Adaptive grasping robot

Abstract

The present application belongs to the technical field of mechanical engineering, especially the adaptive grabbing mechanical arm, aiming at the problem that the fixed shape clamping mechanism is difficult to effectively fit the irregular contour of the object, resulting in small contact area of the gripping point, uneven force, and unstable grabbing, the following scheme is proposed, including base; Rotary table, the rotary table is movably connected above the base; Lifting hydraulic cylinder, the lifting hydraulic cylinder is fixedly connected to the upper end surface of the rotary table; Main arm beam, the main arm beam is fixedly connected to the driving end of the lifting hydraulic cylinder; Sliding seat, the sliding seat slides on the main arm beam. The adaptive grabbing mechanical arm disclosed by the present application can adaptively bend and fit the contours of objects of different shapes and sizes through the adaptive grabbing module, and the inflated clamping air bag tightly wraps the grabbed object, realizing flexible and stable gripping of the target object with a relatively complex outer surface, and significantly improving the adaptability and convenience of grabbing.

Description

Technical Field

[0001] This invention relates to the field of mechanical engineering technology, and in particular to an adaptive gripping robotic arm. Background Technology

[0002] A robotic arm is a complex system with high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. An adaptive grasping robotic arm is a robotic arm that can autonomously adjust its grasping strategy to complete the grasping operation according to the characteristics of the object or changes in the environment.

[0003] In existing technologies, when dealing with the need to grasp objects with complex and irregular outer surfaces (such as sculptures), fixed-shape clamping mechanisms are difficult to effectively conform to the irregular contours of the objects, resulting in small contact areas at the gripping points and uneven force distribution. This can easily lead to unstable gripping, causing the objects to slip and be damaged, requiring frequent replacement of clamps or positioning adjustments. Summary of the Invention

[0004] This invention discloses an adaptive gripping robotic arm, which aims to solve the technical problem in the background art where fixed-shape gripping mechanisms are difficult to effectively conform to the irregular contours of objects, resulting in small contact area at the gripping point, uneven force, and unstable gripping.

[0005] The adaptive grasping robotic arm proposed in this invention includes a base;

[0006] A rotating platform, which is movably connected to the top of the base;

[0007] A lifting hydraulic cylinder is fixedly connected to the upper end face of the rotary table;

[0008] The main boom beam is fixedly connected to the drive end of the lifting hydraulic cylinder;

[0009] A sliding seat that slides on the main boom beam;

[0010] The mounting sleeve is fixedly connected to the lower end face of the sliding seat;

[0011] A fixing ring frame is fixedly connected to the lower end of the mounting sleeve.

[0012] Fixed connecting rods, both of which are fixedly connected to the outside of the fixed ring frame;

[0013] An adaptive gripping module is mounted on the mounting sleeve and the fixed connecting rod. The adaptive gripping module adaptively grips objects with relatively complex outer surfaces.

[0014] A cleaning assistance module is located on the mounting sleeve and outside the adaptive gripping module. The cleaning assistance module cleans the surface of the object being gripped.

[0015] In a preferred embodiment, the adaptive gripping module includes two mounting rings, both of which are fixedly connected to two fixed connecting rods. Both mounting rings are located below the fixed ring frame, and the inner sidewalls of both mounting rings are provided with multiple flexible clamping arms. One end of each flexible clamping arm is fixedly connected to a corresponding mounting ring, and an arc-shaped elastic plate is fixedly connected to the side of each pair of flexible clamping arms located on the same side closest to the mounting ring.

[0016] In a preferred embodiment, two mounting frames are fixedly connected to the outer walls of the two mounting rings. Rotating holes are provided on the mounting frames, and rotating rods are rotatably connected in the rotating holes. Winding wheels are fixedly connected to the outside of the rotating rods, and two winding ropes are wrapped around the outside of the winding wheels. The ends of the two winding ropes away from the winding wheels are fixedly connected to the ends of the corresponding flexible clamping arms that are not connected to the mounting rings.

[0017] In a preferred embodiment, multiple guide rings are fixedly connected to each of the multiple flexible clamping arms at equal circumferential intervals, multiple winding ropes slide inside the corresponding guide rings, and servo motors are fixedly connected to one side of each of the multiple mounting frames, with the output ends of the multiple servo motors fixedly connected to one end of the corresponding rotating rod.

[0018] In a preferred embodiment, each of the multiple flexible clamping arms is fixedly connected to a clamping airbag on the side away from the mounting ring, and an air pump is fixedly connected inside the mounting sleeve. The output end of the air pump is fixedly connected to multiple diversion air pipes, and the outlet ends of the multiple diversion air pipes pass through the mounting ring and the flexible clamping arms and are connected to the corresponding clamping airbag.

[0019] In a preferred embodiment, the outer walls of the two mounting frames located outside the same mounting ring are fixedly connected to the same fixing ring, the outer sides of the two fixing rings are movably connected to movable rings, and the outer sides of the two movable rings are fixedly connected to multiple mounting parts at equal intervals around their circumferences. Each of the multiple mounting parts has a fixing hole, and the same blowing pipe is fixedly connected in every two corresponding fixing holes. The multiple blowing pipes have multiple blowing holes at equal intervals.

[0020] In a preferred embodiment, an air pump two is fixedly connected inside the mounting sleeve. The air pump two is located above the air pump one, and the output end of the air pump two is fixedly connected to multiple connecting air supply pipes. The outlet ends of the multiple connecting air supply pipes are all connected to the upper end of the corresponding blowing pipe fitting.

[0021] In a preferred embodiment, each of the two fixed ring members has a sliding groove, and a sliding connecting block is slidably connected in each of the two sliding grooves. The two sliding connecting blocks are fixedly connected to the inner sidewall of the corresponding movable ring member, and an arc-shaped rod is fixedly connected in each of the two sliding grooves. The two sliding connecting blocks slide outside the corresponding arc-shaped rod, and a return spring is surrounded around the outside of the two arc-shaped rods. One end of each return spring is fixedly connected to the corresponding fixed ring member, and the other end is fixedly connected to one end of the corresponding sliding connecting member.

[0022] In a preferred embodiment, a transmission gear ring is fixedly connected to the side of each of the two sliding connectors away from the movable ring, and a fixing member is fixedly connected to the inner sidewall of each of the two fixed rings. A stepper motor is fixedly connected to each of the two fixing members, and a toothed gear is fixedly connected to the output end of each of the two stepper motors. The teeth of the two toothed gears can mesh with the corresponding transmission gear ring.

[0023] In a preferred embodiment, a drive motor is fixedly connected to the base, the output end of the drive motor is fixedly connected to the lower end face of the rotary table, and a transmission rack is fixedly connected to the upper end face of the main arm beam. A universal motor is fixedly connected to the upper end face of the sliding seat, and a transmission gear is fixedly connected to the output end of the universal motor. The teeth of the transmission gear can mesh with the transmission rack.

[0024] As can be seen from the above, the adaptive gripping robotic arm provided by the present invention can adaptively bend and conform to the contours of objects of different shapes and sizes through the adaptive gripping module. With the help of the inflatable gripping airbag, it can tightly wrap the object being gripped, thereby achieving flexible and stable gripping of targets with relatively complex outer surfaces, and significantly improving the adaptability and convenience of gripping. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the adaptive grasping robotic arm proposed in this invention;

[0026] Figure 2 This is a schematic diagram of the internal drive motor structure of the base of the adaptive gripping robotic arm proposed in this invention.

[0027] Figure 3 This is a schematic diagram of the sliding seat and fixed ring frame of the adaptive gripping robotic arm proposed in this invention;

[0028] Figure 4 This is a schematic diagram of the adaptive grasping module structure of the adaptive grasping robotic arm proposed in this invention;

[0029] Figure 5 This is a schematic diagram of the flexible gripping arm of the adaptive gripping module of the adaptive gripping robotic arm proposed in this invention.

[0030] Figure 6 This is a schematic diagram of the adaptive gripping module mounting ring and mounting frame structure of the adaptive gripping robotic arm proposed in this invention.

[0031] Figure 7 This is a schematic diagram of the cleaning assistance module structure of the adaptive gripping robotic arm proposed in this invention;

[0032] Figure 8 This is a schematic diagram of the moving and fixed ring components of the cleaning auxiliary module of the adaptive gripping robotic arm proposed in this invention.

[0033] In the diagram: 1. Base; 2. Rotary table; 3. Lifting hydraulic cylinder; 4. Drive motor; 5. Main boom beam; 6. Transmission rack; 7. Adaptive gripping module; 701. Mounting ring; 702. Air pump one; 703. Diverting air pipe; 704. Mounting frame; 705. Flexible clamping arm; 706. Arc-shaped elastic plate; 707. Clamping airbag; 708. Guide ring; 709. Rotating rod; 710. Rewinding wheel; 711. Servo motor; 712. Rewinding rope; 8. Cleaning auxiliary... 801. Auxiliary module; 802. Fixed ring; 803. Movable ring; 804. Mounting component; 805. Air pump II; 806. Connecting air supply pipe; 807. Arc-shaped rod; 808. Sliding connecting block; 809. Transmission gear ring; 810. Return spring; 811. Fixing component; 812. Stepper motor; 813. Gear with missing tooth; 9. Sliding seat; 10. Universal motor; 11. Transmission gear; 12. Mounting sleeve; 13. Fixed ring frame; 14. Fixed connecting rod. Detailed Implementation

[0034] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0035] The adaptive gripping robotic arm disclosed in this invention is mainly used in scenarios where fixed-shaped clamping mechanisms cannot effectively conform to the irregular contours of objects, resulting in small contact area at the gripping point, uneven force distribution, and unstable gripping.

[0036] Reference Figures 1-8 An adaptive grasping robotic arm, including a base 1;

[0037] Rotary platform 2 is movably connected to the top of base 1;

[0038] Lifting hydraulic cylinder 3 is fixedly connected to the upper end face of the rotary table 2;

[0039] Main boom beam 5, which is fixedly connected to the drive end of lifting hydraulic cylinder 3;

[0040] Sliding seat 9 slides on the main boom beam 5;

[0041] Mounting sleeve 12 is fixedly connected to the lower end face of sliding seat 9;

[0042] The fixing ring 13 is fixedly connected to the lower end of the mounting sleeve 12.

[0043] Fixed connecting rod 14, both fixed connecting rods 14 are fixedly connected to the outside of the fixed ring frame 13;

[0044] The adaptive gripping module 7 is mounted on the mounting sleeve 12 and the fixed connecting rod 14. The adaptive gripping module 7 adaptively grips objects with relatively complex outer surfaces.

[0045] The cleaning auxiliary module 8 is located on the mounting sleeve 12 and outside the adaptive gripping module 7. The cleaning auxiliary module 8 cleans the surface of the object being gripped.

[0046] Reference Figure 1 , Figure 4 and Figure 5 The adaptive gripping module 7 includes two mounting rings 701, both of which are fixedly connected to two fixed connecting rods 14. Both mounting rings 701 are located below the fixed ring frame 13, and the inner sidewalls of both mounting rings 701 are provided with multiple flexible clamping arms 705. One end of each flexible clamping arm 705 is fixedly connected to the corresponding mounting ring 701. An arc-shaped elastic plate 706 is fixedly connected to the side of each pair of flexible clamping arms 705 located on the same side that is close to the mounting ring 701.

[0047] Reference Figure 1 , Figure 5 and Figure 6 Two mounting frames 704 are fixedly connected to the outer walls of the two mounting rings 701. Rotating holes are provided on the mounting frames 704. Rotating rods 709 are rotatably connected in the rotating holes. Winding wheels 710 are fixedly connected to the outside of the rotating rods 709. Two winding ropes 712 are wrapped around the outside of the winding wheels 710. The ends of the two winding ropes 712 away from the winding wheels 710 are fixedly connected to the ends of the corresponding flexible clamping arms 705 that are not connected to the mounting rings 701.

[0048] Reference Figure 1 , Figure 5 and Figure 6Multiple flexible clamping arms 705 are circumferentially and equidistantly connected to multiple guide rings 708. Multiple winding ropes 712 slide inside the corresponding guide rings 708. A servo motor 711 is fixedly connected to one side of multiple mounting frames 704. The output end of the multiple servo motors 711 is fixedly connected to one end of the corresponding rotating rod 709.

[0049] Reference Figure 1 , Figure 4 and Figure 6 Multiple flexible clamping arms 705 are fixedly connected to clamping airbag components 707 on the side away from the mounting ring 701, and an air pump 702 is fixedly connected inside the mounting sleeve 12. Multiple diversion air supply pipes 703 are fixedly connected to the output end of the air pump 702. The outlet ends of the multiple diversion air supply pipes 703 pass through the mounting ring 701 and the flexible clamping arms 705 and are connected to the corresponding clamping airbag components 707.

[0050] In a specific application scenario, after the object to be grasped is located inside the two mounting rings 701, the servo motor 711 is activated, driving the rotating rod 709 and the winding wheel 710 to rotate. The winding wheel 710 tightens the winding rope 712, making the winding rope 712 taut. As the winding rope 712 gradually pulls the end of the flexible clamping arm 705 that is not connected to the mounting rings 701, the flexible clamping arm 705 bends and deforms against the elastic effect of the arc-shaped elastic plate 706 until it is grasped. Upon contact with the object, the air pump 702 is activated, pumping air into the clamping airbag 707 via the air distribution pipe 703. This causes the clamping airbag 707 to expand and further enclose and conform to the object being grasped, completing adaptive clamping and grasping. It can adaptively bend and conform to the contours of objects of different shapes and sizes. In conjunction with the inflated clamping airbag 707, it tightly encloses the object being grasped, achieving flexible and stable grasping of targets with relatively complex external surfaces, significantly improving the adaptability and convenience of grasping.

[0051] Reference Figure 1 , Figure 7 and Figure 8 The outer walls of two mounting frames 704 located outside the same mounting ring 701 are fixedly connected to the same fixing ring 801. The outer sides of the two fixing rings 801 are movably connected to movable rings 802. The outer sides of the two movable rings 802 are fixedly connected to multiple mounting parts 803 at equal intervals around their circumference. Each mounting part 803 has a fixing hole. The same spray pipe 804 is fixedly connected in every two corresponding fixing holes. The multiple spray pipes 804 have multiple spray holes at equal intervals.

[0052] Reference Figure 1 , Figure 7 and Figure 8An air pump 2 805 is fixedly connected inside the mounting sleeve 12. The air pump 2 805 is located above the air pump 1 702, and multiple connecting air pipes 806 are fixedly connected to the output end of the air pump 2 805. The outlet ends of the multiple connecting air pipes 806 are all connected to the upper end of the corresponding blowing pipe 804.

[0053] Reference Figure 1 , Figure 7 and Figure 8 Each of the two fixed rings 801 has a sliding groove, and each of the two sliding grooves has a sliding connecting block 808 slidably connected to it. Each of the two sliding connecting blocks 808 is fixedly connected to the inner side wall of the corresponding movable ring 802. Each of the two sliding grooves has an arc-shaped rod 807 fixedly connected to it. Each of the two sliding connecting blocks 808 slides outside the corresponding arc-shaped rod 807. Each of the two arc-shaped rods 807 has a return spring 810 surrounding it. One end of each of the two return springs 810 is fixedly connected to the corresponding fixed ring 801, and the other end is fixedly connected to one end of the corresponding sliding connecting member.

[0054] Reference Figure 1 , Figure 7 and Figure 8 Both sliding connectors have a transmission gear ring 809 fixedly connected to the side away from the movable ring 802, and both fixed rings 801 have a fixing member 811 fixedly connected to their inner sidewalls. Both fixing members 811 have a stepper motor 812 fixedly connected to their respective fixing members 811. Both stepper motors 812 have a toothed gear 813 fixedly connected to their output ends. The teeth of both toothed gears 813 can mesh with the corresponding transmission gear ring 809.

[0055] Reference Figure 1 , Figure 2 and Figure 3 A drive motor 4 is fixedly connected to the base 1. The output end of the drive motor 4 is fixedly connected to the lower end face of the rotary table 2. A transmission rack 6 is fixedly connected to the upper end face of the main arm beam 5. A universal motor 10 is fixedly connected to the upper end face of the sliding seat 9. A transmission gear 11 is fixedly connected to the output end of the universal motor 10. The teeth of the transmission gear 11 can mesh with the transmission rack 6.

[0056] In specific application scenarios, when the object to be grasped is located inside the two mounting rings 701, the air pump 805 is activated, pumping air through multiple connecting air pipes 806 into multiple spray nozzles 804. The air is then sprayed onto the object through the spray nozzles. Simultaneously, the stepper motor 812 is activated to rotate the toothed gear 813. Through the meshing of the toothed gear 813 with the transmission gear ring 809, the sliding connector overcomes the elasticity of the return spring 810 and slides along the arc-shaped rod 807. When the teeth of the toothed gear 813 disengage from the transmission gear ring 809, the return spring 810 elastically returns to its original position, pushing the sliding connector to reset. This process repeats, causing the movable ring 802 and the spray nozzles 804 to reciprocate in a circular motion, comprehensively blowing off debris and other impurities on the surface of the object to be grasped. The spray system can pre-cover and thoroughly remove debris and impurities from the surface of the object to be grasped, preventing foreign objects from interfering with the grasping or damaging the surface of the object.

[0057] Working principle: Before gripping, the height of the main boom beam 5 is adjusted by the hydraulic cylinder and drive motor 4. The general motor 10 is then started to rotate the transmission gear 11. Through the meshing of the transmission gear 11 and the transmission rack 6, the sliding seat 9 and the adaptive gripping module 7 located below it are moved to directly above the object to be gripped. The hydraulic cylinder retracts the main boom beam 5 to lower the height, so that the object to be gripped is located inside the two mounting rings 701. The air pump 805 is started to pump air through multiple connecting air pipes 806 into multiple spray pipes 804, and then spray it onto the object to be gripped through the spray holes. At the same time, the stepper motor 812 is started to rotate the toothed gear 813. Through the meshing of the toothed gear 813 and the transmission gear ring 809, the sliding connecting piece overcomes the elasticity of the return spring 810 and slides along the arc-shaped rod 807. When the teeth of the toothed gear 813 engage with the transmission gear ring... When 809 disengages, the return spring 810 elastically restores its position, pushing the sliding connector to reset. This reciprocating motion drives the movable ring 802 and the blowing pipe 804 in a reciprocating circular motion, thoroughly blowing away debris and other impurities from the surface of the object being gripped. At this time, the servo motor 711 is activated, driving the rotating rod 709 and the winding wheel 710 to rotate. The winding wheel 710 tightens the winding rope 712, making it taut. As the winding rope 712 gradually pulls the end of the flexible gripping arm 705 that is not connected to the mounting ring 701, the flexible gripping arm 705 bends and deforms against the elasticity of the arc-shaped elastic plate 706 until it contacts the object being gripped. Then, the air pump 702 is activated, pumping air into the gripping airbag 707 through the split air pipe 703, causing the gripping airbag 707 to expand and further wrap around and fit the object being gripped, completing the adaptive gripping.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. An adaptive grasping robotic arm, characterized in that, Including the base (1); A rotating platform (2) is movably connected above the base (1); Lifting hydraulic cylinder (3), which is fixedly connected to the upper end face of the rotary table (2); The main boom beam (5) is fixedly connected to the drive end of the lifting hydraulic cylinder (3); Sliding seat (9), which slides on the main arm beam (5); Mounting sleeve (12), which is fixedly connected to the lower end face of sliding seat (9); A fixing ring (13) is fixedly connected to the lower end of the mounting sleeve (12); Fixed connecting rods (14), both of which are fixedly connected to the outside of the fixed ring frame (13); An adaptive gripping module (7) is mounted on the mounting sleeve (12) and the fixed connecting rod (14). The adaptive gripping module (7) adaptively grips objects with complex outer surfaces. The adaptive gripping module (7) includes two mounting rings (701). Both mounting rings (701) are fixedly connected to the two fixed connecting rods (14). Both mounting rings (701) are located below the fixed ring frame (13). The inner sidewalls of both mounting rings (701) are provided with multiple flexible clamping arms (705). One end of each flexible clamping arm (705) is fixedly connected to the corresponding mounting ring (701). Each pair of flexible clamping arms (705) located on the same side is fixedly connected to an arc-shaped elastic plate (706) on the side closer to the mounting ring (701). Each pair of flexible clamping arms (705) located away from the mounting ring (701) is fixedly connected to a clamping airbag component (707). A cleaning auxiliary module (8) is located on the mounting sleeve (12) and outside the adaptive gripping module (7). The cleaning auxiliary module (8) cleans the surface of the gripped object. The outer walls of two mounting frames (704) located outside the same mounting ring (701) are fixedly connected to the same fixing ring (801). The outer sides of the two fixing rings (801) are movably connected to movable rings (802). The outer sides of the two movable rings (802) are fixedly connected to multiple mounting parts (803) at equal circumferences. The multiple mounting parts (803) are provided with fixing holes. The same spray pipe (804) is fixedly connected in every two corresponding fixing holes. The blowpipe (804) has multiple blow holes at equal intervals; the two fixed rings (801) have sliding slots, and the two sliding slots are slidably connected to sliding connecting blocks (808). The two sliding connecting blocks (808) are fixedly connected to the inner sidewall of the corresponding movable ring (802), and the two sliding slots are fixedly connected to arc-shaped rods (807). The two sliding connecting blocks (808) slide outside the corresponding arc-shaped rods (807). The two arc-shaped rods (807) are surrounded by return springs (810). One end of the two return springs (810) is fixedly connected to the corresponding fixed ring (801), and the other end is fixedly connected to one end of the corresponding sliding connecting block.

2. The adaptive gripping robotic arm according to claim 1, characterized in that, Two mounting frames (704) are fixedly connected to the outer walls of the two mounting rings (701). Rotating holes are provided on the mounting frames (704). Rotating rods (709) are rotatably connected in the rotating holes. Rewinding wheels (710) are fixedly connected to the outside of the rotating rods (709). Two winding ropes (712) are surrounded around the outside of the winding wheels (710). The ends of the two winding ropes (712) away from the winding wheels (710) are fixedly connected to the ends of the corresponding flexible clamping arms (705) that are not connected to the mounting rings (701).

3. The adaptive gripping robotic arm according to claim 2, characterized in that, Multiple flexible clamping arms (705) are fixedly connected to multiple guide rings (708) at equal intervals around their circumference. Multiple winding ropes (712) slide inside the corresponding guide rings (708). A servo motor (711) is fixedly connected to one side of multiple mounting frames (704). The output end of the multiple servo motors (711) is fixedly connected to one end of the corresponding rotating rod (709).

4. The adaptive gripping robotic arm according to claim 3, characterized in that, An air pump (702) is fixedly connected inside the mounting sleeve (12). Multiple air distribution pipes (703) are fixedly connected to the output end of the air pump (702). The outlet ends of the multiple air distribution pipes (703) pass through the mounting ring (701) and the flexible clamping arm (705) and are connected to the corresponding clamping airbag (707).

5. The adaptive gripping robotic arm according to claim 4, characterized in that, The installation sleeve (12) is fixedly connected to an air pump two (805). The air pump two (805) is located above the air pump one (702), and the output end of the air pump two (805) is fixedly connected to multiple connecting air pipes (806). The outlet ends of the multiple connecting air pipes (806) are all connected to the upper end of the corresponding spray pipe fitting (804).

6. The adaptive gripping robotic arm according to claim 5, characterized in that, Both sliding connectors are fixedly connected to a transmission gear ring (809) on the side away from the movable ring (802), and both fixed rings (801) are fixedly connected to a fixing member (811) on the inner sidewall. Both fixing members (811) are fixedly connected to a stepper motor (812), and both stepper motors (812) are fixedly connected to a toothed gear (813) at the output end. The teeth of both toothed gears (813) can mesh with the corresponding transmission gear ring (809).

7. The adaptive gripping robotic arm according to claim 1, characterized in that, A drive motor (4) is fixedly connected to the base (1). The output end of the drive motor (4) is fixedly connected to the lower end face of the rotary table (2). A transmission rack (6) is fixedly connected to the upper end face of the main arm beam (5). A universal motor (10) is fixedly connected to the upper end face of the sliding seat (9). A transmission gear (11) is fixedly connected to the output end of the universal motor (10). The teeth of the transmission gear (11) can mesh with the transmission rack (6).

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