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一种水下电动机械手腕转夹钳驱动结构
Alternative TitleUnderwater electromechanical wrist turning and clamping drive structure
张奇峰; 范云龙; 张竺英
Department水下机器人研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype发明
Status有权
Abstract本发明属于机器人工程中水下机械手领域,具体地说是一种水下电动机械手腕转夹钳驱动结构,包括实现水下电动机械手腕转功能的腕转驱动模块、实现水下电动机械手夹钳功能的夹钳驱动模块及关节外壳,所述腕转驱动模块及夹钳驱动模块分别容置在所述关节外壳内;腕转驱动模块中采用齿轮传动,夹钳驱动模块中采用滚珠丝杠传动,腕转模块中的第二轴采用空心结构,允许驱动夹钳的滚珠丝杠螺母连杆穿过,使腕转模块和夹钳模块能够集成到一个关节外壳里面而又避免互相干涉,实现水下电动机械手的两个功能。本发明具有性能可靠,结构紧凑,便于维护和调试等优点。
Other AbstractThe invention belongs to the field of underwater manipulators of robot engineering and particularly relates to an underwater electromechanical wrist turning and clamping drive structure. The underwater electromechanical wrist turning and clamping drive structure comprises a wrist turning drive module for achieving an underwater electromechanical wrist turning function, a clamping drive module for achieving an underwater electromechanical wrist clamping function and a joint housing, wherein the wrist turning drive module and the clamping drive module are accommodated in the joint housing respectively. The wrist turning drive module uses gear transmission. The clamping drive module uses ball screw transmission. A second shaft of the wrist turning module is of a hollow structure, a ball screw nut connecting rod for driving a clamp can penetrate through the second shaft of the wrist turning module, and the wrist turning module and the clamping module can be integrated into the joint housing and avoid mutual interference to achieve two functions of an underwater electromechanical arm. The underwater electromechanical wrist turning and clamping drive structure has the advantages of being reliable in performance, compact in structure, easy to maintain and debug and the like.
PCT Attributes
Application Date2013-11-30
2015-06-03
Date Available2016-04-13
Application NumberCN201310638613.3
Open (Notice) NumberCN104669262A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/16083
Collection水下机器人研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
张奇峰,范云龙,张竺英. 一种水下电动机械手腕转夹钳驱动结构[P]. 2015-06-03.
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