The invention discloses a manipulator, comprising a mechanical arm and an end executor. A connector is arranged on the mechanical arm; the end executor is detachably installed on the connector; the connector comprises a connector body fixed to the mechanical arm; a first limiting part is arranged at the connecting end of the connector body; an electromagnet is arranged in the connector; a first matching part and a transmission shaft are arranged at the connecting end of the end effector; the electromagnet is in matched magnetic attraction connection with the end effector; the first matching part is in matched connection with the first limiting part; a power source is installed in the mechanical arm; and an output shaft of the power source penetrates through the connector to be in matched connection with the transmission shaft. The first limiting part and the first matching part are matched for limiting, and the electromagnet and the end effector are matched for adsorption and fixation,so that the connector and the end effector are limited at different positions in different manners, and the connector and the end effector are connected more stably and reliably. An universal connector is arranged to be matched and fixed with the end effector, so that quick replacement is facilitated, the operation is easy, and the cost is low.

    本发明公开了一种机械手,包括机械臂及末端执行器,机械臂上设有连接头,末端执行器可拆卸安装在连接头上,连接头包括固定在机械臂上的连接头本体,连接头本体的连接端上设有第一限位部,连接头内设有电磁铁,末端执行器的连接端上设有第一配合部和传动轴,电磁铁与末端执行器配合磁性吸附连接,第一配合部与第一限位部相适配连接,机械臂内安装有动力源,动力源的输出轴穿过连接头与传动轴配合连接。通过第一限位部与第一配合部配合限位,电磁铁与末端执行器配合吸附固定,对连接头与末端执行器进行多个位置不同方式的限位,使得两者之间连接更加稳定可靠。设置通用连接头与末端执行器相配合固定,便于快速更换,操作简单,成本低。


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    Title :

    Manipulator and underwater robot


    Additional title:

    一种机械手及水下机器人


    Contributors:
    SHANG WEIYAN (author) / YI XINHUA (author) / LIAO QINGBIN (author) / CHEN XIAOHU (author)

    Publication date :

    2021-02-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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