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
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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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