The invention discloses a manipulator clamping mechanism. The pair of main force arm assemblies is hinged between the two force arm baffles and can be opened and closed, and the pair of clamping jaw assemblies is hinged to the front ends of the pair of main force arm assemblies. The pair of stretching arms are hinged between the power end and the pair of main force arm assemblies, the pair of additional force arm assemblies are hinged between the force arm baffle and the clamping jaw assemblies, and the stretching arms can drive the pair of main force arm assemblies to swing through horizontal movement of the power end so that the pair of clamping jaw assemblies can be opened. And meanwhile, all hinge points are kept in a parallelogram state, so that the clamping jaw assembly is opened and closed in a translational motion mode. After the structure is adopted, the jaw of the clamping jaw assembly always keeps translational motion in the opening and closing process, use is reliable, the failure rate is low, flexibility is good, the working efficiency and reliability of the underwater robot are greatly improved, the application range is wide, the structure is simple and compact, installation and maintenance are convenient, and cost is low.
本发明公开了一种机械手夹持机构。它包括两片力臂挡板、铰接在两片力臂挡板之间的一对能够开合的主力臂组件以及铰接在该对主力臂组件前端的一对卡爪组件,还包括有铰接在动力端和该对所述主力臂组件之间的一对拉伸臂以及铰接在力臂挡板与卡爪组件之间的一对附加力臂组件,通过动力端的水平移动能够使拉伸臂带动该对主力臂组件摆动从而使该对所述一对卡爪组件张开,同时使各个铰接点保持平行四边形状态进而使卡爪组件平动开合。采用上述的结构后,使开闭过程中卡爪组件的钳口始终保持平动,使用可靠,故障率低且灵活性好,并大大提高了水下机器人的工作效率和可靠性,应用范围广泛,其结构简单紧凑,安装和维护方便,成本也较低。
Manipulator clamping mechanism
一种机械手夹持机构
2022-04-19
Patent
Electronic Resource
Chinese
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