CN112692861B - Four-bar screw-nut electric-driven underwater manipulator claw - Google Patents
Four-bar screw-nut electric-driven underwater manipulator claw Download PDFInfo
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- CN112692861B CN112692861B CN202110014077.4A CN202110014077A CN112692861B CN 112692861 B CN112692861 B CN 112692861B CN 202110014077 A CN202110014077 A CN 202110014077A CN 112692861 B CN112692861 B CN 112692861B
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- 210000000078 claw Anatomy 0.000 title claims abstract description 37
- 238000007789 sealing Methods 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 239000003638 chemical reducing agent Substances 0.000 claims description 18
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 238000005096 rolling process Methods 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 27
- 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
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 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
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
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Abstract
The invention discloses a four-bar screw nut electric drive type underwater manipulator claw which comprises a finger executing structure assembly, a four-bar drive structure, a screw nut transmission assembly, a motor drive system, a sealing element and a fastening piece, wherein the finger executing structure assembly is arranged on the four-bar drive structure; the finger executing structure component is a finger-shaped structure component and is used for grabbing and clamping objects; the four-bar linkage driving structure is connected with the finger executing structure assembly and used for driving the finger executing structure assembly to open and close; the screw rod nut transmission assembly is respectively connected with the four-bar linkage driving structure and the motor driving system and is used for driving the four-bar linkage driving structure to move; the motor driving system is used for driving the screw nut transmission assembly to move. The invention adopts a screw-nut transmission and a four-bar structure, and converts the rotary motion of a motor into the linear motion required by driving the four-bar structure through the screw-nut transmission, thereby realizing the opening and closing of the driven two-finger mechanical claw and having the advantages of compact structure, flexible rotation, large loading force, difficult clamping and the like.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a four-bar screw nut electric drive type underwater mechanical gripper.
Background
At present, the underwater mechanical gripper mainly has two driving modes: hydraulic drive and electric drive. The hydraulic driving manipulator mainly comprises a driving system of a hydraulic motor, a servo valve, an oil pump, an oil tank and the like, and the hydraulic oil cylinder drives the manipulator executing mechanism to work, so that the hydraulic driving manipulator has great grabbing and lifting capacity. The hydraulic driving type mechanical gripper is mainly characterized in that the gripping force is large, but the driving system of the hydraulic driving type mechanical gripper is complex, and the hydraulic driving type mechanical gripper has higher manufacturing precision and sealing requirements on hydraulic elements. Compared with the hydraulic driving type mechanical gripper, the electric driving type mechanical gripper has the advantages of small volume, stable motion, compact structure, high precision and simple system composition. The drive motor generally adopts a stepping motor and a direct current servo motor, and a speed reducing mechanism is generally required due to high motor speed. The electric manipulator is suitable for occasions with small clamping force, limited working space and need accurate control.
The main problems and drawbacks of the prior art include:
(1) The hydraulic driving type mechanical gripper needs the support of a hydraulic driving system, the driving system is complex, the hydraulic element has higher manufacturing precision and sealing requirement, the applicability is not high, and the hydraulic driving type mechanical gripper is particularly not suitable for occasions without a hydraulic system.
(2) The claw structure of the existing electric driving type manipulator is easy to cause the clamping of finger movement.
(3) The clamping force of the paw structure of the existing electric driving manipulator is small.
Disclosure of Invention
Aiming at the problems and defects in the prior art, the invention provides the four-bar screw nut electrically-driven underwater manipulator claw, which adopts a screw nut transmission and four-bar structure, and converts the rotation motion of a motor into the linear motion required by driving the four-bar structure through the screw nut transmission, thereby realizing the opening and closing of the driven two-finger manipulator claw and having the advantages of compact structure, flexible rotation, large loading force, difficult clamping and the like.
For this purpose, the invention adopts the following technical scheme:
a four-bar screw nut electrically driven underwater manipulator claw comprises a finger executing structure assembly, a four-bar driving structure, a screw nut transmission assembly, a motor driving system, a sealing piece and a fastener; the finger executing structure component is a finger-shaped structure component and is used for grabbing and clamping objects; the four-bar linkage driving structure is connected with the finger executing structure assembly and used for driving the finger executing structure assembly to open and close; the screw rod nut transmission assembly is respectively connected with the four-bar linkage driving structure and the motor driving system and is used for driving the four-bar linkage driving structure to move; the motor driving system is used for driving the screw 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.
Further, the finger executing structure component comprises a first outer gripper and a second outer gripper, wherein the structures of the first outer gripper and the second outer gripper are L-shaped and symmetrically distributed on two sides of the axis of the mechanical claw to be the part for clamping the object to be in direct contact; a semi-cylindrical groove hole is processed on one side of the L shape in the straight direction, a semi-cylindrical penetrating groove hole is processed transversely along the grabbing surface of the clamp holder, and the semi-cylindrical penetrating groove hole penetrates through the vertical semi-cylindrical groove.
Further, the four-bar driving structure is a four-bar driving structure with 2 sets of fingers formed by an L-shaped clamp holder, one side supported by a jaw, a positioning end rod, 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, wherein the connecting rod is rectangular, and two round pin holes are symmetrically processed along the central position of the connecting rod and are respectively used for connecting an L-shaped external clamp holder, a jaw support and a positioning end rod;
the positioning end rod is a rectangular square, two round pin holes are machined in the front surface, and a stepped inclined hole is machined in the symmetrical center of the top end;
the jaw support is of a bilateral symmetry structure and is Y-shaped, a large square groove and a cylindrical hole penetrating through the large square groove are formed in a central shaft of the jaw support, a flange plate is arranged at the bottom end of the jaw support, through holes are uniformly formed along the flange plate, and the jaw support is connected with an outer shell at the upper end of the outer part of the motor through a first inner hexagon head bolt; pin holes for fixing the first external clamp holder and the second external clamp holder are processed on two sides of the jaw support, and sliding bearings are respectively arranged on the two pin holes; a groove which is axially distributed is processed on the cylindrical central through hole of the jaw support, and a first O-shaped sealing ring is arranged in the groove;
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; the top of the stepped cylindrical shaft end is provided with a threaded hole along the axial direction, and the threaded hole is used for fixing the square driving rod and the positioning end rod through a second fastening screw; a threaded hole and a round hole are formed in the square shaft side, and the threaded hole is used for connecting a nut of the screw rod nut; the cylindrical shaft of the square driving rod is arranged on the cylindrical hole in the center of the jaw support; 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 move axially on the jaw support.
Further, two cylindrical pin holes are machined on the other side of the L shape of the first outer clamp holder and the second outer clamp holder, the first support connecting pin and the second support connecting pin respectively fix the outer cylindrical pin holes of the first outer clamp holder and the second outer clamp holder on the corresponding pin holes of the jaw support, the first outer clamp holder and the second outer clamp holder are fixed through first fastening screws, and one stop elastic retainer ring is additionally arranged on one end of each of two sides of the round pin; the inner round pin holes of the first outer holder and the second outer holder are respectively fixed to the first connecting rod, the fourth connecting rod, the second connecting rod and the third connecting rod through a first push rod connecting pin, a second push rod connecting pin, a first connecting rod connecting pin and a second connecting rod connecting pin, and a stop elastic retainer ring is additionally arranged on two sides of the round pin.
Preferably, the screw-nut transmission assembly comprises a screw-nut assembly, the screw-nut assembly consists of a screw and a rolling nut, threads are machined on the outer circle of the screw, and the screw of the screw-nut assembly is connected with an internal threaded hole on the square shaft side of the square driving rod through threads; an external thread is machined on one side shaft of the screw rod, is connected to an inner hole of the driving adapter plate through threads, and is fixed through a screw rod fastening nut.
Further, the motor driving system comprises a motor outer upper end shell, a motor outer interface shell, a precise harmonic speed reducer assembly, a frameless torque motor, a friction type braking retainer assembly and a driving adapter plate; the disc-shaped driving adapter plate is tightly attached to the output shaft of the precise harmonic speed reducer assembly and is fixed by a second inner hexagon head bolt, the frameless torque motor and the friction type automatic retainer assembly are tightly attached to the precise harmonic speed reducer assembly and are fixed by a third inner hexagon head bolt, and the outer parts of the torque motor and the friction type automatic retainer assembly are sleeved with an outer upper end shell of the motor; 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.
Further, the outer interface shell of the motor is a cylindrical shell, a through inner hole is axially arranged, and a flange is machined at one end and used for being connected with a flange of the outer upper end shell of the motor; o-shaped ring grooves are respectively formed in the surfaces of the two ends of the outer cylinder of the outer interface shell of the motor and are used for installing a second O-shaped sealing ring and a third O-shaped sealing ring; through holes which are uniformly distributed are machined 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 of the motor with external equipment.
Further, an O-shaped ring groove is processed at the joint of the motor external interface shell and external equipment and is used for installing a fourth O-shaped sealing ring.
Preferably, the driving adapter plate is in a flange shape, and a stepped hole is processed at the center of the disc and is used for accommodating a screw rod of the screw rod nut; the driving adapter plate is tightly attached to an output shaft of the precise harmonic speed reducer assembly and is fixed with the harmonic speed reducer by a second inner hexagon head bolt.
Preferably, the motor driving system converts the rotary motion of the motor into linear motion of a screw nut transmission assembly, the screw nut transmission assembly drives a four-bar driving structure to do linear motion along a central axis, and the four-bar driving structure drives two sets of fingers of the finger executing structure assembly to do opening and closing motion.
Compared with the prior art, the invention has the beneficial effects that:
(1) The electric driving type mechanical gripper system is simple in composition and wide in application range.
(2) The two-split finger master-slave structure with the servo motor, the screw rod nut and the four-bar linkage is adopted, the system is simple, the control precision is high, and the movement is stable.
(3) The four-bar mechanism has large finger clamping force, flexible movement and difficult blocking.
(4) Compared with a hydraulic driving manipulator, the electric driving manipulator has no problem that the hydraulic oil pollutes the environment.
(5) Compared with a hydraulic driving manipulator, the electric driving manipulator is suitable for occasions without a hydraulic system.
(6) Compared with a hydraulic driving manipulator, the electric driving manipulator paw is smaller in size and convenient to use in the field with limited space.
Drawings
Fig. 1 is a schematic perspective view of a four-bar screw nut electrically driven underwater manipulator claw according to the present invention.
Fig. 2 is a right side view of the four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
FIG. 3 is a cross-sectional view of A-A of a four-bar lead screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 4 is an exploded view of a claw structure of a four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 5 is a front view of a claw structure of a four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 6 is a top view of a claw structure of a four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 7 is a left side view of a claw structure of a four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 8 is an exploded view of a lead screw nut and a driving structure of a four-bar lead screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 9 is a front view of a motor of a four-bar lead screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 10 is a top view of a motor of a four-bar lead screw nut electrically driven underwater manipulator claw provided by the invention.
Fig. 11 is an internal explosion diagram of a motor of a four-bar screw nut electrically driven underwater manipulator claw provided by the invention.
Reference numerals illustrate: 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 an end rod; 8. square driving rod; 9. a first O-ring seal; 10. a feed screw nut assembly; 11. a first socket head cap bolt; 12. a second O-ring seal; 13. an outer upper end shell of the motor; 14. a second socket head cap bolt; 15. a third socket head cap 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. driving the adapter plate; 21. a screw rod fastening nut; 22. a third O-ring seal; 23. a fourth socket head cap screw; 24. a motor external interface housing; 25. a fourth O-ring seal; 26. a circlip; 27. a first link; 28. a sliding bearing; 29. a first support connection pin; 30. a first link connection 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 below with reference to the drawings and the specific embodiments thereof, which are for explanation of the present invention only, but not for limitation of the present invention.
The invention discloses a four-bar screw nut electric drive type underwater manipulator claw which comprises a finger executing structure assembly, a four-bar drive structure, a screw nut transmission assembly, a motor drive system, a sealing element and a fastening piece, wherein the finger executing structure assembly is arranged on the four-bar drive structure; the finger executing structure component is a finger-shaped structure component and is used for grabbing and clamping objects; the four-bar linkage driving structure is connected with the finger executing structure assembly and used for driving the finger executing structure assembly to open and close; the screw rod nut transmission assembly is respectively connected with the four-bar linkage driving structure and the motor driving system and is used for driving the four-bar linkage driving structure to move; the motor driving system is used for driving the screw 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. 1-11, the finger executing structure assembly comprises a first external gripper 1 and a second external gripper 2, wherein the structures of the first external gripper 1 and the second external gripper 2 are in an L shape and symmetrically distributed on two sides of the axis of the mechanical claw, and are parts for clamping an object to be in direct contact; a semi-cylindrical groove hole is processed on one side of the L shape in the straight direction, a semi-cylindrical penetrating groove hole is processed transversely along the grabbing surface of the clamp holder, and the semi-cylindrical penetrating groove hole penetrates through the vertical semi-cylindrical groove.
The four-bar linkage driving structure is a four-bar linkage driving structure with 2 sets of fingers formed by an L-shaped clamp holder, one side of a jaw support 5, a positioning end rod 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, wherein the connecting rod is rectangular, and two round pin holes are symmetrically processed along the central position of the connecting rod and are respectively used for connecting an L-shaped external clamp holder, a jaw support 5 and a positioning end rod 7;
the positioning end rod 7 is a rectangular square, two round pin holes are machined in the front surface, and a stepped inclined hole is machined in the symmetrical center of the top end;
the jaw support 5 is of a bilateral symmetry structure and is Y-shaped, a large square groove and a cylindrical hole penetrating through the large square groove are formed in the central shaft of the jaw support 5, a flange plate is arranged at the bottom end, through holes are uniformly formed along the flange plate, and the jaw support 5 is connected with an upper end shell 13 outside the motor through a first inner hexagon head bolt 11; pin holes for fixing the first outer holder 1 and the second outer holder 2 are processed on two sides of the jaw support 5, and a sliding bearing 28 is arranged on each of the two pin holes; a groove which is axially distributed is processed 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 is a square shaft; the top of the stepped cylindrical shaft end is provided with a threaded hole along the axial direction, and the threaded hole is used for fixing the square driving rod 8 and the positioning end rod 7 by the second fastening screw 6; a threaded hole and a round hole are formed in the square shaft side, and the threaded hole is used for connecting a nut of the screw rod nut; the cylindrical shaft of the square driving rod 8 is arranged on the 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 in the jaw support 5.
Two cylindrical pin holes are machined on the other L-shaped sides of the first outer clamp holder 1 and the second outer clamp holder 2, a first support connecting pin 29 and a second support connecting pin 32 respectively fix the outer cylindrical pin holes of the first outer clamp holder 1 and the second outer clamp holder 2 on corresponding pin holes of the jaw support 5 and are fixed through a first fastening screw 4, and a stop circlip 26 is additionally arranged on 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 to 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 a stop circlip 26 is additionally arranged on two sides of the round pin.
The screw-nut transmission assembly comprises a screw-nut assembly 10, the screw-nut assembly 10 consists of a screw and a rolling nut, threads are machined on the outer circle of the nut, and the nut of the screw-nut assembly 10 is connected with an internal threaded hole on the square shaft side of the square driving rod 8 through threads; an external thread is machined on one side shaft of the screw rod, is connected to an inner hole of the driving adapter plate 20 through threads, and is fixed through 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 precise harmonic speed reducer assembly 16, a frameless torque motor, a friction type braking 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 precise harmonic speed reducer assembly 16 and is 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 precise harmonic speed reducer assembly 16 and is fixed by a third inner hexagon head bolt 15, and an outer upper end shell 13 of the motor is sleeved outside the disc-shaped driving adapter plate; the flange side of the motor outer interface housing 24 is connected with the flange of the motor outer upper end housing 13 by a fourth socket head bolt 23 and a nut 19.
The motor external interface shell 24 is a cylindrical shell, is provided with an inner hole penetrating through the shell along the axial direction, and is provided with a flange plate at one end for being connected with the flange plate of the motor external upper end shell 13; an O-shaped ring groove is respectively processed on the surfaces of the two ends of the outer cylinder of the motor outer interface shell 24 and is used for installing the second O-shaped sealing ring 12 and the third O-shaped sealing ring 22; through holes which are uniformly distributed are formed near the flange along the radial direction of the cylinder and are used for connecting and fixing the motor external interface shell 24 with external equipment.
An O-ring groove is formed at the connection between the motor external interface housing 24 and external equipment for mounting a fourth O-ring 25.
The driving adapter plate 20 is in a flange shape, and a stepped hole is processed at the center of the disc and is used for accommodating 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 is fixed with the harmonic reducer by the second socket head bolt 14.
The motor driving system converts the rotary motion of the motor into linear motion of the screw nut transmission assembly, the screw nut transmission assembly drives the four-bar linkage driving structure to do linear motion along the central axis, and the four-bar linkage driving structure drives two sets of fingers of the finger execution structure assembly to do opening and closing motion.
Examples
1-11, the four-bar screw nut electrically-driven underwater manipulator claw comprises a finger executing structure assembly, a four-bar driving structure, a screw nut transmission assembly, a motor driving system, a sealing piece, a fastening piece and the like; the finger executing structure component consists of a first outer clamp 1 and a second outer clamp 2, wherein 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 be in direct contact, and semicircular column grooves are processed on the grabbing surfaces of the first outer clamp 1 and the second outer clamp 2 and are used for grabbing a T-shaped handle; the four-bar driving structure consists of an L-shaped clamp holder, one side of a jaw support 5, a positioning end bar 7, a square driving bar 8 and a connecting bar; the motor is used as a power source to transmit rotary motion to the screw nut, the rolling nut of the screw nut assembly 10 is fastened to the square driving rod 8 through threads, the square driving rod 8 is arranged in a central hole of the jaw support 5, square edges are matched with square holes in the jaw support 5, the rotary motion of the square driving rod 8 is limited to only perform linear motion, the upper end of the square driving rod 8 is connected with the positioning end rod 7 through the second fastening screw 6, and the four-bar structure is driven through the linear motion of the positioning end rod 7 to enable two sets of fingers to perform opening and closing motions; the screw-nut assembly 10 consists of a screw and a rolling nut, wherein the lower end of the screw is connected to the driving adapter plate 20 through threads, and the driving adapter plate 20 is fixed on an output shaft of a motor and drives the screw to do rotary motion, so that the rolling nut matched with the screw does linear and rotary motion along the screw; the motor driving system consists of a frameless torque motor, a friction type braking retainer assembly 17, a precise harmonic speed reducer assembly 16 and a driving adapter plate 20, wherein the frameless torque motor and the friction type automatic retainer assembly 17 are connected with a screw rod through the driving adapter plate 20, the precise harmonic speed reducer assembly 16 is used for reducing the speed of the motor and improving the output torque at the same time, and when the claws finish the grabbing and closing movement, the retainer can keep an output shaft of the motor motionless by utilizing friction force, so that the claws keep a claw closing state; the sealing elements are respectively arranged in the inner hole groove of the jaw support 5, the motor outer upper end shell 13 and the motor outer interface shell 24 to seal the cavity of the whole structure; an external electrical connection terminal 18 is arranged on the inner wall of the motor external interface housing 24 and is used for connecting an external power supply; the motor driving system drives the lead screw nut to move through the driving adapter plate 20, the rotary motion of the motor is converted into linear motion of the lead screw nut, the lead screw nut drives the driving square driving rod 8 to do linear motion along the central axis in the inner hole of the jaw support 5, and accordingly the four-bar driving system is driven to drive two sets of fingers to do opening and closing motion swinging around the jaw support 5.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. The utility model provides a four connecting rod screw nut electricity drive formula mechanical hand claw under water which characterized in that: the device comprises a finger executing structure assembly, a four-bar driving structure, a screw nut transmission assembly, a motor driving system, a sealing piece and a fastening piece; the finger executing structure component is a finger-shaped structure component and is used for grabbing and clamping objects; the four-bar linkage driving structure is connected with the finger executing structure assembly and used for driving the finger executing structure assembly to open and close; the screw rod nut transmission assembly is respectively connected with the four-bar linkage driving structure and the motor driving system and is used for driving the four-bar linkage driving structure to move; the motor driving system is used for driving the screw 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 used for fixedly connecting the whole structures;
the finger execution structure component comprises a first external clamp holder (1) and a second external clamp holder (2), wherein the structures of the first external clamp holder (1) and the second external clamp holder (2) are L-shaped and symmetrically distributed on two sides of the axis of the mechanical claw and are parts for clamping an object to be in direct contact; a semi-cylindrical groove hole is processed on one side of the L shape in the straight direction, a semi-cylindrical penetrating groove hole is processed along the transverse direction of the gripping surface of the gripper, and the semi-cylindrical penetrating groove hole penetrates through the vertical semi-cylindrical groove;
the four-bar linkage driving structure is a four-bar linkage driving structure with 2 sets of fingers formed by an L-shaped clamp holder, one side of a jaw support (5), a positioning end rod (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), wherein the connecting rod is rectangular, and two round pin holes are symmetrically processed along the central position of the connecting rod and are respectively used for connecting an L-shaped external clamp holder, a jaw support (5) and a positioning end rod (7);
the positioning end rod (7) is a rectangular square, two round pin holes are machined in the front surface, and a stepped inclined hole is machined in the symmetrical center of the top end;
the jaw support (5) is of a bilateral symmetry structure and is Y-shaped, a large square groove and a through cylindrical hole are formed in the central shaft of the jaw support (5), a flange plate is arranged at the bottom end, through holes are uniformly formed along the flange plate, and the jaw support (5) is connected with an outer shell (13) at the upper end of the outer part of the motor through a first inner hexagon head bolt (11); pin holes for fixing the first external clamp holder (1) and the second external clamp holder (2) are processed on two sides of the jaw support (5), and sliding bearings (28) are respectively arranged on the two pin holes; a groove which is distributed along the axial direction is processed on a cylindrical center 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 is a square shaft; the top of the stepped cylindrical shaft end is provided with a threaded hole along the axial direction, and the threaded hole is used for fixing the square driving rod (8) and the positioning end rod (7) by the second fastening screw (6); a threaded hole and a round hole are formed in the square shaft side, and the threaded hole is used for connecting a nut of the screw rod nut; the cylindrical shaft of the square driving rod (8) is arranged on the 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 in the jaw support (5);
two cylindrical pin holes are formed in the other L-shaped side of the first outer clamp holder (1) and the other L-shaped side of the second outer clamp holder (2), the first support connecting pin (29) and the second support connecting pin (32) respectively fix the outer cylindrical pin holes of the first outer clamp holder (1) and the second outer clamp holder (2) on the corresponding pin holes of the jaw support (5), the outer cylindrical pin holes are fixed through first fastening screws (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 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 circlip (26) is additionally arranged on two sides of the round pin;
the screw-nut transmission assembly comprises a screw-nut assembly (10), the screw-nut assembly (10) consists of a screw and a rolling nut, threads are machined at the outer circle of the screw, and the screw of the screw-nut assembly (10) is connected with an internal threaded hole at the square shaft side of the square driving rod (8) through threads; an external thread is machined on one side shaft of the screw rod, is connected to an inner hole of the driving adapter plate (20) through threads, and is fixed through a screw rod fastening nut (21).
2. The four-bar lead screw nut electrically driven underwater manipulator claw according to claim 1, wherein: the motor driving system comprises a motor outer upper end shell (13), a motor outer interface shell (24), a precise harmonic speed reducer assembly (16), a frameless torque motor, a friction type braking 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 precise harmonic speed reducer assembly (16) and is 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 precise harmonic speed reducer assembly (16) and are fixed by a third inner hexagon head bolt (15), and an outer upper end shell (13) of the motor is sleeved outside the upper end shell; 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).
3. The four-bar lead screw nut electrically driven underwater manipulator claw according to claim 2, wherein: the motor external interface shell (24) is a cylindrical shell, a penetrating inner hole is axially arranged along the axial direction, and a flange is machined at one end and is used for being connected with a flange of the motor external upper end shell (13); an O-shaped ring groove is respectively processed on the two end surfaces of the outer cylinder 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 machined near 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.
4. A four bar lead screw nut electrically driven underwater manipulator claw according to claim 3, wherein: an O-shaped ring groove is processed at the joint of the motor external interface shell (24) and external equipment and is used for installing a fourth O-shaped sealing ring (25).
5. The four-bar lead screw nut electrically driven underwater manipulator claw according to claim 2, wherein: the driving adapter plate (20) is in a flange shape, and a stepped hole is formed in the center of the disc and used for accommodating a screw rod of a screw rod nut; the driving adapter plate (20) is tightly attached to the output shaft of the precise harmonic speed reducer assembly (16), and is fixed with the harmonic speed reducer by a second inner hexagon head bolt (14).
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113511551A (en) * | 2021-04-25 | 2021-10-19 | 深圳技术大学 | Manipulator for packaging and assembling linear flexible body |
| CN113001532A (en) * | 2021-04-27 | 2021-06-22 | 南京华研动密封科技有限公司 | Electro-hydraulic hybrid driven underwater multifunctional mechanical arm |
| 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 |
| 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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