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Large-allowance capturing mechanism for end effector of spatial large manipulator

An end-effector and large-scale machinery technology, applied in the field of large-tolerance capture mechanisms, can solve the problems of complex mechanisms and control systems, reduce the reliability of space applications, etc., and achieve a simple structure, large-tolerance capability, and strong controllability. Effect

Active Publication Date: 2013-10-02
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problem that the existing end effector mechanism and control system of a large space manipulator are complex and reduces the reliability of space applications, and further provides a large tolerance capture mechanism for the end effector of a space large manipulator

Method used

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  • Large-allowance capturing mechanism for end effector of spatial large manipulator
  • Large-allowance capturing mechanism for end effector of spatial large manipulator
  • Large-allowance capturing mechanism for end effector of spatial large manipulator

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0019] Specific implementation mode one: as Figure 1-10 As shown, the large-tolerance capture mechanism for the end effector of a large robotic arm in this embodiment includes an end effector 1 and a target interface device 2, and the end effector 1 includes an end cover 1-1 and a support cylinder 1-2 , finger mounting platform 1-3, ball screw 1-6, reversing gear 1-9, drive motor 1-10, ball screw nut 1-11, nut floating spring 1-12, three main links 1- 15. Three auxiliary connecting rods 1-16, three mechanical limit pins 1-18, fingers 1-20, partition 1-22, pinion 1-23, three linear sliding bearings 1-4 and three linear sliding Bearing guide rod 1-5;

[0020] The end cover 1-1 is threaded on the upper end surface of the support cylinder 1-2, and three guide taper holes 1-21 are uniformly processed along the circumferential direction on the end cover 1-1, and the partition plate 1-22 is fixed horizontally on the The lower part of the support cylinder 1-2, the central through h...

specific Embodiment approach 2

[0031] Specific implementation mode two: as Figure 1-10 As shown, the shape of the finger 1-20 in this embodiment is L-shaped. With such a design, the shape of the L-shaped finger can enable the end effector to quickly form an envelope capture space, thereby implementing fast and reliable capture of the three-lobed mechanical interface. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0032] Specific implementation mode three: as figure 1 , 5 As shown in ~7, the linear sliding bearings 1-4 of this embodiment are non-metallic self-lubricating linear sliding bearings. This design is mainly due to the fact that self-lubricating bearings have the advantages of not needing lubrication compared with rolling bearings, and have fewer failure links, small size, and relatively high reliability, which is suitable for the reliability requirements of space mechanisms. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention provides a large-allowance capturing mechanism for an end effector of a spatial large manipulator, relating to a large-allowance capturing mechanism. By the adoption of the large-allowance capturing mechanism for the end effector of the spatial large manipulator, the problems that an end effector mechanism and a control system of an existing spatial large manipulator are complicated and the reliability of space application is lowered are solved. A linear sliding bearing is installed on each linear sliding bearing guide rod in a penetration way; a finger installation platform is connected with the three linear sliding bearing guide rods in a sliding way through the three linear sliding bearings; a nut floating spring is sheathed on the outer wall of a ball screw nut; the center of the finger installation platform is elastically connected with the ball screw nut in a micro floating way through the nut floating spring; one end of each main connecting rod is rotationally connected with the finger installation platform; the other end of each main connecting rod is rotationally connected with a finger; one end of each auxiliary connecting is rotationally connected with the finger installation platform; and the other end of each auxiliary connecting rod is rotationally connected with the finger. The large-allowance capturing mechanism provided by the invention is used for the spatial in-orbit end effector.

Description

technical field [0001] The invention relates to a large-tolerance capture mechanism of a large mechanical arm end effector. Background technique [0002] Existing end-effectors of large space manipulators are relatively complex space and aerospace mechanisms. In order to complete the capture of space loads, the end effector of the large space manipulator needs to be able to capture the load when the capture interface has a large displacement and angular deviation relative to the end effector. Therefore, one of the main properties of the space large manipulator The requirement is a large tolerance. The large-tolerance performance requirements enable the complete positioning and constraints of the interface after the end-effector of the large robotic arm captures the load. [0003] The existing large-scale space manipulator end effector is composed of multiple links, mainly including capture link, positioning constraint link, etc. Finally, in order to increase the connection...

Claims

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Application Information

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IPC IPC(8): B25J15/10B64G4/00
Inventor 丰飞刘伊威刘宏蔡鹤皋
Owner HARBIN INST OF TECH
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