CN104589337B - A kind of spatial cell robot - Google Patents
A kind of spatial cell robot Download PDFInfo
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- CN104589337B CN104589337B CN201410663796.9A CN201410663796A CN104589337B CN 104589337 B CN104589337 B CN 104589337B CN 201410663796 A CN201410663796 A CN 201410663796A CN 104589337 B CN104589337 B CN 104589337B
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Abstract
A kind of spatial cell robot, it relates to a kind of robot, large to solve existing space robot volume, reconfigurability is poor, rigidity is lower and maneuverability is poor, opereating specification is narrower, the problem of the operational requirements under the weightlessness of inapplicable space, it also comprises main structure, mechanical arm and end and grasps docking mechanism; Described main structure comprises moving block, connecting rod, clamp system, rolling mechanism, two main disks, two buttcover plates and two fixed blocks; Described clamp system comprises the first leading screw, the first servomotor, two slide blocks and two clamp modules; Described rolling mechanism comprises the second servomotor, driving-belt, connecting axle and roller; Described end grasps docking mechanism and comprises the 3rd servomotor, the 3rd leading screw, carriage release lever, interface board and two gripper jaws; Two main disks are connected by connecting rod, and main disk is connected with buttcover plate by fixed block.The present invention is used for Aero-Space and captures the docking of target.
Description
Technical field
The present invention relates to a kind of robot, belong to robotics.
Background technology
Large space structure such as Wireless power transmission, large space telescope etc. are the important directions of future space scientific development.But because its enormous size can only rely on the mode of assembling in-orbit to build.And its fittage is very complicated, relate to the assembling of different size, difformity object; Assembly work amount is huge, and the quantity of assembly parts may be thousands of, and mostly are repetitive operation.Therefore be difficult to rely on Extravehicular activity to assemble, and when mechanical arm completes the transfer of large scale structure in-orbit and assembles, the rigidity of structure is poor, precision is low, power consumption is large, and Work Space Range is limited.Therefore need badly a kind of can towards the in-orbit assembling of the novel actuation means in-orbit of the maneuverability of complex space task for large space structure.
Space intelligent cellular machineries people is a kind of novel distributed intelligence multi-robot system, and its reconstruct by robot software and hardware performs the different task under different operating environment.This robot is made up of many unit being called as " cell ", and unit is all one and comprises complete motor-driven small scale robot with control ability or module, and therefore space intelligent cellular machineries people is similar to organism in configuration aspects.
Space intelligent cellular machineries people, as the Growth of Cells in organism, is interconnected realization " growth " by each cell.Each unit all has a simple function, a set of sensing system, a set of communication system, a database and knowledge base.When the combination of multiple cell reconstructs a new labyrinth, the task that some individual cells can not complete can be performed.In task implementation, each cell bears a kind of specific function, coordination with one another, therefore to need to carry out with other cells several data mutual for each cell, such as detecting the data of the photoelectric sensor output of other cell positions, and for example for the data that the ultrasonic sensor detecting periphery barrier exports, the data that the position sensor controlling whole system structure for another example exports.
The autonomous components that space intelligent cellular machineries people is called as " cell " by numerous or unit are formed.Each cell is all intelligent function unit, has a certain specific function and has multiple connecting interface.As organization of human body composition, multiple cellularity one has " tissue " or " organ " of specific function, and the tissue of these difference in functionalitys constitute a further whole human body, i.e. space intelligent cellular machineries robot system.Each " cell " in cellular machineries people all has a kind of specific function, as red blood cell in human body cell, leucocyte, stem cell point." cell " can be divided into by its function in robot: joint cell, Constituent cell, functioning cell; Wherein joint cell and Constituent cell constitute the mechanism section of robot, determine its configuration and the free degree, and functioning cell has required specific function of executing the task, as end effector, sensor function.
Cellular machineries people has two kinds of " growth " modes, and one is assembled by outside special tool(s), and another kind is via Self-reconfiguration.Under first kind of way, after each cell transmitting is entered the orbit, particular platform is assembled by special small mechanical arm system, forms different forms, under this mode, each cell does not need powerful maneuverability; Under the second way, individual cells machine has certain maneuverability per capita, can motor-drivenly voluntarily be connected to ad-hoc location with specific cells, under this form, robot has more flexibility, can add at any time at an arbitrary position or be separated new cell, and not need to get back to assembly platform place and rely on mechanical arm to carry out cell interpolation or separation.
The advantage of cellular machineries people is to assemble in-orbit according to the needs of task, configuration, the function dynamic of robot change, simultaneously because cell is reusable, the robot system that reconfigurable formation is new after arbitrary task completes, thus greatly reduce cost.The shortcoming of cellular machineries people is the complexity of self assembling process under space microgravity environment.Because cell quantity is numerous, all there is larger difficulty with planning in system configuration monitoring.Spatial cell machine artificially solves diversified complex space task and provides a kind of new approach, but due to space weightlessness, the simple new large space robot system relying on its Connecting groups of functional realiey of cellular machineries people self to be made into adaptation mission requirements also exists sizable difficulty.Therefore, reasonable tradeoff cellular machineries people recombination form is needed.
For meeting the demand of large space structure assembling, robot for space should have following characteristics:
(1), little and many, because task amount is huge, required robot One's name is legion, is limited to transmitting volume simultaneously, should be as far as possible small and exquisite during Robot Design;
(2), restructural, because the diversity assembly environment of assembly constantly changes, fittage is multiple various, therefore requires that robot has restructural characteristic, by changing the adaptability that self quantity and form realize task;
(3), rigidity, reversible, self-locking robot connect retaining mechanism, bindiny mechanism is the critical component of multirobot reconstruct, determines the rigidity at interface place, and then load capacity, the locomitivity of robot system after impact reconstruct.Under gravity, space environment microgravity or zero-g.Bindiny mechanism drives based on electromagnetic force or marmem mostly at present, and its coupling stiffness is limited, limits the application of Reconfigurable robot system;
(4), have certain maneuverability, assembly robot needs on assembly structure (as on truss) motor-driven, thus expands its working range; This is exterior complete after, also depend on assembly robot and continue to perform monitor task in-orbit.
Summary of the invention
The present invention is large for solving existing space robot volume, and reconfigurability is poor, rigidity is lower and maneuverability is poor, and opereating specification is narrower, the problem of the operational requirements under the weightlessness of inapplicable space, and then proposes a kind of spatial cell robot.
The present invention is the technical scheme taked that solves the problem: a kind of spatial cell robot of the present invention comprises I type cradle head and T-shaped cradle head, and it also comprises main structure, mechanical arm and end and grasps docking mechanism;
Described main structure comprises moving block, connecting rod, clamp system, rolling mechanism, two main disks, two buttcover plates and two fixed blocks;
Described clamp system comprises the first leading screw, the first servomotor, two slide blocks and two clamp modules;
Described rolling mechanism comprises the second servomotor, driving-belt, connecting axle and roller;
Described end grasps docking mechanism and comprises the 3rd servomotor, the 3rd leading screw, carriage release lever, interface board and two gripper jaws;
Two main disks are connected by connecting rod, and main disk is connected with buttcover plate by fixed block, and the connecting rod between two main disks is rotatablely equipped with moving block;
The output shaft of the first servomotor is vertically arranged, the output shaft of the second servomotor is horizontally disposed with, first leading screw is vertically arranged, the middle part of described roller is processed with arc groove, first servomotor, first leading screw, between the main disk that a slide block in two slide blocks and a clamp module in two clamp modules are arranged in side and buttcover plate, second servomotor, between the main disk that a clamp module remaining in a slide block remaining in two slide blocks and two clamp modules is arranged at opposite side and buttcover plate, two slide blocks are just to layout, two clamp modules are just to layout, the output shaft of the first servomotor is connected with the lower end of the first leading screw, the upper end of the first leading screw is screwed on fixed block, first servomotor is arranged on a slide block in two slide blocks, connecting axle is rotatably installed on two slide blocks, the output shaft of the second servomotor is in transmission connection by driving-belt and connecting axle, roller is packed in the middle part of connecting axle, described two slide blocks recline with corresponding clamp module and arrange, described two clamp modules are hinged with corresponding main disk, connecting axle and two slide blocks can move up and down along main disk,
Described mechanical arm comprises the first arm and the second arm, first arm and the second arm are cylinder, second arm is hollow-core construction, one end of first arm is arranged on moving block by I type cradle head, the other end of the first arm is connected with one end of the second arm by T-shaped cradle head, the 3rd servomotor is fixed with in the other end of the second arm, carriage release lever is slidably fitted with along its length in the other end of the second arm, the output shaft of the 3rd servomotor is fixed with the 3rd leading screw, 3rd leading screw is screwed on carriage release lever, the middle part of carriage release lever and interface board is affixed, two gripper jaws are just to setting, one end of two gripper jaws and the other end of the second arm hinged, two gripper jaws and interface board are slidably connected.
The invention has the beneficial effects as follows: one, the present invention is according to robot functional analysis, propose a kind of train robot based on restructural and multi-robot Cooperation thought, this robot can be used for the assembly manipulation of large space structure.Robot of the present invention can form relatively independent robot system, and go out to be best suited for the robot construction system of Given task by these unit cell robot energy quick assembling, reconfigurability is good.Two, buttcover plate of the present invention can be used for the docking use of many cells robot, first servomotor drives the first leading screw and slide block and roller to move, realize realizing the clamping of truss cylindrical bar with clamp module or unclamping, the second Serve Motor Control roller rotates and walks on truss cylindrical bar; First arm is connected by I type cradle head with the moving block in main structure, and the second arm is connected by the T-shaped cradle head with self-locking function with the first arm; End grasps the docking recess of docking mechanism for the buttcover plate or circumference that capture other robot side.Revolute joint of the present invention has two types, T-shaped cradle head and I type cradle head respectively, all adopt the standardization joint of robot module of prior art to realize, there is rigidity large, reversible feature, wherein clamp system one degree of freedom, scroll wheel rotational freedom, main structure rotational freedom, mechanical arm two frees degree, clamp system one degree of freedom, mobility is good.Three, structure of the present invention is simple, and reasonable in design, volume is little, lightweight, is applicable to space weightlessness and uses.
Accompanying drawing explanation
Fig. 1 is side-looking structural representation of the present invention, Fig. 2 is main TV structure schematic diagram of the present invention, Fig. 3 to be mechanical arm with end grasp perspective view that docking mechanism is connected, Fig. 4 is the main TV structure schematic diagram of the mechanical arm in Fig. 2, Fig. 5 is the top view of Fig. 4, Fig. 6 is the side view of Fig. 5, Fig. 7 is main disk, the schematic top plan view of buttcover plate and slide block syndeton, Fig. 8 is the schematic front view of Fig. 7, Fig. 9 is the side view of Fig. 8, Figure 10 is the top view of main disk, Figure 11 is the front view of Figure 10, Figure 12 is the side view of Figure 11, Figure 13 is the side view of slide block in Fig. 2, Figure 14 is the top view of Figure 13, Figure 15 is the side view of Figure 14, Figure 16 is the schematic side view of the self-clamping module in Fig. 2, Figure 17 is the top view of Figure 16, Figure 18 is the side view of Figure 17, Figure 19 is the side view of the roller in Fig. 2, Figure 20 is the side view of Figure 19, Figure 21 is the top view of Figure 19, Figure 22 is the side view of the second servomotor in Fig. 2, Figure 23 is the side view of Figure 22, Figure 24 is the top view of Figure 22, Figure 25 is the main TV structure schematic diagram that in Fig. 2, the first servomotor is connected with the first leading screw, Figure 26 is the side view of Figure 25, Figure 27 is the top view of Figure 25, Figure 28 is the front view of the interface board in Fig. 4, Figure 29 is the top view of Figure 28, Figure 30 is the side view of Figure 29.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Figure 30 illustrates, a kind of spatial cell robot of present embodiment comprises I type cradle head 1 and T-shaped cradle head 2, and it also comprises main structure 3, mechanical arm 4 and end and grasps docking mechanism 5;
Described main structure 3 comprises moving block 3-1, connecting rod 3-2, clamp system, rolling mechanism, two main disk 3-5, two buttcover plate 3-6 and two fixed block 3-17;
Described clamp system comprises the first leading screw 3-7, the first servomotor 3-8, two slide block 3-9 and two clamp module 3-10;
Described rolling mechanism comprises the second servomotor 3-11, driving-belt 3-12, connecting axle 3-13 and roller 3-14;
Described end grasps docking mechanism 5 and comprises the 3rd servomotor 5-1, the 3rd leading screw 5-2, carriage release lever 5-3, an interface board 5-4 and two gripper jaw 5-5;
Two main disk 3-5 are connected by connecting rod 3-2, and main disk 3-5 is connected with buttcover plate 3-6 by fixed block 3-17, and the connecting rod 3-2 between two main disk 3-5 is rotatablely equipped with moving block 3-1;
The output shaft of the first servomotor 3-8 is vertically arranged, the output shaft of the second servomotor 3-11 is horizontally disposed with, first leading screw 3-7 is vertically arranged, the middle part of described roller 3-14 is processed with arc groove 3-14-1, first servomotor 3-8, first leading screw 3-7, between the main disk 3-5 that a clamp module 3-10 in a slide block 3-9 and two clamp module 3-10 in two slide block 3-9 arranges in side and buttcover plate 3-6, second servomotor 3-11, between the main disk (3-5) that a clamp module 3-10 remaining in a slide block 3-9 and two clamp module 3-10 remaining in two slide block 3-9 is positioned at opposite side layout and buttcover plate 3-6, two slide block 3-9 are just to layout, two clamp module 3-10 are just to layout, the output shaft of the first servomotor 3-8 is connected with the lower end of the first leading screw 3-7, the upper end of the first leading screw 3-7 is screwed on fixed block 3-17, first servomotor 3-8 is arranged on a slide block 3-9 in two slide block 3-9, connecting axle 3-13 is rotatably installed on two slide block 3-9, the output shaft of the second servomotor 3-11 is in transmission connection by driving-belt 3-12 and connecting axle 3-13, roller 3-14 is packed in the middle part of connecting axle 3-13, described two slide block 3-9 recline with corresponding clamp module 3-10 and arrange, described two clamp module 3-10 are hinged with corresponding main disk 3-5, connecting axle 3-13 and two slide block 3-9 can move up and down along main disk 3-5,
Described mechanical arm 4 comprises the first arm 4-1 and the second arm 4-2, first arm 4-1 and the second arm 4-2 is cylinder, second arm 4-2 is hollow-core construction, one end of first arm 4-1 is arranged on moving block 3-1 by I type cradle head 1, the other end of the first arm 4-1 is connected with one end of the second arm 4-2 by T-shaped cradle head 2, the 3rd servomotor 5-1 is fixed with in the other end of the second arm 4-2, carriage release lever 5-3 is slidably fitted with along its length in the other end of the second arm 4-2, the output shaft of the 3rd servomotor 5-1 is fixed with the 3rd leading screw 5-2, 3rd leading screw 5-2 is screwed on carriage release lever 5-3, the middle part of carriage release lever 5-3 and interface board 5-4 is affixed, two gripper jaw 5-5 are just to setting, one end of two gripper jaw 5-5 and the other end of the second arm 4-2 hinged, two gripper jaw 5-5 and interface board 5-4 are slidably connected.
Detailed description of the invention two: composition graphs 2 and Figure 12 illustrate, the lateral surface of two main disk 3-5 of present embodiment is processed with respectively a chute 3-5-1, slide block 3-9 is slidably mounted on chute 3-5-1.Setting like this, is convenient to moving up and down of slide block.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 9 and Figure 30 explanation, described in present embodiment, interface board 5-4 is identical with the structure of two buttcover plate 3-6, each buttcover plate 3-6 is square buttcover plate, the wherein relative two side walls of four side wall surfaces of each buttcover plate 3-6 is respectively processed with groove 3-6-1, the two side walls that the residue of four side wall surfaces of each buttcover plate 3-6 is relative is respectively processed with connecting axle 3-6-2.Setting like this, is convenient to the docking of two cellular machineries people, meets actual needs.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 2 illustrates, driving-belt 3-12 described in present embodiment is Timing Belt.Setting like this, power transmission is reliable and stable, easy to use.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 2 and Figure 18 explanation, two slide block 3-9 of present embodiment are wedge, each described clamp module 3-10 comprises fixture block 3-15 and two cylinder 3-16, fixture block is L-shaped, the large end face of one of them slide block 3-9 is fixed with the first servomotor 3-8, the large end face of another slide block 3-9 is fixed with the second servomotor 3-11, fixture block 3-15 is hinged with corresponding main disk 3-5, and the lower surface of the galianconism of fixture block 3-15 is furnished with two the cylinder 3-16 be in tilted layout.Setting like this, is convenient to the clamping of truss cylindrical bar and unclamps, and it is firm that clamping is stablized.Other with detailed description of the invention one, two or four identical.
Detailed description of the invention six: composition graphs 16-Figure 21 illustrates, the outer surface of the roller 3-15 of present embodiment and the outer surface of two cylinder 3-16 are all coated with rubber layer.Setting like this, can provide frictional force well, is conducive to the walking realized the clamping of truss cylindrical bar and roller.Other is identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 4-Fig. 5 and Figure 30 explanation, the each described gripper jaw 5-5 of present embodiment comprises L shape pawl section 5-6 and linkage section 5-7, the long limit of L shape pawl section 5-6 is connected with linkage section 5-7 and the two is made into integration, L shape pawl section 5-6 with linkage section 5-7 offers the guide chute 5-8 be communicated with, linkage section 5-7 and the second arm 4-2 is rotationally connected, and the two relative lateral walls of interface board 5-4 are processed with the lead 5-4-1 that can slide in guide chute 5-8.Setting like this, facilitates the clamping of gripper jaw and the motion of carriage release lever.Other with detailed description of the invention one, two, four or six identical.
Operation principle
First servomotor drives the first screw turns, and then be with movable slider, connecting axle, the second servomotor, driving-belt to move upward together with roller, oppress clamp module to turn to the inside when the first driven by servomotor slide block moves downward, roller moves downward simultaneously, second servomotor drives driving-belt and roller to rotate, roller and clamp module clamp truss cylindrical bar jointly, roller and four pinch wheels all use rubber envelope, to provide good frictional force, there is certain maneuverability, expand its scope of application.3rd servomotor drives carriage release lever rectilinear motion by the 3rd leading screw and then realizes the stretching motion of interface board, interface board is coordinated by axial trough with two gripper jaws, when interface board is in contraction state, two gripper jaws open, when interface board is driven into elongation state by the 3rd leading screw, oppress two gripper jaws to close, end grasps docking mechanism docking mode three kinds: end grasps docking mechanism and docks with three boss of main disk circumference, boss coordinates with grasping mechanism interface board, a pair fit depressions on two gripper jaws and boss; End grasps docking mechanism and end grasps docking mechanism, and the two interface board is fitted to each other (relative attitude 90 degree), and the interface disc upper groove of two pairs of gripper jaws and the other side matches; End grasps docking mechanism with disk side in the face of junction coordinates.
By each for space intelligent cellular machineries people module by its planform class wrapping, as discoidal main structural item, mechanical arm, end grasp the class wrappings such as docking mechanism, ensure that its packaging is compact, save space; Each for robot module is emitted to the space station or planetary surface of specifying; Utilize space station or planetary surface be furnished with special-purpose machinery arm system and cellular machineries people main structure, mechanical arm, end grasped docking mechanism and carry out assembling being formed and possess the independent motor-driven simple machine people with operational capacity; Single simple machine people is used for performing simple operations task, or multiple simple machine people co-operating complex task; For more complicated task, grasp docking mechanism by end between simple machine people and dock with the boss on buttcover plate or main disk, and then connect into more complicated robot system; Individual machine robot system after connecting is used for performing complex operations task, or multiple robot system is used for co-operating more complicated task far away.
Claims (7)
1. a spatial cell robot, it comprises I type cradle head (1) and T-shaped cradle head (2), it is characterized in that: it also comprises main structure (3), mechanical arm (4) and end and grasps docking mechanism (5);
Described main structure (3) comprises moving block (3-1), connecting rod (3-2), clamp system, rolling mechanism, two main disks (3-5), two buttcover plates (3-6) and two fixed blocks (3-17);
Described clamp system comprises the first leading screw (3-7), the first servomotor (3-8), two slide blocks (3-9) and two clamp modules (3-10);
Described rolling mechanism comprises the second servomotor (3-11), driving-belt (3-12), connecting axle (3-13) and roller (3-14);
Described end grasps docking mechanism (5) and comprises the 3rd servomotor (5-1), the 3rd leading screw (5-2), carriage release lever (5-3), interface board (5-4) and two gripper jaws (5-5);
Two main disks (3-5) are connected by connecting rod (3-2), main disk (3-5) is connected with buttcover plate (3-6) by fixed block (3-17), is positioned on the connecting rod (3-2) between two main disks (3-5) and is rotatablely equipped with moving block (3-1);
The output shaft of the first servomotor (3-8) is vertically arranged, the output shaft of the second servomotor (3-11) is horizontally disposed with, first leading screw (3-7) is vertically arranged, the middle part of described roller (3-14) is processed with arc groove (3-14-1), first servomotor (3-8), first leading screw (3-7), between the main disk (3-5) that a slide block (3-9) in two slide blocks (3-9) and a clamp module (3-10) in two clamp modules (3-10) are positioned at side layout and buttcover plate (3-6), second servomotor (3-11), between the main disk (3-5) that in two slide blocks (3-9), a slide block (3-9) of remainder and a clamp module (3-10) of two middle remainders of clamp modules (3-10) are positioned at opposite side layout and buttcover plate (3-6), two slide blocks (3-9) are just to layout, two clamp modules (3-10) are just to layout, the output shaft of the first servomotor (3-8) is connected with the lower end of the first leading screw (3-7), the upper end of the first leading screw (3-7) is screwed on fixed block (3-17), first servomotor (3-8) is arranged on a slide block (3-9) in two slide blocks (3-9), connecting axle (3-13) is rotatably installed on two slide blocks (3-9), the output shaft of the second servomotor (3-11) is in transmission connection by driving-belt (3-12) and connecting axle (3-13), roller (3-14) is packed in the middle part of connecting axle (3-13), described two slide blocks (3-9) recline with corresponding clamp module (3-10) and arrange, described two clamp modules (3-10) are hinged with corresponding main disk (3-5), connecting axle (3-13) and two slide blocks (3-9) can move up and down along main disk (3-5),
Described mechanical arm (4) comprises the first arm (4-1) and the second arm (4-2), first arm (4-1) and the second arm (4-2) are cylinder, second arm (4-2) is hollow-core construction, one end of first arm (4-1) is arranged on moving block (3-1) by I type cradle head (1), the other end of the first arm (4-1) is connected with one end of the second arm (4-2) by T-shaped cradle head (2), the 3rd servomotor (5-1) is fixed with in the other end of the second arm (4-2), carriage release lever (5-3) is slidably fitted with along its length in the other end of the second arm (4-2), the output shaft of the 3rd servomotor (5-1) is fixed with the 3rd leading screw (5-2), 3rd leading screw (5-2) is screwed on carriage release lever (5-3), carriage release lever (5-3) is affixed with the middle part of interface board (5-4), two gripper jaws (5-5) are just to setting, one end of two gripper jaws (5-5) and the other end of the second arm (4-2) hinged, two gripper jaws (5-5) are slidably connected with interface board (5-4).
2. a kind of spatial cell robot according to claim 1, it is characterized in that: the lateral surface of two main disks (3-5) is processed with respectively a chute (3-5-1), slide block (3-9) is slidably mounted on chute (3-5-1).
3. a kind of spatial cell robot according to claim 1 and 2, it is characterized in that: described interface board (5-4) is identical with the structure of two buttcover plates (3-6), each buttcover plate (3-6) is square buttcover plate, the wherein relative two side walls of four side wall surfaces of each buttcover plate (3-6) is respectively processed with groove (3-6-1), the two side walls that the residue of four side wall surfaces of each buttcover plate (3-6) is relative is respectively processed with connecting axle (3-6-2).
4. a kind of spatial cell robot according to claim 3, is characterized in that: described driving-belt (3-12) is Timing Belt.
5. according to claim 1, a kind of spatial cell robot described in 2 or 4, it is characterized in that: two slide blocks (3-9) are wedge, each described clamp module (3-10) comprises fixture block (3-15) and two cylinders (3-16), fixture block is L-shaped, the large end face of one of them slide block (3-9) is fixed with the first servomotor (3-8), the large end face of another slide block (3-9) is fixed with the second servomotor (3-11), fixture block (3-15) is hinged with corresponding main disk (3-5), the lower surface of the galianconism of fixture block (3-15) is furnished with two cylinders (3-16) be in tilted layout.
6. a kind of spatial cell robot according to claim 5, is characterized in that: the outer surface of roller (3-14) and the outer surface of two cylinders (3-16) are all coated with rubber layer.
7. according to claim 1, 2, a kind of spatial cell robot described in 4 or 6, it is characterized in that: each described gripper jaw (5-5) comprises L shape pawl section (5-6) and linkage section (5-7), the long limit of L shape pawl section (5-6) is connected with linkage section (5-7) and the two is made into integration, L shape pawl section (5-6) with linkage section (5-7) offers the guide chute (5-8) be communicated with, linkage section (5-7) and the second arm (4-2) are rotationally connected, the two relative lateral walls of interface board (5-4) are processed with the lead (5-4-1) that can slide in guide chute (5-8).
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| EP0993912A2 (en) * | 1998-10-16 | 2000-04-19 | Xerox Corporation | Fault tolerant connection system for transiently connectable modular elements |
| CN102179807A (en) * | 2011-03-08 | 2011-09-14 | 天津大学 | Parallel mechanism with changeable freedom degree |
| CN103302659A (en) * | 2013-07-03 | 2013-09-18 | 上海交通大学 | Single-degree-of-freedom metamorphic mechanism |
| CN103552058A (en) * | 2013-10-22 | 2014-02-05 | 北京航空航天大学 | Parallel metamorphic mechanism capable of achieving pure translation and pure rotation |
| CN103909519A (en) * | 2014-03-12 | 2014-07-09 | 哈尔滨工程大学 | Parallel metamorphism platform with variable degree of freedom |
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