一种水下液压机械手夹持机构

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	一种水下液压机械手夹持机构
	霍良青; 张奇峰; 张竺英; 孙斌; 杜林森
	2015-06-10
专利国别	中国
专利号	CN104690739A
专利类型	发明
产权排序	1
权利人	中国科学院沈阳自动化研究所
其他题名	Clamping mechanism of underwater hydraulic manipulator
中文摘要	本发明属于机器人工程领域，具体地说是一种水下液压机械手夹持机构，包括夹钳活塞缸、夹钳基座、夹钳活塞杆、夹钳驱动块、夹钳推杆、夹钳爪保持连杆及夹钳爪，夹钳基座安装在夹钳活塞缸上，夹钳活塞杆的活塞端容置在夹钳活塞缸中，另一端由夹钳基座穿过、连接有夹钳驱动块；夹钳推杆的一端与夹钳驱动块铰接，另一端铰接有夹钳爪；夹钳爪与夹钳基座之间铰接有保证夹钳爪在夹持和张开的过程中处于平行状态的夹钳爪保持连杆；夹钳活塞缸驱动夹钳活塞杆伸缩，夹钳活塞杆通过夹钳驱动块带动夹钳推杆，通过夹钳爪保持连杆的平行保持作用配合，实现夹钳爪的夹持动作或张开动作。本发明具有结构紧凑、无杆腔进油夹持、夹持力大、故障率低等优点。
是否PCT专利	否
英文摘要	The invention belongs to the field of robot engineering, and particularly relates to a clamping mechanism of an underwater hydraulic manipulator. The clamping mechanism comprises a clamp piston cylinder, a clamp base, a clamp piston rod, a clamp drive block, clamp push rods, clamp claw retaining connection rods and clamp claws, wherein the clamp base is mounted on the clamp piston cylinder, a piston end of the clamp piston rod is accommodated in the clamp piston cylinder, and the other end of the clamp piston rod is penetrated by the clamp base and connected with the clamp drive block; one end of each clamp push rod is hinged to the clamp drive block, and the other end of the clamp push rod is hinged to each clamp claw; the clamp claw retaining connection rods used for guaranteeing the clamp claws to be in a parallel state in clamping and releasing processes are hinged between the clamp claws and the clamp base; the clamp piston cylinder drives the clamp piston rod to stretch, the clamp piston rod drives the clamp push rods to act through the clamp drive block, and a clamping or releasing action of the clamp claws is realized through the effect, keeping the clamp claws in the parallel state, of the clamp claw retaining connection rods. The clamping mechanism has the advantages of compact structure, capability of performing clamping during oil feeding of a rodless cavity, large clamping force, low fault rate and the like.
申请日期	2013-12-06
语种	中文
专利申请号	CN201310661750.9
专利代理	沈阳科苑专利商标代理有限公司 21002
内容类型	专利
源URL	[http://ir.sia.ac.cn/handle/173321/16064]
专题	沈阳自动化研究所_水下机器人研究室
推荐引用方式 GB/T 7714	霍良青,张奇峰,张竺英,等. 一种水下液压机械手夹持机构. CN104690739A. 2015-06-10.