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介绍了一种基于蜗杆蜗轮与曲柄连杆传动的机械手内抓取装置的工作原理,给出了其力学特性及计算公式。该装置由减速电机驱动后,输出转矩带动蜗杆旋转,将动力传递到蜗杆上;然后蜗杆分别带动与自已相啮合的上下蜗轮转动,上下蜗轮再带动铰接在各自蜗轮上的曲柄连杆摆动;最后通过曲柄连杆增力机构实现二次力的放大,使抓取头准确地紧贴物体或工件内表面,平衡地抓取并撑紧物体。该装置结构紧凑,操作简单,省时省力,柔性好,绿色化程度高。
A working principle of a robot grasping device based on worm gear and crank connecting rod transmission is introduced, and its mechanical characteristics and calculation formulas are given. The device is driven by a geared motor, and the output torque drives the worm to rotate so as to transmit the power to the worm; the worm drives the upper and lower worm gears engaging with one another to rotate respectively; the upper and lower worm gears further swing the crank connecting rods hinged on the respective worm wheels; Lastly, the secondary force is amplified by the crank connecting rod force increasing mechanism so that the gripper head can accurately abut the inner surface of the object or the work piece, and the object can be grasped and held in a balanced manner. The utility model has the advantages of compact structure, simple operation, time saving and labor saving, good flexibility and high greening degree.