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Under-actuated ingenious multifunctional space robot hand claw

A space robot, multi-functional technology, applied in manipulators, program-controlled manipulators, chucks, etc., can solve the problems of small grasping force, inflexibility, single function, etc., achieve long working life, improve grasping or clamping accuracy, Control simple effects

Inactive Publication Date: 2014-07-16
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The underactuated dexterous multifunctional space robot gripper provided by the present invention is to solve the problems of single function, small gripping force, complex structure and insufficient dexterity in the existing space robot gripper

Method used

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  • Under-actuated ingenious multifunctional space robot hand claw
  • Under-actuated ingenious multifunctional space robot hand claw
  • Under-actuated ingenious multifunctional space robot hand claw

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Experimental program
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Embodiment Construction

[0030] Further description below in conjunction with accompanying drawings.

[0031] 1) see figure 1 , set the cylindrical front end sleeve 5 and the tail end sleeve 4 to form a static body by connecting and fastening the sleeve fastener 5.1, and the fastener adopts pins or screws to limit the movement and rotation of the tail end sleeve 4. Drive motor 9 supports are fixed with front end sleeve. The driving motor can be a stepper motor. The driving motor is fixed in the mechanical arm 10 of the space robot. In the inner cavity of the front sleeve, the ball screw installed is a precision ball screw. Its ball screw rod 6 is composed as follows: ① see figure 1 , a screw mandrel 6.1 is provided, the front end is connected to the rotating shaft of the drive motor 9 through a coupling 8, and the screw mandrel is provided with a screw mandrel support 7 fixed to the front end sleeve to support the screw mandrel. ② see figure 2 , Screw mandrel 6.1 overcoat has ball nut seat 6.2:...

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Abstract

Provided is an under-actuated ingenious multifunctional space robot hand claw. A body composed of a front sleeve and a tail sleeve is arranged, and a motor seat is connected with the front sleeve. A ball screw is arranged in the body, a screw rod is in transmission connection with a motor rotary shaft through a coupling, and a supporting piece is arranged outside the screw. An upper driving block and a lower driving block are fixed to the rear end of a nut seat in screw fit with the screw rod. Tail fingers fixedly provided with an upper finger and a lower finger are arranged on the inner surfaces of the driving blocks, and joints are arranged at the front ends of the fingers. Replacement connectors fixed to the tail sleeve through pin columns are formed in the front ends of the tail fingers. The tail fingers are connected with the clamping structure of the replacement connectors through the joints to achieve finger replacement. The driving blocks axially move to push the fingers to open and close two fingertips. The under-actuated ingenious multifunctional space robot hand claw is simple and compact in structure, large in grasping force, high in efficiency, easy to manufacture and reliable in work. One hand claw is arranged and can be replaced with multiple fingers, and the functions of capturing and clamping are achieved. Space screw turning, experimental instrument clamping, floating object grabbing and other space production assembling, scientific experiments and maintenance can be completed at the same time.

Description

(1) Technical field [0001] The invention relates to a space robot gripper and an end effector of a mechanical arm. It belongs to the category of manipulators (B25J). (2) Background technology [0002] With the continuous development of aerospace technology, space robots are used to complete specific tasks in harsh space environments. The operational capability and efficiency of space robots depend on the ability of end-execution grippers. The domestic and foreign researches on the grippers of space robots are structurally divided into external grasping type, internal support type and other structures. The external grasping type is divided into two-finger, three-finger and multi-finger structures. At present, Japan's ETS-VII extravehicular two-finger gripper adopts opening and closing fingers and has an alignment mechanism; Canada's gripper SARAH adopts an underactuated mechanism, and three fingers complete space grasping; the space robot hand developed by Harbin Institute...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00B25J15/08
Inventor 赵武尚万罗纯静曾杰王晨
Owner SICHUAN UNIV
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