CN103786162B - Easily extensible drive lacking rope bar truss-like mechanical paw - Google Patents
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- CN103786162B CN103786162B CN201410056414.6A CN201410056414A CN103786162B CN 103786162 B CN103786162 B CN 103786162B CN 201410056414 A CN201410056414 A CN 201410056414A CN 103786162 B CN103786162 B CN 103786162B
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Abstract
Easily extensible drive lacking rope bar truss-like mechanical paw, it relates to a kind of modular mechanical paw that can be used for capturing difformity target in space, to solve, traditional underactuatuated drive and SARAH paw weight are large, complex structure, the problem that shape adaptive capacity is poor, grasp force is little and SARAH paw is not easily expanded to the target object captured, and it comprises front end connection device, Gan Jian corner locating mechanism, end rope bar truss, rope, multiple locating dowel and multiple scalable modular rope bar truss; Described front end connection device comprises connecting plate, two rope axles, two limited posts, two installing plates, two rebounds and four gripper shoes, two gripper shoes vertical direction being positioned at the same side are equipped with rope axle, and the output shaft of motor vertically arranges and connects with corresponding rope axle; Each described scalable modular rope bar truss comprises two wiring axles, 12 frictional damping sheet metals and six connecting rods.The invention belongs to robot for space field.
Description
Technical field
The present invention relates to a kind of modular mechanical paw that can be used for capturing difformity target in space, belong to robot for space technical field.
Background technology
Along with the increase of mankind's space activity and the needs of survey of deep space task, robot for space plays more and more important effect, the tasks such as the carrying of space goods, Space configuration and maintainable technology on-orbit can be carried out as applied multiple degrees of freedom space manipulator, applied robot astronaut can replace astronaut to be engaged in extravehicular work, and application robots for celestial body's exploration can carry out unmanned probing to celestial body.Although current robot for space has, intelligence degree is high, to the advantage such as job task is adaptable, structure is comparatively complicated, and general each joint is active drive joint, causes that number of motors is many, weight is large, control system is complicated.On the other hand, space condition is very severe, high vacuum, the large temperature difference and strong radiation environment easily cause Mechatronic Systems fault, in general number of motors is more, system is more complicated, and its reliability is lower, and too much number of motors brings the huge consumption of the increase of quality and energy source and power, cause the increase of launch cost, affect the performance of payload capability.Therefore robot for space requires to have that quality is light, drive motors quantity is few, structure is simple, reliability high, and underactuatuated drive is by one of important development direction becoming space mechanism from now on.
Underactuatuated drive refers to that drive source number is less than a class mechanism of the institution freedom number of degrees, underactuatuated drive have driving element few, control simple, capture strong adaptability and the advantage such as large of exerting oneself.This mechanism has form adaptive ability, and when underactuated manipulator captures object, finger can envelope object completely, and can adapt to the shape of object.Most representational activation lacking mechanical paw is the under-actuated robot hand pawl SARAH that Canadian MDROBOTICS develops in the world, this paw is three finger manipulators with 10 frees degree, but only adopt two motors to drive, realize the self adaptation of unpowered joint to crawled shape by mechanical position limitation and spring.This kind of underactuatuated drive overcomes conventional robot pawl owing to have employed a large amount of series connection joints, cause complex structure, control difficulty, load capacity is poor, reliability is low, the problems such as weight is relative also heavier, alleviate the contradiction between the number of degrees of freedom of manipulator and type of drive, weight, flexibility, underactuatuated drive has huge application prospect at space field.
But SARAH paw still exists not easily to be expanded, complex structure, weight is large, poor to the shape adaptive capacity of the target object captured, the shortcoming that grasp force is little.
At present, the spacecraft run in space reaches more than 1000, a large amount of satellite needs to safeguard in-orbit, as part replacement, fuel adding, breakdown maintenance etc., owing to lacking maintaining robot or apparatus for work in-orbit, the lifetime of satellite is generally shorter, and average life span is 5 ~ 8 years, adopt acquisition equipment in-orbit to participate in spacecraft to serve in-orbit, will greatly extend the life-span of spacecraft.On the other hand, annual dead spacecraft is approximately 50 ~ 100, and owing to not reclaiming ability, these spacecrafts become space trash, threaten the safety of spacecraft and astronaut, adopt acquisition equipment in-orbit can reclaim discarded spacecraft.From military requirement, space war is close at hand, if can to catch, destroy enemy satellites, will occupy the initiative of space war, and therefore how capture space noncooperative target is the significant challenge of robot for space field face.Under the overall situation that this global space mechanical paw designing technique develops rapidly, the easily extensible drive lacking rope bar truss-like mechanical paw that development has independent intellectual property right is too impatient to wait.
Summary of the invention
The present invention is that traditional underactuatuated drive and SARAH paw weight are large in order to solve, complex structure, the problem that shape adaptive capacity is poor, grasp force is little and SARAH paw is not easily expanded to the target object captured, and then provides a kind of easily extensible drive lacking rope bar truss-like mechanical paw.
The present invention is the technical scheme taked that solves the problem: a kind of easily extensible drive lacking rope bar truss-like mechanical paw comprises front end connection device, Gan Jian corner locating mechanism, end rope bar truss, rope, multiple locating dowel and multiple scalable modular rope bar truss;
Described front end connection device comprises connecting plate, two rope axles, two limited posts, two installing plates, two rebounds and four gripper shoes, one end face of connecting plate is provided with four gripper shoes, four rectangular arranged in arrays of gripper shoe, two gripper shoes vertical direction being positioned at the same side are equipped with rope axle, the upper surface of connecting plate is provided with two installing plates, each installing plate is fixed with a motor, the output shaft of motor vertically arranges and connects with corresponding rope axle, a rebound is separately installed with between the upper end of two rope axles and between lower end, two rebounds are arranged in parallel,
Each described scalable modular rope bar truss comprises two wiring axles, 12 frictional damping sheet metals and six connecting rods, and two wiring axles are vertically arranged, six connecting rods are horizontally disposed, the end of each connecting rod is fixed with a frictional damping sheet metal, frictional damping sheet metal is sleeved on wiring axle, six connecting rods are connected with two wiring axles and surround hexahedron framework, six connecting rods can rotate around two wiring axles, four connecting rods of two rope axles and first scalable modular rope bar truss are rotationally connected, adjacent two scalable modular rope bar truss are connected as one by two wiring axles, two frictional damping sheet metal CONTACT WITH FRICTION on two connecting rods adjacent in horizontal direction, for providing frictional force between bar, vertical direction is positioned at adjacent two connecting rods of the same side by Gan Jian corner locating mechanism and locating dowel rotation-limited, Gan Jian corner locating mechanism comprises limiting plate and location-plate, the lateral surface of the connecting rod of the upper and lower of one of them scalable modular rope bar truss is all fixed with limiting plate, the lateral surface of the connecting rod of the upper and lower of another one scalable modular rope bar truss is all fixed with location-plate, limiting plate and location-plate are equipped with, scalable modular rope bar truss is identical with end rope bar truss structure, last scalable modular rope bar truss is connected as one by two wiring axles and end rope bar truss, one end that the connecting rod of the upper and lower of each scalable modular rope bar truss is adjacent with Gan Jian corner locating mechanism is all provided with the locating dowel vertically arranged, the end face being positioned at two rebounds of the same side with locating dowel is provided with the limited post vertically arranged, one end of each rope is fixed on corresponding rope axle, the other end of each rope walks around corresponding multiple wiring axle successively and the rope connecting axle corresponding with on end rope bar truss connects.
The invention has the beneficial effects as follows:
1, rope bar truss mechanism of the present invention is connected in series by the rope bar truss of multiple scalable modular and is integrated, and can be connected into single large-scale multi-joint space mechanism paw, can realize modularized production, reduce manufacturing cost and difficulty, cost reduces 20%-40%.
2, present invention achieves the controlled design of super underactuatuated drive, stronger to target adaptability, be combined into can operation large space manipulator time select diversity strong.
3, the present invention's campaign is simple, reliability is high, can repetitive operation, captures the accurate location of target without the need to monitoring.
4, drive motors of the present invention is positioned at mechanism's root, and mechanical paw mechanism quality is light, and position-limit mechanism and frictional damping sheet metal are contained in mechanism, and grasp force is large, captures rigidity high.By changing baudrier and frictional damping, changing rope bar truss stress form, thus changing mechanical paw mechanism kinematic form, finally improve grasp force and capture rigidity.
5, all structures of the present invention are all by the processing and manufacturing of space flight common used material, rich material resources, and processing technology is ripe, and the technology being convenient to described mechanism is implemented.Rope long change rope bar truss shape is driven by changing between rope bar truss diagonal.
6, the present invention also meets the basic demand that other capture task, is convenient to the popularization of expansion technique.
7, easily extensible drive lacking rope bar truss-like mechanical paw of the present invention is connected by several rope bar truss and is formed, and is linked togather with the diagonal of rope by each rope bar truss, drives truss mechanism motion by folding and unfolding rope bar truss diagonal line.Owing to can control the one-way movement of truss with a rope, therefore this paw mechanism is underactuatuated drive, just becomes strong underactuatuated drive when rope bar truss quantity is more.Owing to adopting modular construction, which overcome the shortcoming that SARAH paw is not easily expanded, can be applicable to space big machinery paw.Compared with existing underactuatuated drive, this mechanism structure is simple, drive source quantity is few, easily extensible, adaptable to the shape of target object, and truss structure also has quality is light, rigidity is high, grasp force is strong feature.With the rope bar truss of multiple the type composition mechanical paw, can catch noncooperative target object, capture, the operation such as operation, become spatial manipulation device.
Accompanying drawing explanation
Fig. 1 is overall structure stereogram of the present invention, Fig. 2 is straight configuration figure of the present invention, Fig. 3 is the working state figure utilizing easily extensible drive lacking rope bar truss-like mechanical paw of the present invention to capture cylinder target, and Fig. 4 is the working state figure utilizing the easily extensible drive lacking rope bar truss-like mechanical paw side of crawl of the present invention body target.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 4 illustrates, a kind of easily extensible drive lacking rope bar truss-like mechanical paw of present embodiment comprises front end connection device, Gan Jian corner locating mechanism 9, end rope bar truss 12, rope, multiple locating dowel 10 and multiple scalable modular rope bar truss 6;
Described front end connection device comprises connecting plate 1, two rope axles 2, two limited posts 5, two installing plates 4, two rebounds 18 and four gripper shoes 3, one end face of connecting plate 1 is provided with four gripper shoes 3, four rectangular arranged in arrays of gripper shoe 3, two gripper shoes 3 vertical direction being positioned at the same side are equipped with rope axle 2, the upper surface of connecting plate 1 is provided with two installing plates 4, each installing plate 4 is fixed with a motor 17, the output shaft of motor 17 vertically arranges and connects with corresponding rope axle 2, a rebound 18 is separately installed with between the upper end of two rope axles 2 and between lower end, two rebounds 18 are arranged in parallel,
Each described scalable modular rope bar truss 6 comprises two wiring axles, 7,12 frictional damping sheet metals 8 and six connecting rods, 15, two wiring axles 7 are vertically arranged, six connecting rods 15 are horizontally disposed, the end of each connecting rod 15 is fixed with a frictional damping sheet metal 8, frictional damping sheet metal 8 is sleeved on wiring axle 7, six connecting rods 15 are connected with two wiring axles 7 and surround hexahedron framework, six connecting rods 15 can rotate around two wiring axles 7, four connecting rods 15 of two rope axles 2 and first scalable modular rope bar truss 6 are rotationally connected, adjacent two scalable modular rope bar truss 6 are connected as one by two wiring axles 7, two frictional damping sheet metal 8 CONTACT WITH FRICTION on two connecting rods 15 adjacent in horizontal direction, for providing frictional force between bar, vertical direction is positioned at adjacent two connecting rods 15 of the same side by Gan Jian corner locating mechanism 9 and locating dowel 10 rotation-limited, Gan Jian corner locating mechanism 9 comprises limiting plate 9-1 and location-plate 9-2, the lateral surface of the connecting rod 15 of the upper and lower of one of them scalable modular rope bar truss is all fixed with limiting plate 9-1, the lateral surface of the connecting rod 15 of the upper and lower of another one scalable modular rope bar truss is all fixed with location-plate 9-2, limiting plate 9-1 and location-plate 9-2 is equipped with, scalable modular rope bar truss 6 is identical with end rope bar truss 12 structure, last scalable modular rope bar truss 6 is connected as one by two wiring axles 7 and end rope bar truss 12, one end that the connecting rod 15 of the upper and lower of each scalable modular rope bar truss 6 is adjacent with Gan Jian corner locating mechanism 9 is all provided with the locating dowel 10 vertically arranged, the end face being positioned at two rebounds 18 of the same side with locating dowel 10 is provided with the limited post 5 vertically arranged, one end of each rope is fixed on corresponding rope axle 2, the other end of each rope walks around corresponding multiple wiring axle 7 successively and the rope connecting axle 11 corresponding with on end rope bar truss 12 connects.
The rope bar truss quantity of present embodiment is not limit, and can be connected into single large-scale multi-joint space mechanism paw, rope bar truss quantity more drive lacking are stronger, stronger to target adaptability, be combined into can operation large space manipulator time select diversity strong.Time initial, each connecting plate all contacts with satellite body and is pressed on satellite body, during work, rope bar truss mechanism captures target by element deformation envelope and completes crawl task, described scalable modular rope bar truss, to crawl target strong adaptability, captures the accurate location of target without the need to monitoring.
When present embodiment uses, connecting plate 1 is connected with body, four bracing frames 2 are connected on connecting plate 1, also can be directly connected on satellite body by four bracing frames 2, or connecting plate 1 and four bracing frames 2 are connected to there is interface tumbler on realize the rotation of whole paw.Locating dowel 10 coordinates with the connecting rod 15 of scalable modular rope bar truss 6 and limits rope bar truss deformation angle and avoid entering singular position, and motor drives rope axle 2 to rotate, and changes wiring length.
Frictional damping sheet metal 8 is arranged between adjacent connecting rod 15 and provides frictional force between bar, change that baudrier and wheel footpath size can change driving force transfer mode and Impact direction, change frictional damping pressure at two ends can change the moment of resistance between two bars, thus realize the controlled design of underactuatuated drive.Such as determine a kind of baudrier, one group of impeller diameter ratio rotates (drive, damping and spacing acting in conjunction) when one group of friction damping force makes easily extensible drive lacking rope bar truss-like mechanical paw firm setting in motion together with entirety, after certain connecting rod touches target, due to contact force and position-limiting action, make all connecting rod stop motions of this connecting rod and front end thereof, motion is continued between the connecting rod of rear end, until grab object or reach the extreme position of locating dowel, the crawl task of realize target.After stopping captures, frictional damping sheet metal will play the effect improving and capture rigidity.
Connecting rod 15 is encapsulated on wiring axle 7 by nut by the two ends of the wiring axle 7 of present embodiment.
Fig. 3 captures cylinder target figure for utilizing two easily extensible drive lacking rope bar truss-like mechanical paws of the present invention.The mechanical paw of two easily extensible drive lacking rope bar truss-like mechanical paw compositions captures cylinder target, and the equal contact target of whole contact lever, completes the envelope to target, improves and captures rigidity.
Fig. 4 is for utilizing two the easily extensible drive lacking rope bar truss-like mechanical paw side of crawl body target figure of the present invention.The mechanical paw of two easily extensible drive lacking rope bar truss-like mechanical paw compositions captures cuboid target, and mechanism is to target strong adaptability.
Utilize the gripper of three easily extensible drive lacking rope bar truss-like mechanical paws composition of the present invention, corresponding different mission requirementses, during composition large space manipulator, select diversity strong.
Detailed description of the invention two: composition graphs 1 illustrates, described in present embodiment, frictional damping sheet metal 8 is steel disc.Setting like this, cheap and easy to get, change frictional damping pressure at two ends and can change the moment of resistance between two bars, thus realize the controlled design of underactuatuated drive.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1 illustrates, described in present embodiment, frictional damping sheet metal 8 is aluminium flake.Setting like this, cheap and easy to get, change frictional damping pressure at two ends and can change the moment of resistance between two bars, thus realize the controlled design of underactuatuated drive.Other is identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1 illustrates, described in present embodiment, locating dowel 10 is threaded with connecting rod 15.Setting like this, assembles easy to use.Other with detailed description of the invention one, two or three identical.
Detailed description of the invention five: composition graphs 1 illustrates, described in present embodiment, limited post 5 is threaded with rebound 18.Setting like this, assembles easy to use.Other is identical with detailed description of the invention four.
Claims (5)
1. an easily extensible drive lacking rope bar truss-like mechanical paw, is characterized in that: it comprises front end connection device, Gan Jian corner locating mechanism (9), end rope bar truss (12), rope, multiple locating dowel (10) and multiple scalable modular rope bar truss (6);
Described front end connection device comprises connecting plate (1), two rope axles (2), two limited posts (5), two installing plates (4), two rebounds (18) and four gripper shoes (3), one end face of connecting plate (1) is provided with four gripper shoes (3), four rectangular arranged in arrays of gripper shoe (3), two gripper shoes (3) vertical direction being positioned at the same side are equipped with rope axle (2), the upper surface of connecting plate (1) is provided with two installing plates (4), each installing plate (4) is fixed with a motor (17), the output shaft of motor (17) vertically arranges and connects with corresponding rope axle (2), between the upper end of two rope axles (2) and be separately installed with a rebound (18) between lower end, two rebounds (18) are arranged in parallel,
Each described scalable modular rope bar truss (6) comprises two wiring axles (7), 12 frictional damping sheet metals (8) and six connecting rods (15), two wiring axles (7) are vertically arranged, six connecting rods (15) are horizontally disposed, the end of each connecting rod (15) is fixed with a frictional damping sheet metal (8), frictional damping sheet metal (8) is sleeved on wiring axle (7), six connecting rods (15) are connected with two wiring axles (7) and surround hexahedron framework, six connecting rods (15) can be rotated around two wiring axles (7), two rope axles (2) are rotationally connected with four connecting rods (15) of first scalable modular rope bar truss (6), adjacent two scalable modular rope bars truss (6) are connected as one by two wiring axles (7), two frictional damping sheet metal (8) CONTACT WITH FRICTION on two connecting rods (15) adjacent in horizontal direction, for providing frictional force between bar, vertical direction is positioned at adjacent two connecting rods (15) of the same side by Gan Jian corner locating mechanism (9) and locating dowel (10) rotation-limited, Gan Jian corner locating mechanism (9) comprises limiting plate (9-1) and location-plate (9-2), the lateral surface of the connecting rod (15) of the upper and lower of one of them scalable modular rope bar truss is all fixed with limiting plate (9-1), the lateral surface of the connecting rod (15) of the upper and lower of another one scalable modular rope bar truss is all fixed with location-plate (9-2), limiting plate (9-1) and location-plate (9-2) are equipped with, scalable modular rope bar truss (6) is identical with end rope bar truss (12) structure, last scalable modular rope bar truss (6) is connected as one by two wiring axles (7) and end rope bar truss (12), one end that the connecting rod (15) of the upper and lower of each scalable modular rope bar truss (6) is adjacent with Gan Jian corner locating mechanism (9) is all provided with the locating dowel (10) vertically arranged, the end face being positioned at two rebounds (18) of the same side with locating dowel (10) is provided with the limited post (5) vertically arranged, one end of each rope is fixed on corresponding rope axle (2), the other end of each rope is walked around corresponding multiple wiring axle (7) successively and is connected with the upper corresponding rope connecting axle (11) of end rope bar truss (12).
2. easily extensible drive lacking rope bar truss-like mechanical paw according to claim 1, is characterized in that: described frictional damping sheet metal (8) is steel disc.
3. easily extensible drive lacking rope bar truss-like mechanical paw according to claim 1, is characterized in that: described frictional damping sheet metal (8) is aluminium flake.
4. the easily extensible drive lacking rope bar truss-like mechanical paw according to claim 1,2 or 3, is characterized in that: described locating dowel (10) is threaded with connecting rod (15).
5. easily extensible drive lacking rope bar truss-like mechanical paw according to claim 4, is characterized in that: described limited post (5) is threaded with rebound (18).
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| CN201410056414.6A CN103786162B (en) | 2014-02-19 | 2014-02-19 | Easily extensible drive lacking rope bar truss-like mechanical paw |
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| CN201410056414.6A CN103786162B (en) | 2014-02-19 | 2014-02-19 | Easily extensible drive lacking rope bar truss-like mechanical paw |
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| CN103786162B true CN103786162B (en) | 2015-12-09 |
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| CN105150217A (en) * | 2015-09-14 | 2015-12-16 | 芜湖德力自动化装备科技有限公司 | Sectional type mechanical arm |
| CN105415392B (en) * | 2015-12-10 | 2017-11-10 | 深圳市海科瑞科技有限公司 | A kind of a wide range of crawl drive lacking multi-adaptation mechanical hand |
| CN107128514B (en) * | 2017-04-28 | 2023-06-27 | 西北工业大学 | Space truss on-orbit assembly system and method using space robot |
| CN107891435B (en) * | 2017-11-14 | 2023-12-12 | 宁夏巨能机器人股份有限公司 | Three indicate robot paw structure |
| CN108068135B (en) * | 2017-12-27 | 2020-09-15 | 哈尔滨工业大学（深圳） | Novel extensible underactuated quadrangular truss manipulator |
| CN108422411B (en) * | 2018-03-19 | 2019-08-16 | 哈尔滨工业大学（深圳） | The curved space truss arresting agency of telescopic |
| CN109079760B (en) * | 2018-09-12 | 2021-05-04 | 哈尔滨工业大学（深圳） | Foldable and foldable space truss catching device |
| CN109533402B (en) * | 2018-11-06 | 2020-10-27 | 哈尔滨工业大学（深圳） | Lightweight foldable space truss type capturing manipulator |
| CN109968390B (en) * | 2019-04-11 | 2022-03-08 | 江苏科技大学 | Redundancy-underactuated combined manipulator device |
| CN109940591A (en) * | 2019-04-29 | 2019-06-28 | 中信戴卡股份有限公司 | A kind of wheel hub conveying robot |
| CN112091940B (en) * | 2020-08-24 | 2023-07-18 | 上海大学 | Under-actuated super-redundant continuum robot driven by flexible board |
| CN112208804B (en) * | 2020-09-22 | 2021-07-20 | 哈尔滨工业大学 | Spatial reconfigurable truss type capturing mechanism and capturing method thereof |
| CN112405590B (en) * | 2020-11-06 | 2021-12-31 | 北京理工大学 | Novel finger split body, manipulator and grabbing method thereof |
| CN112864955B (en) * | 2021-04-13 | 2022-12-23 | 合肥工业大学 | Threading device of space truss communication cable |
| CN113510727B (en) * | 2021-07-30 | 2022-08-16 | 北京航空航天大学 | Redundant drive high-rigidity modular heavy-load holding device |
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| FR2638386B1 (en) * | 1988-11-02 | 1995-08-11 | Eurl Seirob | BIPOLAR TELEMANIPULATOR ARM |
| SE516113C2 (en) * | 1998-03-20 | 2001-11-19 | Sune Synnelius | Grips with segmented arms |
| CN101190528A (en) * | 2007-12-12 | 2008-06-04 | 哈尔滨工业大学 | Under-actuated coupling transmission type imitation human finger mechanism |
| CN102821918A (en) * | 2010-03-24 | 2012-12-12 | 株式会社安川电机 | Robot hand and robot device |
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