranged at the interfaces of the components and used for sealing the cavity of the whole structure; the fasteners are respectively arranged at the connecting positions of the structures and are used for fixedly connecting the whole structures.
2. The four-bar feed screw nut electrically-driven underwater manipulator paw as recited in claim 1, wherein: the finger execution structure assembly comprises a first outer clamp holder (1) and a second outer clamp holder (2), wherein the first outer clamp holder (1) and the second outer clamp holder (2) are L-shaped in structure, symmetrically distributed on two sides of the axis of the mechanical claw and are parts which are in direct contact with a clamped object; a semi-cylindrical groove hole is processed in the direction of one side of the L shape, and a semi-cylindrical through groove hole is processed transversely along the grasping face of the holder and penetrates through the vertical semi-cylindrical groove.
3. The four-bar feed screw nut electrically-driven underwater manipulator paw as recited in claim 2, wherein: the four-bar driving structure is a four-bar driving structure with 2 sets of fingers and consists of an L-shaped clamping device, one side of a jaw support (5), a positioning bar end (7), a square driving rod (8) and a connecting bar group;
the connecting rod group comprises a first connecting rod (27), a second connecting rod (34), a third connecting rod (35) and a fourth connecting rod (36), the connecting rods are rectangular, two round pin holes are symmetrically processed along the central positions of the connecting rods and are respectively used for connecting the L-shaped external clamp holder, the jaw support (5) and the positioning rod end (7);
the positioning rod end (7) is a rectangular square, two round pin holes are machined in the front face of the positioning rod end, and a stepped inclined hole is machined in the symmetrical center of the top end of the positioning rod end;
the jaw support (5) is of a bilateral symmetry structure and is Y-shaped, a large square groove and a penetrating cylindrical hole are processed on a central shaft of the jaw support (5), a flange plate is arranged at the bottom end, through holes are uniformly processed along the flange plate, and the jaw support (5) is connected with a shell (13) at the upper end outside the motor through a first inner hexagon head bolt (11); pin holes for fixing the first external holder (1) and the second external holder (2) are processed on two sides of the jaw support (5), and sliding bearings (28) are respectively installed on the two pin holes; grooves distributed along the axial direction are processed on a cylindrical central through hole of the jaw support (5), and a first O-shaped sealing ring (9) is arranged in the grooves;
one side of the square driving rod (8) is a stepped cylindrical shaft, and the other side of the square driving rod is a square shaft; a threaded hole is axially processed in the top of the stepped cylindrical shaft end and used for fixing the position of the square driving rod (8) and the position of the positioning end rod (7) by a second fastening screw (6); a threaded hole and a round hole are formed in the inner side of the square shaft, and the threaded hole is used for connecting a nut of a feed screw nut; a cylindrical shaft of the square driving rod (8) is arranged on a central cylindrical hole of the jaw support (5); the square shaft of the square driving rod (8) is matched with the square hole of the jaw support (5), so that the square driving rod (8) can axially move on the jaw support (5).
4. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 3, wherein: two cylindrical pin holes are processed on the other L-shaped sides of the first external clamp holder (1) and the second external clamp holder (2), the first supporting connecting pin (29) and the second supporting connecting pin (32) are used for fixedly installing the external cylindrical pin holes of the first external clamp holder (1) and the second external clamp holder (2) on corresponding pin holes of the jaw support (5) respectively and are fixed through a first fastening screw (4), and one end of each of two sides of each round pin is additionally provided with a stop elastic retaining ring (26); the inner side round pin holes of the first outer holder (1) and the second outer holder (2) are respectively fixed to a first connecting rod (27), a fourth connecting rod (36), a second connecting rod (34) and a third connecting rod (35) through a first push rod connecting pin (3), a second push rod connecting pin (31), a first connecting rod connecting pin (30) and a second connecting rod connecting pin (33), and a stop elastic check ring (26) is additionally arranged on two sides of the round pin.
5. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 3, wherein: the screw rod nut transmission assembly comprises a screw rod nut assembly (10), the screw rod nut assembly (10) consists of a screw rod and a rolling nut, threads are processed on the outer circle of the nut, and the nut of the screw rod nut assembly (10) is connected with an internal thread hole on the square shaft side of the square driving rod (8) through threads; an external thread is processed on one side shaft of the screw rod, and the screw rod is connected to an inner hole of the driving adapter plate (20) through a screw thread and is fixed by a screw rod fastening nut (21).
6. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 5, wherein: the motor driving system comprises a motor outer upper end shell (13), a motor outer interface shell (24), a precision harmonic speed reducer assembly (16), a frameless torque motor and friction type brake retainer assembly (17) and a driving adapter plate (20); a disc-shaped driving adapter plate (20) is tightly attached to an output shaft of the precision harmonic speed reducer assembly (16) and fixed by a second inner hexagon head bolt (14), a frameless torque motor and a friction type automatic retainer assembly (17) are tightly attached to the precision harmonic speed reducer assembly (16) and fixed by a third inner hexagon head bolt (15), and a motor outer upper end shell (13) is sleeved outside the frameless torque motor and the friction type automatic retainer assembly; the flange plate side of the motor external interface shell (24) is connected with the flange plate of the motor external upper end shell (13) through a fourth inner hexagon head bolt (23) and a nut (19).
7. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 6, wherein: the motor outer interface shell (24) is a cylindrical shell, a through inner hole is axially arranged, and a flange plate is processed at one end and is used for being connected with a flange plate of a motor outer upper end shell (13); the outer two end surfaces of a cylinder of the motor external interface shell (24) are respectively provided with an O-shaped ring groove for mounting a second O-shaped sealing ring (12) and a third O-shaped sealing ring (22); through holes which are uniformly distributed are processed at the position close to the flange plate along the radial direction of the cylinder and are used for connecting and fixing an external interface shell (24) of the motor with external equipment.
8. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 7, wherein: and an O-shaped ring groove is processed at the joint of the motor external interface shell (24) and external equipment and is used for mounting a fourth O-shaped sealing ring (25).
9. The four-bar lead screw nut electric-driven underwater manipulator paw as recited in claim 6, wherein: the driving adapter plate (20) is in a flange shape, and a stepped hole is formed in the center of the disk and used for installing a screw rod of a screw rod nut; the driving adapter plate (20) is tightly attached to an output shaft of the precise harmonic reducer assembly (16) and is fixed with the harmonic reducer by a second inner hexagon head bolt (14).
10. The four-bar feed screw nut electrically-driven underwater manipulator paw as recited in any one of claims 1-9, wherein: the motor driving system converts the rotary motion of the motor into the linear motion of the screw nut transmission assembly, the screw nut transmission assembly drives the four-bar driving structure to do linear motion along the central axis, and the four-bar driving structure drives two sets of fingers of the finger execution structure assembly to do opening and closing motion.
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| CN202110014077.4A CN112692861B (en) | 2021-01-06 | 2021-01-06 | Four-bar screw-nut electric-driven underwater manipulator claw |
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| CN202110014077.4A CN112692861B (en) | 2021-01-06 | 2021-01-06 | Four-bar screw-nut electric-driven underwater manipulator claw |
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| CN113941997A (en) * | 2021-11-18 | 2022-01-18 | 华中科技大学鄂州工业技术研究院 | Underwater electric manipulator with open structure |
| CN115157299A (en) * | 2022-06-16 | 2022-10-11 | 谙布尔(北京)科学技术有限公司 | Four-bar linkage manipulator |
| CN117944085A (en) * | 2024-03-22 | 2024-04-30 | 西安百润重工科技有限公司 | Self-aligning clamping mechanism |
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| CN117944085B (en) * | 2024-03-22 | 2024-06-11 | 西安百润重工科技有限公司 | Self-aligning clamping mechanism |
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|---|---|
| CN112692861B (en) | 2024-03-19 |
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