CN113459143A - Parallel hand claw structure of worm gear electricity formula of driving - Google Patents
Parallel hand claw structure of worm gear electricity formula of driving Download PDFInfo
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- CN113459143A CN113459143A CN202110931469.7A CN202110931469A CN113459143A CN 113459143 A CN113459143 A CN 113459143A CN 202110931469 A CN202110931469 A CN 202110931469A CN 113459143 A CN113459143 A CN 113459143A
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- 210000000078 claw Anatomy 0.000 title abstract description 20
- 230000005611 electricity Effects 0.000 title description 4
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims description 17
- 230000033001 locomotion Effects 0.000 claims description 15
- 238000007789 sealing Methods 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 229910000838 Al alloy Inorganic materials 0.000 claims description 3
- 230000007774 longterm Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
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- 239000003921 oil Substances 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000005520 electrodynamics Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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Abstract
本发明公开了一种蜗轮蜗杆电驱式平行手爪结构，包括电动机驱动系统、蜗轮蜗杆传动组件、平行四边形手爪开合结构、梯形固定底座、密封件及紧固件，所述电动机驱动系统包括电机外部上端外壳、电机外部接口外壳、精密谐波减速器、驱动转接板、无框力矩电机及摩擦式自动保持器组件，圆盘状的驱动转接板紧贴着精密谐波减速器的输出轴安装，并用螺栓固定，无框力矩电机及摩擦式自动保持器组件紧贴着精密谐波减速器安装，并用螺栓固定。相比于目前的其他机械手手爪来说，本手爪结构紧凑，两只手爪平行开合运动，可使抓取面积更大，抓取更稳定。相较于其他夹紧机构来说，平行四边形手爪开合机构两只手爪做平行摆动夹持，更容易抓取物体。
The invention discloses a worm gear and worm electric drive type parallel gripper structure, comprising a motor drive system, a worm gear and worm drive assembly, a parallelogram gripper opening and closing structure, a trapezoidal fixing base, a seal and a fastener. The motor drive system Including the outer upper shell of the motor, the outer shell of the motor interface, the precision harmonic reducer, the drive adapter plate, the frameless torque motor and the friction type automatic retainer assembly, the disc-shaped drive adapter plate is close to the precision harmonic reducer. The output shaft is installed and fixed with bolts, and the frameless torque motor and friction type automatic retainer components are installed close to the precision harmonic reducer and fixed with bolts. Compared with other current manipulator grippers, the gripper has a compact structure, and the two grippers open and close in parallel, so that the gripping area is larger and the gripping is more stable. Compared with other clamping mechanisms, the two claws of the parallelogram claw opening and closing mechanism do parallel swing clamping, making it easier to grasp objects.
Description
Technical Field
The invention relates to an electrically-driven parallel manipulator paw structure applied to carrying of an underwater robot.
Background
Nowadays, as the development of marine resources such as oil and gas extends from offshore to deep sea, underwater robots are important tools for the development of marine resources. The underwater operation is the necessary function of the underwater robot, and the underwater mechanical gripper which is the main carrier of the underwater operation function is a necessary device of each underwater robot.
Currently, the gripper of the underwater machine mainly adopts three driving modes: hydraulic driving; pneumatic drive and electric drive. The hydraulic manipulator is composed of a hydraulic motor, a servo valve, an oil pump, an oil tank and the like to form a driving system, a hydraulic oil cylinder drives a manipulator actuating mechanism to work, and the hydraulic manipulator generally has great grabbing and lifting capacity. The hydraulic drive type mechanical gripper has the main characteristics of large grabbing and lifting force, but the hydraulic drive type mechanical gripper has a complex drive system and has higher manufacturing precision and sealing requirements on hydraulic elements; the pneumatic manipulator is generally composed of a cylinder, an air valve, an air tank and an air compressor, and is characterized by convenient air source, rapid action, simple structure, low cost and convenient maintenance. However, the gas compressibility is high, speed and position control is difficult, the gas pressure cannot be too high, and the grabbing capacity is relatively low.
Compared with a hydraulic drive type manipulator paw and a pneumatic drive type manipulator paw, the electric type manipulator paw is small in size, stable in movement, compact in structure, high in precision and simple in 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 power transmission mode of the manipulator paw at present is usually a paw opening and closing movement structure driven by piston linear motion, and the structure is complex and low in efficiency and is easy to block in work. This mechanical gripper passes through the transmission of worm gear mechanism, directly converts the rotary motion of motor into the motion of driving mechanical gripper open and shut, and application worm gear structural design transmits power interlocking through the intermeshing between the gear, and the gripper structure is compacter, operates more steadily, control accuracy is higher.
The worm gear mechanical hand claw adopts a parallelogram connecting rod structure, two claws move in parallel to open and close when working, and the sawtooth structure inside the claw increases the friction force between the claw and an object, so that the worm gear mechanical hand claw can be used under the condition of large underwater load pressure.
The existing (hydraulic/pneumatic)/common manipulator mainly has the following defects:
1. the hydraulic drive type manipulator paw is supported by a whole set of hydraulic drive system, and the hydraulic drive system is complex in structure, difficult to install and carry and incapable of being applied to the situation without a matched hydraulic system.
2. The speed and the position of the pneumatic driving type mechanical hand claw are difficult to control, and the air pressure cannot be too high
3. The manipulator paw structure used in the market is easy to be blocked, and the clamping force is relatively low.
4. The transmission of the common mechanical transmission system is small, and the structure is complex.
Disclosure of Invention
The application provides a parallel hand claw structure of worm gear electricity formula of driving adopts worm gear mechanism transmission power, and transmission ratio is big, compact structure, operates steadily, control accuracy is high, and worm gear mechanism has self-locking function, can prevent that the thing that snatchs is unexpected to drop.
The application is realized by the following technical scheme:
a worm and gear electric drive type parallel paw structure comprises a motor driving system, a worm and gear transmission assembly, a parallelogram paw opening and closing structure, a trapezoid fixing base, a sealing element and a fastening element, wherein the motor driving system comprises a motor shell, a precise harmonic reducer, a driving adapter plate, a frameless torque motor and a friction type automatic retainer assembly, the precise harmonic reducer is connected with the frameless torque motor to play a role in reducing speed and improving system torque, the frameless torque motor is used for providing machine operation power, the friction type braking retainer assembly is used for braking the movement of the driving adapter plate so as to lock a subsequent transmission chain, the driving adapter plate is used for transmitting the power of the worm and gear movement, a disc-shaped driving adapter plate is tightly attached to an output shaft of the precise harmonic reducer and fixed by bolts, and the frameless torque motor and the friction type automatic retainer assembly are tightly attached to the precise harmonic reducer, and the friction type automatic retainer assembly and the driving adapter plate are used for protecting the precise harmonic reducer, the frameless torque motor, the friction type automatic retainer assembly and the driving adapter plate and have the water-proof effect, one end of the motor shell is axially provided with a bolt penetrating through an inner hole and is connected with the tail end of a manipulator, and the other end of the motor shell is processed with a bottom plate and is used for being connected with the frameless torque motor and the friction type automatic retainer assembly.
Preferably, the surfaces of the two ends of the motor shell are respectively provided with an O-ring groove for installing two O-rings to play a sealing role, and the two O-rings comprise a first O-ring and a second O-ring.
Preferably, the motor shell is made of antirust aluminum alloy 6061-T6.
Preferably, worm gear worm drive assembly comprises worm, first slide bearing, second slide bearing, two fan-shaped worm wheels and fastener, the worm is connected with the drive keysets through first tie-key, and the worm passes through the through hole of trapezoidal base to be fixed on the base simultaneously, the shaft shoulder of worm one end is hugged closely the cooperation with the first slide bearing of installing at the base, the shaft shoulder of the other end of worm hugs closely the cooperation with the second slide bearing of installing at trapezoidal base to be connected two slide bearings through ring flange and trapezoidal base and all be used for supporting the spiral worm, reduce the coefficient of friction in the rotation.
Preferably, spiral teeth are machined on the matching parts of the worm and the two fan-shaped worm gears, the two fan-shaped worm gears are fixed on the trapezoidal base through a first rocker rotating pin and a fourth rocker rotating pin, and bushings are mounted on the two pins.
Preferably, the two fan-shaped worm gears are respectively fixed on a second rocker and a third rocker of the parallelogram hand claw opening and closing structure through a first worm gear rocker fixing pin and a second worm gear rocker fixing pin, and the two fan-shaped worm gears meshed with the worm drive the parallelogram hand claw opening and closing structure to move.
Preferably, the parallelogram hand claw opening and closing structure consists of two groups of rocking bars and parallel clamping devices which are symmetrically arranged, taking a group of rocking bars as an example, the first rocking bar, the second rocking bar and the first parallel clamping device are fixed on the trapezoidal base through two first rocking bar rotating pins and two second rocking bar rotating pins to form a crank-rocking bar mechanism, and the first sector worm wheel drives the second rocking bar to enable the first parallel clamping device to do swinging motion.
Preferably, the parallel clampers are provided with sawteeth for increasing friction force when clamping the object and preventing the object from sliding off.
Preferably, the trapezoidal fixing base is used for fixing the rocker and the worm wheel, and the trapezoidal fixing base is connected with the motor shell through eight bolts.
Preferably, the lower parts of the eight bolts are respectively provided with a gasket for preventing the bolts from loosening after long-time use.
The operating principle of the invention is as follows:
after the frameless torque motor is started, the power of the motor is reduced through the precision harmonic reducer, then the driving adapter plate connected with the precision harmonic reducer transmits the power to the worm, the worm is meshed with the two fan-shaped worm gears, the worm rotates to drive the worm gears to rotate to transmit the power to the rocker, the rocker drives the 2 parallel clampers to clamp the object, and the interlocking effect of the friction type brake retainer and the worm gear after the object is clamped ensures that the paw cannot be loosened to enable the object to fall.
The invention has the beneficial effects that:
(1) the electrically-driven manipulator paw system is simple in composition, small in size, high in control precision, good in running stability and applicable to various underwater working environments;
(2) compared with hydraulic and other mechanical hand claws, the electrically driven mechanical hand has no problem of environmental pollution, and the whole process generates power by the electric motor;
(3) compared with various transmission systems on the market, the worm and gear transmission system has the advantages of high transmission efficiency, high bearable load, relatively compact structure, stable operation and high control precision;
(4) compared with other clamping mechanisms, the two claws of the parallelogram claw opening and closing mechanism perform parallel swinging clamping, so that an object can be more easily grabbed;
(5) compared with a single-point clamping paw, the parallel sawtooth structure paw can provide larger friction force, can clamp heavier objects and is suitable for high-load operation under water.
Drawings
Fig. 1 is a front view of a worm gear electric drive parallel gripper.
FIG. 2 is a right side view of the worm gear electric drive parallel gripper.
Figure 3 is a cross-sectional view a-a of the worm gear electric drive parallel gripper.
Fig. 4 is an exploded view of a worm gear and worm electrically driven parallel gripper.
Figure 5 is a view of a worm gear electric drive parallel paw.
Fig. 6 is a top view of a worm gear electric drive parallel gripper.
Description of reference numerals: 1. a first O-ring seal; 2. a bolt; 3. a motor housing; 4. a trapezoidal base; 5. a gasket; 6. a first rocker pivot pin; 7. a first rocker; 8. a second rocker rotating pin; 9. a first worm gear rocker fixing pin; 10. a second rocker; 11. a first parallel gripper; 12. a first sector worm gear; 13. a flange plate; 14. a worm; 15. a first sliding bearing; 16. a second parallel gripper; 17. a second sector worm gear; 18. a second worm gear rocker fixing pin; 19. a third rocker; 20. the third rocker rotates the pin; 21. a fourth rocker rotates the pin; 22. a fourth rocker; 23. a first connecting key; 24. a second sliding bearing; 25. a drive adapter plate; 26. a second O-ring seal; 27. a precision harmonic reducer; 28 frameless torque motor and friction type automatic keeper assembly; 29. a bushing; 30. a base plate.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 and the abstract, the robot manipulator comprises a motor housing 3, a worm gear and worm transmission assembly, a parallelogram claw opening and closing structure, a trapezoidal fixing base 4, a sealing element and a fastening element, wherein a bolt 2 penetrating through an inner hole is axially installed at one end of the motor housing 3 and is connected with the tail end of a manipulator, and a bottom plate 30 is processed at the other end of the motor housing 3 and is used for being connected with a frameless torque motor and a friction type automatic retainer assembly 28. The surfaces of the two ends of the motor shell 3 are respectively provided with an O-shaped sealing ring groove for installing two O-shaped sealing rings to play a sealing role, and the two O-shaped sealing rings comprise a first O-shaped sealing ring 1 and a second O-shaped sealing ring 26. The motor shell 3 is made of antirust aluminum alloy 6061-T6.
The worm and gear transmission assembly consists of a worm 14, a first sliding bearing 15, a second sliding bearing 26, two sector worm gears 13 and 19 and a fastener, wherein the worm 14 is connected with a driving adapter plate 25 through a first connecting key 23, the worm 14 is fixed on the base through a through hole of the trapezoidal base 4, a shaft shoulder at one end of the worm 14 is in close fit with the first sliding bearing 15 arranged on the trapezoidal base, a shaft shoulder at the other end of the worm 14 is in close fit with the first connecting key 26 arranged on the trapezoidal base 4 and is in fit with the second sliding bearing 24, the two sliding bearings 15 and 24 are used for supporting the worm 14 and reducing the friction coefficient in rotation, helical teeth are processed on the matching parts of the worm 14 and the two sector worm gears 13 and 20, the two sector worm gears 13 and 20 are fixed on the trapezoidal base through a first rocker rotating pin 6 and a fourth rocker rotating pin 21, and bushings 29 are arranged on the two pins, the two sector worm gears 13 and 20 are respectively fixed on the second rocker 10 and the third rocker 19 of the parallelogram hand-claw open-close structure through a first worm gear rocker fixing pin 9 and a second worm gear rocker fixing pin 18, and the two sector worm gears 13 and 20 meshed with the worm drive the first parallel clamp 11 and the second parallel clamp 16 to move in the open-close structure.
The parallelogram hand claw opening and closing structure is composed of two groups of two rocking bars which are symmetrically arranged and two parallel clamps 12 and 19, taking a group of rocking bars as an example, the first rocking bar 7, the second rocking bar 10 and the first parallel clamp 11 are fixed on the trapezoidal base 4 by two first rocking bar rotating pins 6 and two second rocking bar rotating pins 8, so as to form a crank-rocking bar mechanism, similarly, the third rocking bar 19, the fourth rocking bar 22 and the second parallel clamp 16 are fixed on the trapezoidal base 4 by two third rocking bar rotating pins 20 and two fourth rocking bar rotating pins 21, and the second sector worm wheel 17 drives the third rocking bar 19 to make the second parallel clamp 16 do swinging motion. The parallel grippers 12 and 19 are provided with serrations to increase friction and prevent slippage when gripping an object.
Trapezoidal unable adjustment base 4 is used for fixed rocker and worm wheel, trapezoidal unable adjustment base 4 passes through eight bolts 2 with motor housing 3 to be connected, and gasket 5 is equipped with respectively to eight bolts 2 lower parts for prevent to take place not hard up bolt 2 after long-time the use.
As shown in fig. 2, the motor driving system includes a motor housing 3, a precise harmonic reducer 27, a driving adapter plate 25, a frameless torque motor and a friction type automatic retainer assembly 28, the precise harmonic reducer 27 is connected with the frameless torque motor and the friction type automatic retainer assembly 28 to perform the functions of reducing speed and improving system torque, the frameless torque motor 34 is used for providing machine operation power, the friction type braking retainer assembly 34 is used for braking the movement of the driving adapter plate so as to lock a subsequent transmission chain, the driving adapter plate 25 is used for transmitting power to the movement of a worm gear, the disc-shaped driving adapter plate 25 is mounted close to an output shaft 30 of the precise harmonic reducer and fixed by a bolt 2, the frameless torque motor and the friction type automatic retainer assembly 28 are mounted close to the precise harmonic reducer 27 and fixed by a fastening bolt 2, at the precise harmonic reducer 27, the frameless torque motor and friction type automatic retainer assembly 28 and the driving adapter plate 25 are combined, the motor shell 3 is sleeved outside, the motor shell 3 is a cylindrical shell, the motor shell 3 is used for wrapping a precise harmonic reducer 27, the frameless torque motor and friction type automatic retainer assembly 28 and the driving adapter plate 25 and plays a role in protecting the precise harmonic reducer 27, the frameless torque motor and friction type automatic retainer assembly 34, the driving adapter plate 25 and a water-proof effect, a bolt 2 penetrating through an inner hole is axially installed at one end of the motor shell 3 and is connected with the tail end of a manipulator, and a bottom plate 30 is processed at the other end of the motor shell 3 and is used for being connected with the frameless torque motor and friction type automatic retainer assembly 28. As shown in fig. 3 and 4, the parallelogram gripper opening and closing structure is composed of two sets of rocker levers 8, 11, 22 and 20 and two parallel grippers 12 and 19 which are symmetrically arranged, taking a set of rocker levers as an example, two first rocker lever rotating pins 6 and two second rocker lever rotating pins 8 fix a first rocker lever 7, a second rocker lever 10 and a first parallel gripper 11 on a trapezoidal base 4 to form a crank-rocker mechanism, and a first sector worm wheel 12 drives a second rocker lever 10 to make the first parallel gripper 11 perform a swinging motion. The parallel grippers 12 and 19 are provided with serrations to increase friction and prevent slippage when gripping an object. Trapezoidal unable adjustment base 4 is used for fixed rocker and worm wheel, trapezoidal unable adjustment base 4 passes through eight bolts 2 with motor housing 3 to be connected, and gasket 5 is equipped with respectively to eight bolts 2 lower parts for prevent to take place not hard up bolt 2 after long-time the use.
As shown in fig. 5, the first O-ring has a sealing function, the motor housing 3 is a cylindrical housing, and the motor housing is used for wrapping the precision harmonic reducer, the frameless torque motor, the friction type automatic retainer assembly and the driving adapter plate 25, and has a function of protecting the precision harmonic reducer, the frameless torque motor, the friction type automatic retainer assembly and the driving adapter plate 25, and a water-proof function.
The worm and gear electric drive type parallel paw has the main characteristics that:
1. the electrically-driven manipulator paw system is simple in composition, small in size, capable of being used under various conditions, free of additional installation of other systems, capable of working and wide in application range.
2. This parallel hand claw of worm gear electricity formula of driving adopts worm gear mechanism transmission power, and the drive ratio is big, compact structure, operate steadily, control accuracy is high, and worm gear mechanism has self-locking function, can prevent that the thing that snatchs from dropping by accident.
3. The manipulator paw adopts a two-paw structure driven by a parallelogram connecting rod to perform opening and closing work, the clamping contact area is large, the grabbing is stable, and the robot paw is not easy to slip.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A worm and gear electric drive type parallel paw structure is characterized by comprising a motor driving system, a worm and gear transmission assembly, a parallelogram paw opening and closing structure, a trapezoid fixing base, a sealing element and a fastening element, wherein the motor driving system comprises a motor outer upper end shell, a motor outer interface shell, a precise harmonic reducer, a driving adapter plate, a frameless torque motor and a friction type automatic retainer assembly, the precise harmonic reducer is connected with a motor to play a role in reducing the speed of the motor and improving the torque of the system, the frameless torque motor is used for providing machine operation power, the friction type braking retainer assembly is used for braking the movement of the driving adapter plate so as to lock a subsequent transmission chain, the driving adapter plate is used for transmitting the power through the movement of the worm and gear, and a disc-shaped driving adapter plate is tightly attached to an output shaft of the precise harmonic reducer, the frameless torque motor and the friction type automatic retainer assembly are tightly attached to the precise harmonic reducer and fixed by bolts, a motor shell is sleeved outside the frameless torque motor and the friction type automatic retainer assembly, the motor shell is a cylindrical shell and used for wrapping the precise harmonic reducer, the frameless torque motor, the friction type automatic retainer assembly and the driving adapter plate, the precise harmonic reducer, the frameless torque motor, the friction type automatic retainer assembly, the driving adapter plate and the water-proof function are protected, a bolt penetrating through an inner hole is axially installed at one end of the motor shell and connected with the tail end of a manipulator, and a base plate is processed at the other end of the motor shell and used for being connected with the frameless torque motor and the friction type automatic retainer assembly.
2. The worm and gear electric drive type parallel paw structure as claimed in claim 1, wherein the surface of each of the two ends of the motor housing is formed with an O-ring groove for mounting two O-rings for sealing, and the two O-rings comprise a first O-ring and a second O-ring.
3. The worm and gear electric drive type parallel paw structure as claimed in claim 1, wherein the motor housing is made of antirust aluminum alloy 6061-T6.
4. The worm and gear electric-drive type parallel paw structure is characterized in that a worm and gear transmission assembly is composed of a worm, a first sliding bearing, a second sliding bearing, two fan-shaped worm gears and a fastener, the worm is connected with a drive adapter plate through a first connecting key, the worm is fixed on a base through a through hole of a trapezoidal base, a shaft shoulder at one end of the worm is in close fit with the first sliding bearing installed on the base, a shaft shoulder at the other end of the worm is in close fit with the second sliding bearing installed on the trapezoidal base, and the sliding bearings are used for supporting the rotating worm and reducing the friction coefficient in rotation.
5. The worm and gear electric-drive type parallel paw structure as claimed in claim 4, wherein the worm and the two sector worm gears are provided with helical teeth at the matching part, the two sector worm gears are fixed on the trapezoidal base through a first rocker rotation pin and a fourth rocker rotation pin, and bushings are arranged on the two pins.
6. The worm and gear electric drive type parallel paw structure as claimed in claim 4, wherein the two sector worm gears are respectively fixed on the second rocking bar and the third rocking bar of the parallelogram paw opening and closing structure through a first worm and gear rocking bar fixing pin and a second worm and gear rocking bar fixing pin, and the two sector worm gears meshed with the worm drives the parallelogram paw opening and closing structure to move.
7. The worm and gear electric drive type parallel paw structure as claimed in claim 1, wherein the parallelogram paw opening and closing structure is composed of two sets of rocker levers and parallel grippers which are symmetrically arranged, taking a set of rocker levers as an example, two first rocker lever rotating pins and two second rocker lever rotating pins fix the first rocker lever, the second rocker lever and the first parallel gripper to the trapezoidal base to form a crank-rocker mechanism, and the first sector worm gear drives the second rocker lever to make the first parallel gripper perform swing motion.
8. The worm and gear electric drive type parallel paw structure as claimed in claim 7, wherein the parallel gripper is provided with sawteeth for increasing friction force when gripping objects and preventing slipping.
9. The worm and gear electric drive type parallel paw structure is characterized in that the trapezoid fixing base is used for fixing a rocker and a worm wheel, and the trapezoid fixing base is connected with a motor shell through eight bolts.
10. The worm and gear electric drive type parallel paw structure as claimed in claim 9, wherein the lower parts of the eight bolts are respectively provided with a gasket for preventing the bolts from loosening after long-term use.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114654490A (en) * | 2022-04-29 | 2022-06-24 | 南京林业大学 | Mechanical hand is picked to forest fruit |
| 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 |
| CN116652999A (en) * | 2023-07-26 | 2023-08-29 | 中国科学院自动化研究所 | Soft manipulators and robots |
| CN117509184A (en) * | 2024-01-08 | 2024-02-06 | 邯郸峰驰精密制造有限公司 | A heavy-duty shaft wedge cross-rolling multi-directional rotating grabbing and palletizing device |
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| CN202726925U (en) * | 2012-08-24 | 2013-02-13 | 华南理工大学 | Clamper module with automatic posture detecting function |
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| CN114654490A (en) * | 2022-04-29 | 2022-06-24 | 南京林业大学 | Mechanical hand is picked to forest fruit |
| CN114654490B (en) * | 2022-04-29 | 2023-09-29 | 南京林业大学 | Forest fruit picking manipulator |
| 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 |
| CN116652999A (en) * | 2023-07-26 | 2023-08-29 | 中国科学院自动化研究所 | Soft manipulators and robots |
| CN116652999B (en) * | 2023-07-26 | 2023-11-24 | 中国科学院自动化研究所 | An underwater soft manipulator |
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