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Four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper

An underwater manipulator, screw nut technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of small gripping force of the gripper structure, complex driving system, low applicability, etc. High precision and wide application range

Pending Publication Date: 2021-04-23
SHANGHAI OCEAN UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] (1) The hydraulically driven manipulator needs the support of the hydraulic drive system. The drive system is complex and has high manufacturing precision and sealing requirements for hydraulic components. The applicability is not high, especially not suitable for occasions without hydraulic systems.
[0005] (2) The claw structure of the existing electric-driven manipulator is easy to cause the finger movement to be stuck
[0006] (3) The clamping force of the claw structure of the existing electric-driven manipulator is small

Method used

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  • Four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper
  • Four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper
  • Four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper

Examples

Experimental program
Comparison scheme
Effect test

Embodiment

[0058] Such as Figure 1-Figure 11 As shown, a four-link screw nut electric drive type underwater manipulator gripper, including finger actuator structure components, four-link drive structure, screw nut drive components, motor drive system, seals and fasteners, etc.; The finger actuator structure assembly is composed of a first external gripper 1 and a second external gripper 2. The grippers are L-shaped, symmetrically distributed on both sides of the axis of the gripper, and are the parts that are in direct contact with the gripped object. , and the grasping surfaces of the first external clamper 1 and the second external clamper 2 are processed with semi-cylindrical grooves for grabbing T-shaped handles; the four-link driving structure is clamped by an L-shaped device, one side of jaw support 5, positioning rod end 7, square drive rod 8, and connecting rod; the motor, as a power source, transmits the rotational motion to the screw nut, and the rolling nut of the screw nut a...

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PUM

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Abstract

The invention discloses a four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper. The four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper comprises a finger execution structure assembly, a four-bar-linkage driving structure, a feed-screw-nut transmission assembly, a motor driving system, a sealing part and a fastening part; the finger execution structure assembly is a finger-shaped structure assembly, and is used for grabbing and clamping objects; the four-bar-linkage driving structure is connected with the finger execution structure assembly, and is used for driving the finger execution structure assembly to conduct opening and closing movement; the feed-screw-nut transmission assembly is connected with the four-bar-linkage driving structure and the motor driving system separately, and is used for driving the four-bar-linkage driving structure to move; and the motor driving system is used for driving the feed-screw-nut transmission assembly to move. According to the four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper, feed screw nut transmission and a four bar linkage structure are adopted, and through feed screw nut transmission, rotating movement of a motor is converted into linear movement needed for driving the four-bar-linkage structure, so that the two-finger mechanical gripper is driven to be opened and closed, and the four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper has the advantages that the structure is compact, rotation is flexible, the carrying capacity is high, the four-bar-linkage feed-screw-nut electrically-driven underwater mechanical arm gripper is not liable to be jammed, and the like.

Description

technical field [0001] The invention belongs to the technical field of underwater robots, and in particular relates to a four-link screw nut electrically driven underwater manipulator gripper. Background technique [0002] At present, there are mainly two driving forms for underwater mechanical grippers: hydraulic drive and electric drive. The hydraulically driven manipulator is mainly composed of a hydraulic motor, servo valve, oil pump, fuel tank, etc. The drive system is driven by the hydraulic cylinder to drive the manipulator actuator to work, and usually has a large snatch capacity. The main feature of the hydraulically driven manipulator gripper is its large grabbing force, but the drive system of the hydraulically driven manipulator gripper is complex, and it also has high manufacturing precision and sealing requirements for hydraulic components. Compared with hydraulic-driven manipulator grippers, electric-driven manipulators are small in size, stable in motion, co...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/02B25J15/08
CPCY02E30/30
Inventor 姜哲冯玮王波杨晨琛郑跃洲罗高生钟华庚
Owner SHANGHAI OCEAN UNIV
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