CN103406915B - A kind of chuck type autonomous more changing device fast of space manipulator end-effector - Google Patents
A kind of chuck type autonomous more changing device fast of space manipulator end-effector Download PDFInfo
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- CN103406915B CN103406915B CN201310303689.0A CN201310303689A CN103406915B CN 103406915 B CN103406915 B CN 103406915B CN 201310303689 A CN201310303689 A CN 201310303689A CN 103406915 B CN103406915 B CN 103406915B
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Abstract
The chuck type of space manipulator end-effector is an autonomous more changing device fast, primarily of three part composition such as driving disc spacing pressing, driven disc and tool box.Tool box is used for the fixing of driven disc, and drives the chuck on driving disc spacing pressing to rotate.In chuck rotation process, complete locking and the unblock of active and passive dish, to realize the autonomous replacing of end-effector.In addition, driving disc spacing pressing has cylinder convex in increase the coupling stiffness with driven disc.Three part collaborative works, form whole autonomous more changing device.The present invention is intended to serve service field in-orbit, the replacing of various end-effector when completing multitask for mechanical arm, compared with prior art has that structure is simple, volume is little, quality is light, coupling stiffness is large; Docking operation is simple, reliable, quick; The advantage such as versatility, extensibility.
Description
Technical field
The present invention is intended to serve service field in-orbit, relate to a kind of more changing device of space manipulator end-effector, be applicable to the fast autonomous of end-effector change, enhanced machine mechanical arm to the adaptivity of object run object, the practical application request of meeting spatial mechanical arm multi-job operation.
Technical background
Space manipulator is in-orbit in service process, and the diversity of operand determines the diversity of operation task.In order to meet the demand of many complex tasks, end-effector often integrates several functions (as parallel crawl, envelope capture, unload and assemble specific bolt etc.), causes the design of system very complicated, greatly reduces the reliability of Space Facilities.Therefore, another scheme reducing system complexity is exactly simplicity of design, reliable multiple single function end-effector, and changes according to different mission requirements in good time, and the autonomous device changing end-effector arises at the historic moment.
In recent years, along with the increase of demand and going deep into of research, there is the autonomous more changing device of various different end-effector both at home and abroad.Mainly contain piston type, crank disc type, the autonomous more changing device of screw rod pin.
The autonomous more changing device of piston type, its core apparatus is an air rammer, and air rammer coordinates steel ball to realize the locking of active and passive port, and frame for movement is simple, reliable, change fast.But space power is limited, pneumatic actuation can shorten the service life of spacecraft greatly.
The autonomous more changing device of crank disc type, its core apparatus for rotating koji tray and wedge shape locking bolt, rely on wedge shape locking bolt carry out initiatively with the locking of passive port.Koji tray is by DC motor Driver, and volume is little, quality is light, but koji tray thickness is little, wedge shape locking bolt number is few, causes that the integrated connection rigidity of device is little, reliability reduces.
The autonomous more changing device of screw rod pin, its core apparatus is that spring is promoted, and adopts spring to promote passive locking, is initiatively unlocked by electric motor driven screw pin, have the advantages such as main passive compliance combines, error is little.But only rely on a spring to promote to lock, cause initiatively very little with the coupling stiffness of passive port, and frame for movement and Renewal process complexity.
Summary of the invention
Object of the present invention: overcome the deficiencies in the prior art, structure is simple, volume is little, quality is light, coupling stiffness is large to provide one to have; Docking operation is simple, reliable, quick; The autonomous more changing device of end-effector of the feature such as versatility, extensibility, changes the actual demand of multiple end-effector to meet mechanical arm in service in-orbit.
Technical solution of the present invention: a kind of chuck type autonomous more changing device fast of space manipulator end-effector, comprises driving disc spacing pressing 1, driven disc 2, tool box 3; Described driving disc spacing pressing 1 comprises driving disc spacing pressing main body 101, chuck 102, chuck limited post 103, the convex dish of cylinder 104, cylinder convex 105 and electric plug connector 106; Chuck 102 has limit spring pin-and-hole 107, card column locking hole 108, card column patchhole 109, chuck stopper slot 110; Chuck limited post 103 is arranged in driving disc spacing pressing main body 101, inserts in chuck stopper slot 110, and can slide along groove; Chuck 102 is installed in driving disc spacing pressing main body 101 by the convex dish 104 of cylinder, and chuck 102 can around center rotating, and chuck limited post 103 provides rotary spacing; Described driven disc 2 comprises driven disc main body 201, limit spring pin 202, electrical connector socket 203 and card column 204; Driven disc main body 201 has holddown groove 205, the convex mating holes 206 of cylinder; Driven disc 2 is undertaken being connected by the chuck 102 on card column 204, driving disc spacing pressing 1, cylinder convex 105 and driving disc spacing pressing 1 and locks; Limit spring pin 202 corresponding limit spring pin-and-hole 107 for chuck 102 provide locking spacing, cylinder convex mating holes 206 Correspondent cy linder convex 105 increases coupling stiffness for driving disc spacing pressing 1 and driven disc 2, electric plug connector 106 and electrical equipment gang socket 203 are for electrical connection, card column patchhole 109 is for the insertion of card column 204, and the plug that card column locking hole 108 realizes card column 204 is spacing; Described tool box 3 comprises tool box substrate 301, chuck drive plate 302, drive plate fixed leg 303, drive plate limited block 304, motor 305, spring turn round 306 and gear 312; Described tool box substrate 301 has front arc groove 307, rear arc groove 308 and U-shaped well 310, the corresponding holddown groove 205 of U-shaped well 310 fixes driven disc 2, front arc groove 307 is deposited not by the driven disc 2 used, and rear arc groove 308 deposits the driven disc 2 in Renewal process; Chuck drive plate 302 has chuck arbor groove 309, tooth bar 311, the pommel of the corresponding chuck 102 of chuck arbor groove 309, in Renewal process, chuck arbor inserts in chuck arbor groove 309, and tooth bar 311 and gear 312 engage, and realize being in transmission connection; Motor 305 is connected with chuck drive plate 302 by gear 312, tooth bar 311, is moved back and forth by gear 312 and tooth bar 311 drive chuck drive plate 302, and then drives chuck 102 forward and backward, realizes the autonomous replacing of end-effector; Tool box 3 is turned round 306 fixed by driven disc 2 by holddown groove 205, U-shaped well 310, spring.
In described chuck 102 rotating forward process, three card columns 204 are inserted in corresponding three card column locking holes 108 respectively, meanwhile, three wedge shape limit spring pins 202 insert on chuck 102 in corresponding three limit spring pin-and-holes 107, respectively to realize the locking of driving disc spacing pressing 1 and driven disc 2.
Described chuck 102 is by rotating backward, three card columns 204 are driven to insert in corresponding three card column patchholes 109 respectively, meanwhile, three limit spring pins 202 are squeezed out, to realize the unblock of driving disc spacing pressing 1 and driven disc 2 from corresponding three limit spring pin-and-holes 107.
When described driving disc spacing pressing 1 and driven disc 2 dock, eight cylinders convex 105 on driving disc spacing pressing 1 insert in the convex mating holes 206 of eight cylinders corresponding on driven disc 2 respectively to increase coupling stiffness.
Principle of the present invention: the process that space manipulator changes end-effector can be divided into two stages of loading and unloading usually.Mechanical arm autonomous more changing device when loading end-effector can experience docking and locking process, can experience releasing process when unloading end-effector.What autonomous more changing device docking operation of the present invention adopted is chuck, card columnar structures and cylinder male structure.Card column is inserted card column and is inserted in the hole, and in the convex mating holes of cylinder convex insertion cylinder, has both completed the docking of driving disc spacing pressing and driven disc, and has turn increased the coupling stiffness of the two.The locking and unlocking process of autonomous more changing device is independently completed by tool box, motor is by gear and the motion of rack drives chuck drive plate, and then drive chuck to rotate, card column is driven to rotate to card column locking hole, wedge shape limit spring pin inserts in limit spring pin-and-hole, completes the locking of driving disc spacing pressing and driven disc.When unlocking, motor by gear and the counter motion of rack drives chuck drive plate, and then drives chuck to rotate backward, and drives card column to rotate to card column patchhole, and limit spring pin is squeezed out from limit spring pin-and-hole, completes the unblock of driving disc spacing pressing and driven disc.
Motor is installed in tool box and had both ensure that the volume of active and passive dish was little, quality light by the present invention, can rotate by drive chuck again, ensure that the independence that end-effector is changed.Driving disc spacing pressing and driven disc adopt the docking structure of card column, chuck type, and card column is inserted with withdrawal process simple, and the rotation of chuck is independently completed by tool box, ensure that docking operation is simple, lock and unlock fast.In addition, cylinder male structure increases contact and the lifting surface area of driving disc spacing pressing and driven disc, ensure that coupling stiffness is large.Whole device adopts modularized design, ensure that versatility and extensibility.
In sum, the present invention compared with prior art advantage be:
(1) motor is put in tool box by the present invention, ensure that active and passive disk body amasss little, quality light, and possesses autonomous replacing ability; Overcome the shortcoming that piston type is limited at space power, the life-span is short.
(2) the present invention uses the structural design of chuck, card column type, and active and passive dish structure is simple, ensure that docking operation is simple, quick; Overcome the shortcoming of screw rod pin frame for movement and Renewal process complexity.
(3) the present invention adopts cylinder male structure to design, and ensure that active and passive dish coupling stiffness is large; Overcome crank disc type and the little shortcoming of screw rod pin coupling stiffness.
(4) active and passive dish of the present invention adopts modularized design, can expand multiple driven disc, ensure that versatility and the extensibility of more changing device.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is overall top view of the present invention;
Fig. 3 a is the front view under driving disc spacing pressing of the present invention and driven disc connection status;
Fig. 3 b is the profile under driving disc spacing pressing of the present invention and driven disc connection status;
Fig. 3 c is the top view under driving disc spacing pressing of the present invention and driven disc connection status;
Fig. 4 is the structural representation of driving disc spacing pressing part of the present invention;
Fig. 5 is the structural representation of driven disc part of the present invention;
Fig. 6 is the schematic diagram of autonomous replacing device unloading end-effector of the present invention;
Fig. 7 is the schematic diagram that autonomous more changing device of the present invention loads end-effector; Note: structure identical in accompanying drawing only marks once, but can exist multiple; As 105 have 8,107 have 3, and 108 have 3, and 109 have 3, and 202 have 3, and 204 have 3, and 303 have 2, and 304 have 2, and 306 have 3 right, and 307 have 3, and 308 have 3, and 309 have 3, and 310 have 3.
Concrete 1 executes mode
The quick autonomous more changing device of chuck mode being space manipulator end-effector of the present invention as Fig. 1 comprises: driving disc spacing pressing 1, driven disc 2, tool box 3.
Driving disc spacing pressing 1, as shown in Figure 4, comprises that driving disc spacing pressing main body 101, chuck 102, chuck limited post 103, the convex dish of cylinder 104, cylinder are convex 105, electric plug connector 106; Described chuck 102 has limit spring pin-and-hole 107, card column locking hole 108, card column patchhole 109, chuck stopper slot 110; Chuck limited post 103 is arranged in driving disc spacing pressing main body 101, inserts in chuck stopper slot 110, and can slide along groove; Chuck 102 is installed in driving disc spacing pressing main body 101 by the convex dish 104 of cylinder, and can around center rotating, and chuck limited post 103 provides rotary spacing.
Driven disc 2, as shown in Figure 5, comprises driven disc main body 201, limit spring pin 202, electrical connector socket 203, card column 204; Described driven disc main body 201 has holddown groove 205, the convex mating holes 206 of cylinder; As shown in Fig. 3 a, Fig. 3 b and Fig. 3 c, driven disc 2 is undertaken being connected by the chuck 102 on card column 204, driving disc spacing pressing 1, cylinder convex 105 and driving disc spacing pressing 1 and locks; Limit spring pin 202 corresponding limit spring pin-and-hole 107 for chuck 102 provide locking spacing, cylinder convex mating holes 206 Correspondent cy linder convex 105 increases coupling stiffness for driving disc spacing pressing 1 and driven disc 2, electric plug connector 106 and electrical equipment gang socket 203 are for electrical connection, card column patchhole 109 is for the insertion of card column 204, and the plug that card column locking hole 108 realizes card column 204 is spacing.
As shown in Fig. 1,2, tool box 3 comprises tool box substrate 301, chuck drive plate 302, drive plate fixed leg 303, drive plate limited block 304, motor 305, spring turn round 306, gear 312; Described tool box substrate 301 has front arc groove 307, rear arc groove 308, U-shaped well 310, the corresponding holddown groove 205 of U-shaped well 310 fixes driven disc 2, front arc groove 307 is deposited not by the driven disc 2 used, and rear arc groove 308 deposits the driven disc 2 in Renewal process; Chuck drive plate 302 has chuck arbor groove 309, tooth bar 311, the pommel of the corresponding chuck 102 of chuck arbor groove 309, in Renewal process, chuck arbor inserts in chuck arbor groove 309, and tooth bar 311 and gear 312 engage, and realize being in transmission connection; Motor 305 is connected with chuck drive plate 302 by gear 312, tooth bar 311, is moved back and forth by gear 312 and tooth bar 311 drive chuck drive plate 302, and then drives chuck 102 forward and backward, realizes the autonomous replacing of end-effector; Tool box 3 is turned round 306 fixed by driven disc 2 by holddown groove 205, U-shaped well 310, spring.
The process that mechanical arm independently changes end-effector is divided into two stages: mechanical arm uses the stage of autonomous replacing device unloading end-effector and loads the stage of end-effector.
In the stage of autonomous replacing device unloading end-effector: first, mechanical arm is taken end-effector and is completed and the aiming at of U-type groove on tool box 310, as shown in Figure 6.Subsequently, mechanical arm carries end-effector and enters in rear arc groove 308, when mechanical arm detects that chuck arbor and chuck arbor groove 309 are on time, motor 305 on tool box is moved by gear 312 and tooth bar 311 drive chuck drive plate 302, and then drive chuck 102 to rotate, three card columns 204 are rotated in three corresponding card column patchholes 109, and three spring retainer pins 202 are squeezed out from three spring retainer pin-and-holes 107, realize the unblock of driving disc spacing pressing 1 and driven disc 2.Driven disc is placed in front arc groove 307 by mechanical arm, completes the unloading of mechanical arm and end-effector 4.
Autonomous more changing device loads the stage of end-effector: as shown in Figure 7, mechanical arm is taken driving disc spacing pressing 1 and is completed with after the aiming at of driven disc 2, three card columns 204 are inserted in three corresponding card column patchholes 109, and eight cylinders convex 105 insert in the convex mating holes 206 of eight cylinders corresponding on driven disc 2 respectively.After mechanical arm drives driven disc 2 to move to rear arc groove 308, motor 305 on tool box is by gear 312 and the counter motion of tooth bar 311 drive chuck drive plate 302, and then drive chuck 102 to rotate backward, three card columns 204 are made to rotate in three card column locking holes 108, three spring retainer pins 202 insert in corresponding three spring retainer pin-and-holes 107 respectively, realize the locking of driving disc spacing pressing 1 and driven disc 2.Manipulator motion, departs from tool box, completes the loading of mechanical arm and end-effector 4.
In like manner, mechanical arm can also dock and then load end-effector 6 and 8 with driven disc 5 and 7, to complete the replacing to different end-effector by driving disc spacing pressing 1.
The content be not described in detail in description of the present invention belongs to the known prior art of professional and technical personnel in the field.
Claims (4)
1. the chuck type of a space manipulator end-effector autonomous more changing device fast, is characterized in that comprising driving disc spacing pressing (1), driven disc (2), tool box (3); Described driving disc spacing pressing (1) comprises driving disc spacing pressing main body (101), chuck (102), chuck limited post (103), the convex dish of cylinder (104), cylinder convex (105) and electric plug connector (106); Chuck (102) has limit spring pin-and-hole (107), card column locking hole (108), card column patchhole (109), chuck stopper slot (110); Chuck limited post (103) is arranged in driving disc spacing pressing main body (101), inserts in chuck stopper slot (110), and can slide along groove; Chuck (102) is installed in driving disc spacing pressing main body (101) by the convex dish of cylinder (104), and chuck (102) can around center rotating, and chuck limited post (103) provides rotary spacing; Described driven disc (2) comprises driven disc main body (201), limit spring pin (202), electrical connector socket (203) and card column (204); Driven disc main body (201) has holddown groove (205), the convex mating holes of cylinder (206); Driven disc (2) is undertaken being connected by the chuck (102) on card column (204), driving disc spacing pressing (1), cylinder convex (105) and driving disc spacing pressing (1) and locks; Limit spring pin (202) corresponding limit spring pin-and-hole (107) for chuck (102) provide locking spacing, the convex mating holes of cylinder (206) Correspondent cy linder convex (105) is driving disc spacing pressing (1) and driven disc (2) increase coupling stiffness, electric plug connector (106) and electrical equipment gang socket (203) are for electrical connection, card column patchhole (109) is for the insertion of card column (204), and the plug that card column locking hole (108) realizes card column (204) is spacing; Described tool box (3) comprises tool box substrate (301), chuck drive plate (302), drive plate fixed leg (303), drive plate limited block (304), motor (305), spring turn round (306) and gear (312); Described tool box substrate (301) has front arc groove (307), rear arc groove (308) and U-shaped well (310), U-shaped well (310) corresponding holddown groove (205) fixes driven disc (2), front arc groove (307) is deposited not by the driven disc (2) used, and rear arc groove (308) deposits the driven disc (2) in Renewal process; Chuck drive plate (302) has chuck arbor groove (309), tooth bar (311), the pommel of chuck arbor groove (309) corresponding chuck (102), in Renewal process, chuck arbor inserts in chuck arbor groove (309), tooth bar (311) and gear (312) engagement, realize being in transmission connection; Motor (305) is connected with chuck drive plate (302) by gear (312), tooth bar (311), moved back and forth by gear (312) and tooth bar (311) drive chuck drive plate (302), and then drive chuck (102) forward and backward, realize the autonomous replacing of end-effector; Tool box (3) is turned round (306) fixed by driven disc (2) by holddown groove (205), U-shaped well (310), spring;
In described chuck (102) rotating forward process, multiple card column (204) is made to insert in corresponding multiple card column locking hole (108) respectively, simultaneously, multiple wedge shape limit spring pin (202) is inserted in the upper corresponding multiple limit spring pin-and-hole (107) of chuck (102) respectively, to realize the locking of driving disc spacing pressing (1) and driven disc (2);
Described chuck (102) is by rotating backward, multiple card column (204) is driven to insert in corresponding multiple card column patchhole (109) respectively, simultaneously, multiple limit spring pin (202) is squeezed out, respectively to realize the unblock of driving disc spacing pressing (1) and driven disc (2) from corresponding multiple limit spring pin-and-hole (107);
When described driving disc spacing pressing (1) and driven disc (2) docking, the multiple cylinders on driving disc spacing pressing (1) convex (105) insert in the upper corresponding convex mating holes of multiple cylinders (206) of driven disc (2) respectively;
What docking operation adopted is chuck, card columnar structures and cylinder male structure, and card column is inserted card column and inserted in the hole, and in the convex mating holes of cylinder convex insertion cylinder, has both completed the docking of driving disc spacing pressing and driven disc, and has turn increased the coupling stiffness of the two; The locking and unlocking process of autonomous more changing device is independently completed by tool box, motor is by gear and the motion of rack drives chuck drive plate, and then drive chuck to rotate, card column is driven to rotate to card column locking hole, wedge shape limit spring pin inserts in limit spring pin-and-hole, completes the locking of driving disc spacing pressing and driven disc; During unblock, motor by gear and the counter motion of rack drives chuck drive plate, and then drives chuck to rotate backward, and drives card column to rotate to card column patchhole, and is squeezed out from limit spring pin-and-hole by limit spring pin, complete the unblock of driving disc spacing pressing and driven disc.
2. the chuck type of space manipulator end-effector according to claim 1 autonomous more changing device fast, it is characterized in that: in described chuck (102) rotating forward process, three card columns (204) are inserted in corresponding three card column locking holes (108) respectively, simultaneously, three wedge shape limit spring pins (202) are inserted in upper corresponding three the limit spring pin-and-holes (107) of chuck (102), to realize the locking of driving disc spacing pressing (1) and driven disc (2) respectively.
3. the chuck type of space manipulator end-effector according to claim 1 autonomous more changing device fast, it is characterized in that: described chuck (102) is by rotating backward, three card columns (204) are driven to insert in corresponding three card column patchholes (109) respectively, simultaneously, three limit spring pins (202) are squeezed out, to realize the unblock of driving disc spacing pressing (1) and driven disc (2) from corresponding three limit spring pin-and-holes (107).
4. the chuck type of space manipulator end-effector according to claim 1 autonomous more changing device fast, it is characterized in that: when described driving disc spacing pressing (1) and driven disc (2) docking, eight cylinders convex (105) on driving disc spacing pressing (1) insert in upper eight the corresponding convex mating holes of cylinder (206) of driven disc (2) respectively to increase coupling stiffness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310303689.0A CN103406915B (en) | 2013-07-18 | 2013-07-18 | A kind of chuck type autonomous more changing device fast of space manipulator end-effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310303689.0A CN103406915B (en) | 2013-07-18 | 2013-07-18 | A kind of chuck type autonomous more changing device fast of space manipulator end-effector |
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| Publication Number | Publication Date |
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| CN103406915A CN103406915A (en) | 2013-11-27 |
| CN103406915B true CN103406915B (en) | 2016-02-24 |
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| CN201310303689.0A Expired - Fee Related CN103406915B (en) | 2013-07-18 | 2013-07-18 | A kind of chuck type autonomous more changing device fast of space manipulator end-effector |
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