CN103495982B - Self-adaptive probe type grabbing mechanism of space ontrack service robot - Google Patents
Self-adaptive probe type grabbing mechanism of space ontrack service robot Download PDFInfo
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- CN103495982B CN103495982B CN201310446542.7A CN201310446542A CN103495982B CN 103495982 B CN103495982 B CN 103495982B CN 201310446542 A CN201310446542 A CN 201310446542A CN 103495982 B CN103495982 B CN 103495982B
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Abstract
The invention provides a self-adaptive probe type grabbing mechanism of a space ontrack service robot. The self-adaptive probe type grabbing mechanism of the space ontrack service robot is mainly composed of a probe body, a probe drive mechanism and a thread expansion mechanism. The probe body supports the whole mechanism and carries out the rotating movement of a probe head, the probe drive mechanism provides rotating and grabbing power for the probe head, the thread expansion mechanism is responsible for changing the equivalent thread diameters of the probe head to achieve the grabbing of objects with bolt holes of different diameters, and the probe body, the probe drive mechanism and the thread expansion mechanism work corporately and form the whole probe type grabbing mechanism. The self-adaptive probe type grabbing mechanism of the space ontrack service robot aims to serve in the field of space ontrack services, and is enabled to adapt to the demands of grabbing tasks of various objects through the characteristics. Compared with the prior art, the self-adaptive probe type grabbing mechanism of the space ontrack service robot has the advantages of being simple in structure, small in size, low in weight, simple in grabbing process, reliable and strong in adaptability.
Description
Technical field
The present invention is intended to serve service field in-orbit, relate to a kind of space manipulator end-effector, be applicable to capture the target object with screwed hole feature, enhanced machine mechanical arm to the adaptivity of object run object, the practical application request of meeting spatial mechanical arm multi-job operation.
Background technology
Space manipulator is in-orbit in service process, and the diversity of operand determines the diversity of operation task.Among this many-sided task, a generic task is had namely to capture target, so corresponding hole grabber need be studied by the poroid feature captured on target object.And the working diameter of typically hole grabber is fixing, for the hole of different-diameter, need to use different hole grabbers.In this respect, have studied various different hole grasping mechanism both at home and abroad, comprise bolt hole gripping-type, special circular hole gripping-type and interior gripping finger claw etc.
The core of bolt hole gripping-type is screwed syringe needle and the driving mechanism driving syringe needle to rotate.Its frame for movement is simple, reliable, but screw thread on its syringe needle and syringe needle are the relations that is connected, and therefore the syringe needle diameter of thread is immutable, makes the adaptive faculty of bolt hole gripping-type not high.
The core of special circular hole gripping-type is the thread spindle of its inside and axle center slide block, the grasping mechanism of driving thereof.It captures, and strength is large, crawl is reliable, but it can only capture the circular hole that grabber is customized for this reason, and therefore its versatility is not high.
The core of interior gripping finger claw is parallel paw and driving mechanism thereof.Its capture strength comparatively large, capture reliable, but due to its original functional localization be use as paw, and there is motion, therefore design size is comparatively large, can not capture the hole that diameter is less, significantly limit its application in the crawl of hole.
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; Crawl process is simple, reliable, quick; The probe-type grasping mechanism of the features such as versatility, adaptivity are strong, utilizes single end-effector to perform the demand of multitask to meet mechanical arm in service in-orbit.
The technical solution used in the present invention is: a kind of On-orbit servicing robot self adaptation probe-type grasping mechanism, comprise: probe matrix, probe driving mechanism and screw thread extension mechanism, described probe matrix, comprises motor cover A lobe, motor cover B lobe, bearing turntable, syringe needle matrix; Described motor cover A lobe and motor overlap on B lobe and have motor mounting groove, motor locating slot, motor locating hole, sliding bearing groove, and are fixed by bolt hole; Described bearing turntable has sliding axle, and is installed in sliding bearing groove; Described syringe needle matrix has sinking circular hole, through hole first, through hole second, the thin face of cylinder; Syringe needle matrix is connected with bearing turntable by bolt; Described probe driving mechanism, comprises drive motors and reduction box, motor fixed disk, dog screw; Described drive motors and reduction box thereof are installed on motor cover A lobe and motor overlaps in the motor mounting groove in B lobe, and are fixed by screw with the retaining thread hole on motor fixed disk; Described motor fixed disk has retaining thread hole and positioning spiro pit; Motor fixed disk is installed on motor cover A lobe and motor overlaps in the motor locating slot of B lobe, and the positioning spiro pit on it and motor locating hole are locked by dog screw; Described screw thread extension mechanism, comprises disc type electric machine and reduction box, thread spindle, axle center slide block, screw thread A lobe, screw thread B lobe; Described disc type electric machine and reduction box thereof are arranged in the sinking circular hole of syringe needle matrix; Described thread spindle has motor axis hole, screw thread; Thread spindle is installed in the through hole first of syringe needle matrix, and its motor axis hole is connected with the motor shaft of disc type electric machine and reduction box thereof; Described axle center slide block has screwed hole, through hole third; Axle center slide block is installed in the through hole first of syringe needle matrix, the threaded engagement of screwed hole and thread spindle; Described screw thread A lobe and screw thread B lobe have inner cylinder face, locating dowel, slide post, external screw thread; Screw thread A lobe and screw thread B lobe are arranged on syringe needle matrix, and its inner cylinder face coordinates with the thin face of cylinder of syringe needle matrix but can freely depart from, and locating dowel coordinates with the through hole second of syringe needle matrix, and slide post coordinates with the through hole third of axle center slide block.
Principle of the present invention: in this patent, drives the mode captured comparatively simple.Drive motors, through reduction box Driving Torque, drives sliding bearing turntable to rotate.And needle portion and bearing turntable are connected, therefore needle portion rotates thereupon.And needle portion enters bolt hole in rotary course simultaneously, the screw-internal thread fit of the external screw thread in needle portion and object bolt hole, thus capture object, its principle is similar to the process of twisting screw, bolt in life.In addition, the self-adaptative adjustment of equivalent screw thread is the key realizing grasping mechanism adaptivity, and the extended operation of screw thread is realized by screw thread extension mechanism.Screw thread extension mechanism adopts disc type electric machine to drive thread spindle to rotate by reduction box, and utilizes the threaded engagement relation of thread spindle and axle center slide block, the rotation of thread spindle is become the translation vertically of axle center slide block.Meanwhile, axle center slide block and screw thread lobe are designed to the mode of slide link, therefore axle center slide block can drive screw thread lobe to move along direction perpendicular to axial direction, thus achieves the adjustment of screw thread equivalent diameter expansion contraction.
In sum, the present invention compared with prior art advantage be:
(1), crawl driving mechanism design of the present invention adopts the mode of bearing turntable and sliding bearing groove, the object bolt hole that diameter is less can be captured, crawl process is simple, reliable, overcomes the shortcoming that special circular hole grabber and interior crawl paw can not capture smaller diameter bore, crawl process complexity.
(2), the present invention adopts the design of equivalent diameter of thread self adaptation extension mechanism, the axle center slide block of mechanism and screw thread lobe are designed to the mode of slide link, realize the self-adaptative adjustment that equivalent diameter of thread expansion is shunk, overcome the shortcoming that bolt hole grabber can only capture single diameter screw hole.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 a is probe matrix 1 structural representation of the present invention;
Fig. 2 b is probe driving mechanism 2 structural representation of the present invention;
Fig. 2 c is screw thread extension mechanism 3 structural representation of the present invention;
Fig. 2 d is screw thread extension mechanism 3 axis slide block of the present invention 303 and the piecemeal schematic diagram of screw thread A lobe 304, screw thread B lobe 305;
Fig. 3 is the schematic diagram that the present invention carries out equivalent diameter of thread self-adaptative adjustment;
Fig. 4 is the schematic diagram that the present invention carries out bolt hole crawl.
Note: all represent symmetric parts with the mark of A, B letter in accompanying drawing, as motor cover A lobe and B lobe, screw thread A lobe and B lobe; With the feature then representing the different pattern of congeniality of first, second mark, as through hole first 111, through hole second 112, through hole the third 309.In addition, symmetrical feature in accompanying drawing or same characteristic features only to mark once, as motor cover A lobe 101 overlaps B lobe 102 with motor, there is symmetrical feature 105,106,107,108, axle center slide block 303 has symmetrical feature 309, and screw thread A lobe 304 and screw thread B lobe 305 have identical feature 310,311,312,313.In addition, what Fig. 2 d represented is, in order to ensure technological feasibility and assembly feasibility, when meeting Structural strength calls, screw thread A lobe, B lobe and these parts of axle center slide block are decomposed into several part when processing, each several part is processed alone, then becomes parts by Standards such as screw thread, screens hooks.
Detailed description of the invention
As Fig. 1, it is the 3 dimensional drawing of space manipulator self adaptation probe-type grasping mechanism of the present invention.This device comprises: probe matrix 1, probe driving mechanism 2 and screw thread extension mechanism 3 three part.
Described probe matrix 1 as shown in Figure 2 a, comprises motor cover A lobe 101, motor cover B lobe 102, bearing turntable 103, syringe needle matrix 104; Described probe driving mechanism 2 as shown in Figure 2 b, comprises drive motors and reduction box 201, motor fixed disk 202, dog screw 203; Described screw thread extension mechanism 3 as shown in Figure 2 c, comprises disc type electric machine and reduction box 301, thread spindle 302, axle center slide block 303, screw thread A lobe 304, screw thread B lobe 305;
Annexation between each building block is as described below: motor cover A lobe 101 overlaps B lobe 102 with motor to be fixed by bolt hole; Bearing turntable 103 is installed on motor cover A lobe 101 and overlaps in the sliding bearing groove 108 of B lobe 102 with motor; Syringe needle matrix 104 is connected with bearing turntable 103 by bolt; Drive motors and reduction box 201 thereof are installed on motor cover A lobe 201 and overlap in the motor mounting groove 105 in B lobe 202 with motor, and are fixed by screw with the retaining thread hole 204 on motor fixed disk 202; Motor fixed disk 202 is installed on motor cover A lobe 101 and overlaps in the motor locating slot 106 of B lobe 102 with motor, and the positioning spiro pit 205 on it is locked by dog screw 203 with motor locating hole 107; Disc type electric machine and reduction box 301 thereof are arranged in the sinking circular hole 110 of syringe needle matrix 104; Thread spindle 302 is installed in the through hole first 111 of syringe needle matrix 104, and its motor axis hole is connected with the motor shaft of disc type electric machine and reduction box 301 thereof; Axle center slide block 303 is installed in the through hole first 111 of syringe needle matrix 104, and its upper screwed hole 308 coordinates with the screw thread 307 of thread spindle 302; Screw thread A lobe 304 and screw thread B lobe 305 are arranged on syringe needle matrix 104, its inner cylinder face 310 coordinates with the thin face of cylinder 113 of syringe needle matrix 104 but can depart from, locating dowel 311 coordinates with the through hole second 112 of syringe needle matrix 104, and the through hole of slide post 312 and axle center slide block 303 the third 309 coordinates.
The process using probe-type grasping mechanism to capture target is divided into two stages: the stage of equivalent diameter of thread self-adaptative adjustment and the stage of crawl target bolt hole.
The stage of equivalence diameter of thread self-adaptative adjustment: as shown in Figure 3, self-adaptative adjustment is the operation making the probe-type grasping mechanism equivalence diameter of thread equal target diameter of bolt hole, thread spindle rotary motion is driven by disc type electric machine, and then drive axle center slide block axially-movable, the screw thread lobe be connected with axle center slide block is made correspondingly to expand or shrink, regulate the equivalent diameter of thread of syringe needle, and make it the diameter equaling target bolt hole.
Probe-type grasping mechanism captures the stage of target bolt hole: as shown in Figure 4, after the self-adaptative adjustment completing screw thread equivalent diameter, starts to capture motion.Drive motors makes bearing turntable rotate, and drives syringe needle matrix and whole screw thread extension mechanism to rotate simultaneously.Meanwhile, probe-type grasping mechanism entirety carries out the feed motion of conformability vertically, makes needle portion rotate into object bolt hole, the internal thread generation matching relationship of the external screw thread in needle portion and object bolt hole, and links together.When needle portion arrives stop bit, rotate and stop, electric machine rotation locking position, completes the grasping manipulation to target bolt hole.
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 (3)
1. a self adaptation probe-type grasping mechanism for On-orbit servicing robot, is characterized in that, comprising: probe matrix (1), probe driving mechanism (2) and screw thread extension mechanism (3); Described probe matrix (1) comprises motor cover A lobe (101), motor cover B lobe (102), bearing turntable (103), syringe needle matrix (104); Described motor cover A lobe (101) is overlapped on B lobe (102) with motor and is had motor mounting groove (105), motor locating slot (106), motor locating hole (107), sliding bearing groove (108), and is fixed by bolt hole; Described bearing turntable (103) has sliding axle (109), and is installed in sliding bearing groove (108); Described syringe needle matrix (104) has sinking circular hole (110), through hole first (111), through hole second (112), the thin face of cylinder (113); Syringe needle matrix (104) is connected with bearing turntable (103) by bolt; Described probe driving mechanism (2) comprises drive motors and reduction box (201), motor fixed disk (202), dog screw (203); Described drive motors and reduction box (201) thereof are installed on motor cover A lobe (101) and overlap in the motor mounting groove (105) in B lobe (102) with motor, and are fixed by screw with the retaining thread hole (204) on motor fixed disk (202); Described motor fixed disk (202) has retaining thread hole (204) and positioning spiro pit (205); Motor fixed disk (202) is installed on motor cover A lobe (101) and overlaps in the motor locating slot (106) of B lobe (102) with motor, and the positioning spiro pit (205) on it and motor locating hole (107) are locked by dog screw (203); Described screw thread extension mechanism (3) comprises disc type electric machine and reduction box (301), thread spindle (302), axle center slide block (303), screw thread A lobe (304), screw thread B lobe (305); Described disc type electric machine and reduction box (301) thereof are arranged in the sinking circular hole (110) of syringe needle matrix (104); Described thread spindle (302) has motor axis hole (306), screw thread (307); Thread spindle (302) is installed in the through hole first (111) of syringe needle matrix (104), and its motor axis hole (306) is connected with the motor shaft of disc type electric machine and reduction box (301) thereof; Described axle center slide block (303) has screwed hole (308), through hole third (309); Axle center slide block (303) is installed in the through hole first (111) of syringe needle matrix (104), and its screwed hole (308) coordinates with the screw thread (307) of thread spindle (302); Described screw thread A lobe (304) and screw thread B lobe (305) have inner cylinder face (310), locating dowel (311), slide post (312), external screw thread (313); Screw thread A lobe (304) and screw thread B lobe (305) are arranged on syringe needle matrix (104), its inner cylinder face (310) coordinates with the thin face of cylinder (113) of syringe needle matrix (104) but can freely depart from, locating dowel (311) coordinates with the through hole second (112) of syringe needle matrix (104), and slide post (312) coordinates with the through hole third (309) of axle center slide block (303).
2. the self adaptation probe-type grasping mechanism of On-orbit servicing robot according to claim 1, it is characterized in that, in probe driving mechanism (2), described drive motors and reduction box (201) outputting power thereof, driving bearing turntable (103) rotates in sliding bearing groove (108), the syringe needle matrix (104) be connected with bearing turntable (103) is driven to rotate thus, and then drive needle portion integral-rotation, carry out crawl campaign.
3. the self adaptation probe-type grasping mechanism of On-orbit servicing robot according to claim 1, it is characterized in that, in described screw thread extension mechanism (3), described disc type electric machine and reduction box (301) thereof are by driving thread spindle (302) forward and reverse rotation, and drive axle center slide block (303) to carry out forward and reverse translational motion vertically by threaded engagement relation, and then by axle center slide block (303), syringe needle matrix (104) and screw thread A lobe (304), slide link relation between screw thread B lobe (305), spacing relation, screw thread A lobe (304) and screw thread B lobe (305) is driven to carry out expansion contractile motion, carry out the self-adaptative adjustment of the syringe needle equivalence diameter of thread, realize the function capturing different-diameter screwed hole object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310446542.7A CN103495982B (en) | 2013-09-25 | 2013-09-25 | Self-adaptive probe type grabbing mechanism of space ontrack service robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310446542.7A CN103495982B (en) | 2013-09-25 | 2013-09-25 | Self-adaptive probe type grabbing mechanism of space ontrack service robot |
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| Publication Number | Publication Date |
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| CN103495982A CN103495982A (en) | 2014-01-08 |
| CN103495982B true CN103495982B (en) | 2015-04-08 |
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| CN201310446542.7A Expired - Fee Related CN103495982B (en) | 2013-09-25 | 2013-09-25 | Self-adaptive probe type grabbing mechanism of space ontrack service robot |
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| CN110146445B (en) * | 2019-06-12 | 2020-04-14 | 北京航空航天大学 | Adhesion state self-detection device and method of variable-scale driving bionic dry adhesion mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102490181B (en) * | 2011-11-21 | 2014-04-23 | 哈尔滨工业大学 | Gripping mechanism for replacing spatial on-orbit modules |
| CN202807109U (en) * | 2012-08-06 | 2013-03-20 | 深圳航天东方红海特卫星有限公司 | Space target simulation system used for on-orbit service |
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Granted publication date: 20150408 Termination date: 20170925 |