CN101890722A - Novel three-degree-of-freedom (three-DOF) mechanical claw - Google Patents
Novel three-degree-of-freedom (three-DOF) mechanical claw Download PDFInfo
- Publication number
- CN101890722A CN101890722A CN 201010191494 CN201010191494A CN101890722A CN 101890722 A CN101890722 A CN 101890722A CN 201010191494 CN201010191494 CN 201010191494 CN 201010191494 A CN201010191494 A CN 201010191494A CN 101890722 A CN101890722 A CN 101890722A
- Authority
- CN
- China
- Prior art keywords
- worm
- gear
- freedom degree
- mechanical claw
- catching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Abstract
The invention discloses a novel three-degree-of-freedom (three-DOF) mechanical claw. The novel three-DOF mechanical claw has a function of automatically catching a target; a catching execution mechanism is started to stretch, rotate and open and close the mechanical claw to execute a catching task; and after the target is caught successfully, the three-DOF mechanical claw and each execution mechanism of the three-DOF mechanical claw are locked so as to guarantee that the catching task can be successfully fulfilled. The three-DOF mechanical claw can be carried on a satellite platform to adjust and correct positions and postures under the guidance of the platform through automatically seeking, target tracking and the guidance and control of an intelligent control system, and can catch the target under a complicated environment by installing a self-contained air breathing propulsion system. The three-DOF mechanical claw has the advantages of simple structure and high reliability.
Description
Technical field
The present invention relates to a kind of space mechanism and arrest device, specifically, relate to a kind of novel three freedom degree manipulator pawl.
Background technology
As everyone knows, development along with space technology, informationization technology and three-dimensional fighting technique, high aerial all kinds satellite, aircraft provide reliable information, image graphic, communication navigation, experimental data etc. for each side effectively, and have acted on increasing.Therefore, space exploration satellite, reconnaissance satellite, telecommunication satellite etc. were lost efficacy at orbit aerocraft, or the aircraft of the roaming aloft of losing efficacy is reclaimed, become the emphasis problem of scientific and technical research.So the country of our times scientific and technological strength richness has all carried out the project of hitting weapon (or device) at rail in succession.At present more space weapon (or device) is that KKV (KKV, Kinetic Kill Vehicle) and space fly net.KKV mainly is the huge kinetic energy that utilizes the non-explosivity high-speed flight to be had, by direct collision or install the auxiliary mode prang satellite that kills and wounds device additional, in peacetime or strategic face-off stage, this attack pattern is very easy to be found by the other side; This mode also will cause a large amount of fragments in the air at height, causes the pollution to space environment.The space flies net when arresting the extraterrestrial target satellite, and space maneuver platform and the trigger mechanism that flies to net have been proposed high requirement, and it mainly relies on and increases the area of arresting that flies to net and improve and arrest success rate; Secondly, fly the emission of net system after, fly the net system and become Passive Control, so controllability reduces greatly; At last and since emission fly to net need be bigger initial velocity, increased the possibility that flies to net bounce-back, thereby platform threatened.
Summary of the invention
In order to remedy the above-mentioned shortcoming and defect of mode in the task implementation of arresting, the invention provides a kind of novel three freedom degree manipulator pawl.This paw can be arrested executing agency by startup, and flexible, rotation, retractable mechanical system design paw are carried out and arrested task, successfully arrest target after, each executing agency's locking of three freedom degree manipulator pawl and Three Degree Of Freedom paw is finished smoothly to guarantee the task of arresting.This three freedom degree manipulator pawl can be by carrying on satellite platform, under the guiding of platform by independently seek, the guidance and the control of target following and intelligence control system carries out the adjustment and the correction of position, attitude, and moves closer to target by the jet propulsion system that installation carries.
For solving the problems of the technologies described above, the technical solution used in the present invention is: mechanical gripping device for catching system architecture is by body and arrest executing agency and form.Body is as the installed surface and the female surface of each subsystem of mechanical gripping device for catching (vision system, power and propulsion system, actuator controller, rail control system system, communication system etc.).
Described Three Degree Of Freedom is arrested executing agency and is adopted motor-driven.Wherein, the motor-driven gear rack gear realizes the stretching motion of executing agency's relative mechanical gripping device for catching body, and its flexible distance is not less than 10cm; Motor band deceleration device realizes that directly executing agency ± 90 ° rotatablely moves; The two-stage driving gear that motor-driven Worm and worm-wheel gearing and column gear transmission mechanism constitute is realized the open and close movement of mechanical paw.Each realizes that executing agency is equipped with auto-lock function.
Adopt novel three freedom degree manipulator pawl of the present invention, can realize the autonomous capture target function of mechanical paw, by simple motion, flexible, rotation, the multivariant attitude adjustment of retractable mechanical system design paw of executing agency arrested in realization, and the jet propulsion system that carries by installation is at the complex environment capture target.This three freedom degree manipulator pawl is simple in structure, reliability is high.
Description of drawings
Be described in further detail below in conjunction with the embodiment of accompanying drawing three freedom degree manipulator pawl of the present invention.
Fig. 1 realizes the schematic diagram of mechanism for three freedom degree manipulator pawl open and close movement of the present invention.
Fig. 2 realizes the schematic diagram of mechanism for three freedom degree manipulator pawl of the present invention rotatablely moves.
Fig. 3 realizes the schematic diagram of mechanism for three freedom degree manipulator pawl stretching motion of the present invention.
Fig. 4 is the schematic diagram of three freedom degree manipulator pawl structure of the present invention.
1. mechanical paw 2. bearing baffles 3. bearings 4. worm-gear toothing wheel shafts 5. worm shafts 6. gear shafts 7. transmission case bases 8. swivel bearings cover 9. turning cylinders, 10. rolling bearings, 11. electric rotating machine seats, 12. gear bars, 13. screens pins, 14. gears, 15. rack slide, 16. flexible motor cabinet 17. flexible motor 18. mechanical gripping device for catching bodies 19. folding motors 20. electric rotating machines
The specific embodiment
The open and close movement that Fig. 1 shows three freedom degree manipulator pawl of the present invention realizes mechanism, and this open and close movement realizes that mechanism comprises transmission case, Worm and worm-wheel gearing and mechanical paw 1; Described transmission case comprises bearing baffle 2, bearing 3, worm-gear toothing wheel shaft 4, worm shaft 5, gear shaft 6 and transmission case base 7.The folding motor 19 that is fixedly mounted on the transmission case base 7 directly drives worm shaft 5 rotations, secondary transmission combination mechanism by Worm and worm-wheel gearing and the formation of roller gear external toothing transmission mechanism, finish the rotation in opposite directions of worm-gear toothing wheel shaft 4 and gear shaft 6 and rotate, realize the open and close movement of two mechanical paws 1.Worm and worm-wheel gearing is connected based on revolute pair with the secondary transmission combination that roller gear external toothing transmission mechanism forms, and adopts bearing 3 to connect, and realizes that friction relatively rotates.
As shown in Figure 2, mechanical paw of the present invention rotatablely moves and realizes that mechanism comprises transmission case base 7, swivel bearing lid 8, turning cylinder 9, rolling bearing 10, electric rotating machine seat 11 and gear bar 12.Described electric rotating machine 20 is fixedly mounted on the electric rotating machine seat 11 and links with gear bar 12, electric rotating machine 20 directly drives turning cylinder 9 rotations, driving transmission case rotates with respect to gear bar 12 around fixed axis, rotational angle is controlled by electric machine control system, rotatablely moves to realize that mechanism is provided with auto-lock function.
What Fig. 3 showed is the stretching motion realization mechanism of three freedom degree manipulator pawl of the present invention, it comprises gear bar 12, screens pin 13, gear 14, rack slide 15, flexible motor cabinet 16 and flexible motor 17, described flexible motor 17 is connected with flexible motor cabinet 16, be fixedly mounted on the mechanical gripping device for catching body 18, flexible motor 17 direct driven gears 14 rotate, and pass through rack and pinion drive mechanism, driven wheel bar 12 moves back and forth in rack slide 15, the range of 13 pairs of gear bars 12 of screens pin limits, thereby realize the stretching motion of mechanical gripping device for catching executing agency relative mechanical gripping device for catching body, its flexible distance is not less than 10cm.
Fig. 4 is the schematic diagram of three freedom degree manipulator pawl structure of the present invention.It comprises mechanical gripping device for catching body 18, folding motor 19, transmission case base 7, gear bar 12, rack slide 15, electric rotating machine 20 and mechanical paw 1.Described folding motor 19 is fixedly mounted on and directly drives worm shaft 5 rotations on the transmission case base 7, secondary transmission combination mechanism by Worm and worm-wheel gearing and the formation of roller gear external toothing transmission mechanism, finishing the rotation in opposite directions of worm-gear toothing wheel shaft 4 and gear shaft 6 rotates, realize two and be mutually the open and close movement of the mechanical paw 1 of "＜〉" shape structure, and be provided with the position auto-lock function; Electric rotating machine 20 band deceleration devices realize that directly executing agency ± 90 ° rotatablely moves.
The three freedom degree manipulator pawl that the present invention proposes, be that the space motor-driven is arrested the device movement mechanism with multiple degrees of freedom, it is simple in structure, can independently realize three-degree-of-freedom motion, arrest device executing agency by start-up space, flexible, rotation, retractable mechanical system design paw are carried out, are realized arresting task, successfully arrest target after, each the executing agency's locking of three freedom degree manipulator pawl and Three Degree Of Freedom paw is finished smoothly to guarantee the task of arresting.This three freedom degree manipulator pawl can be by carrying on satellite platform, under the guiding of platform by independently seek, the guidance and the control of target following and intelligence control system carries out the adjustment and the correction of position, attitude, and moves closer to target by the jet propulsion system that installation carries.The service behaviour of space acquisition equipment and the reliability of finishing the work have been improved.
Claims (5)
1. three freedom degree manipulator pawl comprises that transmission case, Worm and worm-wheel gearing, rack and pinion drive mechanism, space mechanism arrest device body, it is characterized in that: it comprises that also two mutual foldings are the mechanical paw (1) of "＜〉" shape structure.
2. three freedom degree manipulator pawl according to claim 1, it is characterized in that: described flexible motor (17) is connected with flexible motor cabinet (16), be fixedly mounted on the mechanical gripping device for catching body (18), flexible motor (17) driven gear (14) rotates, and pass through rack and pinion drive mechanism, driven wheel bar (12) moves back and forth in rack slide (15), screens pin (13) limits the range of gear bar (12), thereby realize the stretching motion of mechanical gripping device for catching executing agency relative mechanical gripping device for catching body, its flexible distance is not less than 10cm.
3. three freedom degree manipulator pawl according to claim 1, it is characterized in that: described electric rotating machine (20) is fixedly mounted on the electric rotating machine seat (11) and gear bar (12) links, electric rotating machine (20) directly drives turning cylinder (9) rotation, driving transmission case rotates with respect to gear bar (12) around fixed axis, rotational angle is controlled by electric machine control system, and is provided with auto-lock function.
4. three freedom degree manipulator pawl according to claim 1, it is characterized in that: described folding motor (19) is fixedly mounted on transmission case base (7) and goes up drive worm shaft (5) rotation, secondary transmission combination mechanism by Worm and worm-wheel gearing and the formation of roller gear external toothing transmission mechanism, finishing the rotation in opposite directions of worm-gear toothing wheel shaft (4) and gear shaft (6) rotates, realize the open and close movement of two mechanical paws (1), and be provided with the position auto-lock function.
5. three freedom degree manipulator pawl according to claim 1 is characterized in that: mechanism connects based on revolute pair, adopts bearing (3) to connect, and realizes that friction relatively rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101914948A CN101890722B (en) | 2010-06-03 | 2010-06-03 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101914948A CN101890722B (en) | 2010-06-03 | 2010-06-03 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101890722A true CN101890722A (en) | 2010-11-24 |
| CN101890722B CN101890722B (en) | 2012-06-06 |
Family
ID=43100140
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010101914948A Expired - Fee Related CN101890722B (en) | 2010-06-03 | 2010-06-03 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101890722B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406809A (en) * | 2013-08-01 | 2013-11-27 | 朝阳北方机床有限公司 | Double-column circular table surface grinder |
| CN104443444A (en) * | 2013-09-16 | 2015-03-25 | 上海宇航系统工程研究所 | Docking and transferring integrated space capturing mechanism |
| CN105947666A (en) * | 2016-05-12 | 2016-09-21 | 烟台三新新能源科技有限公司 | Robot arm for pipe transfer |
| CN106312996A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device and method for automatically getting on/off line by autonomous obstacle-surmounting inspection robot for overhead transmission line |
| CN106312998A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device for assisting robot for overhead transmission line to automatically get on/off line |
| CN110549365A (en) * | 2019-09-04 | 2019-12-10 | 朱金义 | Multi-degree-of-freedom industrial mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11347979A (en) * | 1998-06-08 | 1999-12-21 | Japan Servo Co Ltd | Gripping device |
| CN2626685Y (en) * | 2003-05-15 | 2004-07-21 | 邱木圳 | Mechanical arm |
| JP2008049418A (en) * | 2006-08-23 | 2008-03-06 | Nachi Fujikoshi Corp | Hand apparatus of industrial robot |
| CN201295925Y (en) * | 2008-12-02 | 2009-08-26 | 吉林大学 | Remotely operated force-feedback hydraulic servo operating manipulator |
| CN201376279Y (en) * | 2009-04-08 | 2010-01-06 | 南京工程学院 | Tail-end actuator of robot |
-
2010
- 2010-06-03 CN CN2010101914948A patent/CN101890722B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11347979A (en) * | 1998-06-08 | 1999-12-21 | Japan Servo Co Ltd | Gripping device |
| CN2626685Y (en) * | 2003-05-15 | 2004-07-21 | 邱木圳 | Mechanical arm |
| JP2008049418A (en) * | 2006-08-23 | 2008-03-06 | Nachi Fujikoshi Corp | Hand apparatus of industrial robot |
| CN201295925Y (en) * | 2008-12-02 | 2009-08-26 | 吉林大学 | Remotely operated force-feedback hydraulic servo operating manipulator |
| CN201376279Y (en) * | 2009-04-08 | 2010-01-06 | 南京工程学院 | Tail-end actuator of robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103406809A (en) * | 2013-08-01 | 2013-11-27 | 朝阳北方机床有限公司 | Double-column circular table surface grinder |
| CN104443444A (en) * | 2013-09-16 | 2015-03-25 | 上海宇航系统工程研究所 | Docking and transferring integrated space capturing mechanism |
| CN105947666A (en) * | 2016-05-12 | 2016-09-21 | 烟台三新新能源科技有限公司 | Robot arm for pipe transfer |
| CN106312996A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device and method for automatically getting on/off line by autonomous obstacle-surmounting inspection robot for overhead transmission line |
| CN106312998A (en) * | 2016-10-21 | 2017-01-11 | 国网山东省电力公司电力科学研究院 | Device for assisting robot for overhead transmission line to automatically get on/off line |
| CN106312996B (en) * | 2016-10-21 | 2019-11-15 | 国网山东省电力公司电力科学研究院 | Overhead transmission line active obstacle travelling robot goes up coil inserting apparatus and method automatically |
| CN106312998B (en) * | 2016-10-21 | 2019-11-19 | 国网山东省电力公司电力科学研究院 | It is a kind of to assist aerial transmission power line robot upper coil inserting apparatus automatically |
| CN110549365A (en) * | 2019-09-04 | 2019-12-10 | 朱金义 | Multi-degree-of-freedom industrial mechanical arm |
| CN110549365B (en) * | 2019-09-04 | 2021-06-04 | 浙江奥煌工贸有限公司 | Multi-degree-of-freedom industrial mechanical arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101890722B (en) | 2012-06-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101890722B (en) | Novel three-degree-of-freedom (three-DOF) mechanical claw | |
| CN102294690B (en) | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking | |
| CN103072142B (en) | Space rope catching and locking device | |
| CN107444101B (en) | A kind of unmanned platform of all-wheel steering by In-wheel motor driving | |
| EP2610173B1 (en) | Fixed-pitch coaxial contra-rotating helicopter | |
| CN104669275A (en) | Intelligent explosive ordnance disposal robot | |
| CN105416428A (en) | Spherical robot with in-situ rotation function carried with control moment gyro | |
| CN105857593A (en) | Four-rotor multipurpose flying robot | |
| CN108556577B (en) | Air-ground dual-purpose spherical robot | |
| EP3369653B1 (en) | Hinge mechanism for a weight-shifting coaxial helicopter | |
| CN111687821A (en) | Rotary parallel flying mechanical arm system and expected rotation angle calculating method | |
| CN103273477A (en) | Mobile robot capable of jumping | |
| CN108032919A (en) | A kind of hopping robot with posture balancing adjusting mechanism | |
| CN106081090A (en) | Flex-wing controllable platform during long boat | |
| CN108248885A (en) | A kind of unmanned plane landing intelligent docking device with shock-absorbing function | |
| CN105196288A (en) | Blindage vehicle capable of achieving active explosion removal | |
| CN206679256U (en) | Flight mechanical arm and UAS | |
| CN108706095A (en) | A kind of miniature multi-rotor unmanned aerial vehicle with anticollision device, collision-prevention device of applicable raceway groove inspection | |
| CN205843490U (en) | Load bearing seat and use the teleoperator of this load bearing seat | |
| CN106143939B (en) | A kind of intelligent docking robot for unmanned plane landing | |
| CN209665386U (en) | Robot moving platform structure under a kind of high nuclear radiation environment | |
| US20200130836A1 (en) | Remotely Actuated Modular Systems Mount | |
| CN107438748A (en) | Gun turret and the remote-controlled robot for carrying the gun turret | |
| CN107902002A (en) | One kind combination movable robot with wheel legs | |
| Tsukagoshi et al. | Aerial manipulator aimed for door opening mission |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120606 |