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Manipulator arm locking device for planetary exploration

A technology of locking device and mechanical arm, applied in the direction of manipulator, claw arm, manufacturing tool, etc., can solve the problem of consuming more power

Inactive Publication Date: 2013-12-04
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the joint drivers of this kind of manipulator must be in the energized state when performing detection. Although a motor with a permanent magnet brake can be used to maintain its detection attitude, it needs to consume more electric energy to overcome the permanent magnet brake when the manipulator rotates. Dynamic moment

Method used

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  • Manipulator arm locking device for planetary exploration
  • Manipulator arm locking device for planetary exploration
  • Manipulator arm locking device for planetary exploration

Examples

Experimental program
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Effect test

Embodiment

[0022] For the application background of this example, please refer to "A Multifunctional Robotic Arm for Planetary Exploration Vehicles" (invention patent application number: 201110137930.8).

[0023] figure 1 It is a perspective view of the appearance of the present invention, and the device is composed of a bracket 1, a bracket 2, a lock plate 3, a lock 5, a dial pin 4, a lock pin 6, a positioning mechanism 10, and the like. Wherein, the lock pin 6 is connected with the front end support of the mechanical arm through the pin shaft 6d at one end and the screw hole 6c ( Figure 5 ), Bracket 2 is used for support when the mechanical arm is retracted, Bracket 1 provides the support and installation of the locking device and Bracket 2, and is combined with the lock plate 3 to process a trumpet-shaped lock pin groove 9, Bracket 1 and The bracket 2 is integrated, which is beneficial to simplify the mechanism and reduce the weight.

[0024] figure 2 for figure 1 The front view...

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Abstract

The invention discloses a manipulator arm locking device for planetary exploration, which comprises a rack, a bracket, a locking bolt disc, a locking bolt, a poking pin, a locking pin and a positioning mechanism. In the locking device provided by the invention, reliably locking of a manipulator arm kept in a triangular stable configuration state is realized through mechanical structures of the locking bolt disc, the locking bolt, the locking pin and the like by using the rotation of a joint of the manipulator arm in a digging spoon. According to the manipulator arm locking device provided by the invention, no electrical energy is consumed in a locking state; moreover, the possibility of generating movement by the manipulator arm in the locking state is removed so that the reliability of locking the manipulator arm is enhanced; and the purposes of integrating a mast with the manipulator arm into a whole, alleviating weight and saving energy consumption are achieved.

Description

technical field [0001] The invention relates to a locking mechanism, in particular to a locking device for a planetary detection mechanical arm. Background technique [0002] So far, the United States has landed unmanned exploration vehicles or landers on Mars, such as the "Mars Pathfinder" (Mars Pathfinder) launched in 1997, the "Opportunity" and "Spirit" launched in 2003 (Spirit), the "Phoenix" (Phoenix) in 2007, and the Mars rover "Curiosity" (Curiosity) originally planned to launch in 2011 all have a mast (Mast) for lifting stereo cameras and a mast for collecting rock samples. Robotic Arm (Arm). Stereo cameras are used to take pictures of the environment and capture targets for the robotic arm, which collects rock samples. Most of the time, the robotic arm is in a non-working state on standby, while the stereo camera needs to work for a long time, and the target capture is suspended for a short time when the robotic arm is working. Since the stereo camera captures th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J18/00
Inventor 张冰蔚刘冠军刘杰
Owner JIANGSU UNIV OF SCI & TECH
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