CN103921271B - Under-actuated delicacy multi purpose space robot hand - Google Patents
Under-actuated delicacy multi purpose space robot hand Download PDFInfo
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- CN103921271B CN103921271B CN201410190538.3A CN201410190538A CN103921271B CN 103921271 B CN103921271 B CN 103921271B CN 201410190538 A CN201410190538 A CN 201410190538A CN 103921271 B CN103921271 B CN 103921271B
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- finger
- tail end
- clamping
- joint
- alias
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Abstract
Under-actuated delicacy multi purpose space robot hand, if the body of front end sleeve and tail end sleeve composition, electric machine stand connects with front end sleeve.Ball screw is set in body: screw mandrel is in transmission connection through shaft coupling and machine shaft, screw mandrel peripheral hardware support member.Upper and lower two drive blocks are fixed with the nut seat rear end of screw mandrel threaded engagement.Drive block inner surface establishes the fixing tail end finger having upper and lower two to refer to, there is joint finger front end; The more alias being fixed on tail end sleeve with pin is established in tail end finger front end; Tail end finger is connected by joint and the more interface arrangment of alias and is realized pointing to be changed.Drive block moves axially and promotes the folding that finger realizes two finger tips.Simple and compact for structure, grasping force is large, efficiency is high, be easy to make and reliable operation.Realization establishes a paw to change multiple finger, have arrest, the several functions such as clamping; Space the turn of the screw, experiment equipment clamping can be completed simultaneously and grab by Space-time idea assembling, scientific experiment and maintenance maintenances such as floating things.
Description
(1) technical field
The present invention relates to a kind of space robot paw, a kind of end effector of mechanical arm.Belong to manipulator class (B25J).
(2) background technology
Along with the development of space flight and aviation space technology, robot for space is used to complete specific task in severe space environment.The work capacity of robot for space and efficiency depend on the ability that end performs paw.Both at home and abroad in space robot paw research, be divided into external grabbing type, inner bearing type and other structures from structure.External grabbing type is divided into again two fingers, three refer to and refer to structure more.ETS-VII two finger paws out of my cabin of current Japan, adopt folding point and have aligning guide; Canadian paw SARAH, adopts underactuatuated drive, and three fingers complete space and capture; The space robot paw of Harbin Institute of Technology's development, adopt two to refer to carry out envelope to target and arrest, Beijing University of Post & Telecommunication improved this finger structure and manufacturability afterwards.
These paw structures above-mentioned all lay particular stress on and realize arresting extraterrestrial target, and equal Problems existing is: function singleness, and grasping force is little, complex structure, volume more greatly, dexterous not.
(3) summary of the invention
Under-actuated delicacy multi purpose space robot hand provided by the invention, be exactly solve that function singleness that existing space robot hand exists, grasping force are little, complex structure and problem dexterous not.
Technical scheme is:
Under-actuated delicacy multi purpose space robot hand, comprising: establish drive motors 9, the shaft coupling 8 connected with drive motors rotating shaft transmission; It is characterized in that:
1) cylindrical front end sleeve 5 and tail end sleeve 4 is established to be connected and fixed the stationary body of composition; Drive motors support and front end sleeve are fixed; At front end sleeve tube inner chamber, ball screw 6 is set: wherein screw mandrel 6.1 front end is connected with drive motors rotating shaft by shaft coupling, the screw mandrel support member 7 of screw mandrel peripheral hardware radial support screw mandrel; Nut seat in ball screw 6.2 with screw mandrel worm drive and vertically X moves, fixing vertically upper and lower two drive blocks 2 of Z in nut seat rear end.2) at tail end barrel bore, drive block has the axial notch 2.1 of vertical break-through; What upper and lower two drive block rear end inner surfaces established axial and circumferential all to fix respectively has upper and lower two tail ends referred to point 1, and upper and lower two refer to that front ends are hinged, and two refer to rotate relative to upper and lower folding around hinged axle; Between drive block and tail end sleeve, drive block and tail end be matched in clearance between pointing.3) between two drive blocks, more alias 3 is established in tail end finger front end, is more matched in clearance between alias and drive block; More alias is fixed on tail end sleeve by establishing vertical pin 3.3 in front multidiameter 3.1 through drive block notch; Upper and lower two axial notch 3.2A and circumference two 90 ° of arc-shaped slot 3.2B are more opened after alias in cylinder 3.2; The hinged axle in tail end finger front end longitudinally Y lengthens as joint 1.1; Between joint and translation interface for joint axis to snapping in, half-twist clamping, or the interface arrangment unclamping after reversely rotating 90 °, axially extract out; Tail end finger changes several pattern on demand, each tail end finger 1 selected thus interface arrangment with change interface and connect and fix, and be fixed on tail end sleeve by more alias.4) the following three kinds of patterns for replacing of tail end finger configuration: 1. external grabbing type elasticity two refers to 1: have hinged axle joint from front to back in turn, refer to a spring, horizontal segment, upsloping segment, parallel end; Top rade d is 30 °-40 °; 2. clamper finger 1b: have spring between hinged axle joint, clamping finger, clamp horizontal section, clamping upsloping segment, clamping declivity end from front to back in turn; Clamping top rade d
bit is 30 °-40 °; 3. finger 1c is arrested: have hinged axle joint from front to back in turn, arrest spring between finger, cross section is ∏ shape arrests upsloping segment, upper finger end has the circular arc of open slot to arrest finger tip; Arrest top rade d
cit is 30 °-40 °.
Above-mentioned tail end finger fingertip 1.4 can adopt elastomeric material and finger tip clamping face 1.5 resilient connection are and are grabbed the corresponding shape of insert part.On above-mentioned tail end finger, force snesor 11a, position sensor 11b can be buried underground and establish closed control circuit.
Beneficial effect of the present invention:
1) owing to establishing more alias, thus establish a replaceable multiple finger instrument of paw, have arrest, the several functions such as clamping.Adopting outer handgrip to refer to: for grabbing larger workpiece, instrument (as space the turn of the screw) outward, completing aerospace and produce assembling and keep in repair out of my cabin.Employing clamper is pointed: complete space science experiment for clamping less test equipment.Finger is arrested in employing: for arresting the outer floating thing of space capsule, cleaning rubbish etc.Namely a paw can complete Space-time idea assembling, scientific experiment and maintenance maintenance simultaneously.
2) adopt ball leading screw driving structure, steadily reliably, operating efficiency is high, exerts oneself large.
3) adopt a motor to connect driving two drive blocks with ball screw to drive finger motion, driving element is few, controls simple.Finger tip adopts elastomeric material and elastic construction and is grabbed the corresponding shape of insert part, and it is in extensive range and pressed from both sides the passive self adaptation of shape to grabbing to grab folder.Paw realizes underactuated control.
4) because two refer to be synchronized with the movement under drive block effect, add the palm that tail end sleeve is formed, retrain 6 frees degree, to target Reasonable Orientation, can improve and arrest or clamp precision.
5) drum that formed by front end sleeve and tail end sleeve of whole paw, transmission and support component be arranged in whole cylinder formed compact, volume is little, dexterous paw, whole paw is arranged on robot for space mechanical arm tail end can save space.
6) paw structure is simple, compact, is easy to make, and long working life is in space reliable and stable.
7) finger can set up power and position sensor, and the closed-loop control of opponent's fingering row, the accuracy of paw work is high.
(4) accompanying drawing explanation
Fig. 1 overall structural arrangement positive view of the present invention (X-Z face).Tail end finger shown in figure refers to 1 for external grabbing type elasticity two.
Fig. 2 Figure 1A-A sectional view, ball screw viewgraph of cross-section (Z-Y face).
Fig. 3 Figure 1B-B sectional view, more alias, drive block and tail end sleeve connection cross section view (Z-Y face).Fig. 4 more alias 3, joint 1.1 structure and joint vertically places, clamping front position diagram (Z-X face).Fig. 5 Fig. 4 C-C sectional view (Z-Y face).Half-twist position diagram in joint clamping.
Fig. 6 clamping complete position diagram (Y-X face).Joint 1.1 horizontal level is stuck in the rear cylinder 3.2 wall notch of more alias.
Fig. 7 clamper finger structure schematic diagram.(Z-X face view).
Fig. 8 arrests finger structural representation (Z-X face view).
Fig. 9 Fig. 8 D-D sectional view.Arrest upsloping segment and refer to shape of cross section and relative position view (Z-Y face view) up and down.
Figure 10 Fig. 8 E-E sectional view.Arrest circular arc finger tip and refer to cross section and relative position view up and down.(Z-Y face view).
Description of reference numerals:
1-finger (external grabbing type elasticity two refers to): 1.1-joint, 1.2-refer to a spring, 1.3-horizontal segment, 1.4-upsloping segment, 1.5-parallel end, d-top rade.
1b-clamper finger 1b:1.1b-staple joint, spring between 1.2b-clamping finger, 1.3b-clamp horizontal section, 1.4b-clamps upsloping segment, and 1.5b-clamps declivity end, and db-clamps top rade.
1c-arrests finger 1c:1.1c-and arrests joint 1.1c, and 1.2c-arrests spring between finger; 1.3c-arrests on upsloping segment 1.3c:1.3c-above refer to cross section ∏ shape, 1.3c
under-refer to cross section rectangle down; 1.4c-circular arc arrests finger tip: 1.4c
on;-arrest on finger tip and refer to open slot, 1.4c
under-arrest finger tip under refer to rectangle pawl; D
c-arrest top rade d
c.
2-drive block: 2.1-drive block notch.3-more alias: multidiameter before 3.1-; Cylinder after 3.2-; 3.2A-axial notch; 3.2B-arc-shaped slot; 3.3-pin.4-tail end sleeve.5-front end sleeve: 5.1-sleeve securing member.6-ball screw: 6.1-screw mandrel; 6.2-nut seat; 6.3-axial fastener.7-screw mandrel support member.8-shaft coupling.9-drive motors.10-robot for space mechanical arm.11a-force snesor 11a.11b-position sensor 11b.
(5) detailed description of the invention
Further illustrate below in conjunction with accompanying drawing.
1) see Fig. 1, if cylindrical front end sleeve 5 and tail end sleeve 4 are connected by sleeve securing member 5.1 tighten up the static body of composition, securing member adopts pin or screw, thus the movement of restriction tail end sleeve 4 and rotation.Drive motors 9 support and front end sleeve are fixed.Drive motors can select stepper motor.Drive motors is fixed in robot for space mechanical arm 10.At front end sleeve tube inner chamber, the ball screw of setting selects micron order ball screw.Its ball screw 6 forms as follows: 1. see Fig. 1, is provided with screw mandrel 6.1, and front end is connected with drive motors 9 rotating shaft by shaft coupling 8, the screw mandrel support member 7 being fixed on front end sleeve of screw mandrel peripheral hardware support screw.2. see Fig. 2, screw mandrel 6.1 overcoat has ball nut mount 6.2: ball nut mount and screw mandrel worm drive.See Fig. 1, upper and lower two drive blocks 2 are fixed in nut seat 6.2 rear end vertically Z, nut seat 6.2 and two drive blocks are axially connected as one by axial fastener 6.4.
2) see Fig. 1, in tail end sleeve 4 endoporus, drive block 2 has the axial notch 2.1 of vertical break-through; What upper and lower two drive block 2 rear end inner surfaces established axial and circumferential all to fix respectively has the hinged two tail ends fingers referred to 1, upper and lower two up and down to refer to that front ends are hinged, and two refer to rotate relative to upper and lower folding around hinged axle.Due to hinged, between two fingers and hinged axle, longitudinal Y-direction is fixed (see Fig. 6).Between drive block and tail end sleeve, drive block and tail end be matched in clearance between pointing.
3) seeing Fig. 1, Fig. 3, point 1 front end establish more alias 3 at two drive blocks, 2 tail ends, is more matched in clearance between alias and drive block.More alias 3 is fixed on tail end sleeve 4 by establishing vertical pin 3.3 in multidiameter before it 3.1 through drive block notch 2.1.See Fig. 4, Fig. 5, more alias 3 have in rear cylinder 3.2 opened upper and lower two axial notch 3.2A and circumference two 90 ° of arc-shaped slot 3.2B; Tail end is pointed the longitudinal Y of the 1 hinged axle in front end and is lengthened as joint 1.1 (see Fig. 6), be following interface arrangment between joint 1.1 and translation interface 3: clamping step: 1. joint axis is to snapping in: see Fig. 4, vertical joint about 1.1 two ends of placing snap in upper and lower two axial notch 3.2A simultaneously.2. see Fig. 5, after vertical joint 1.1 two ends of placing are rotated counterclockwise 90 ° in arc-shaped slot 3.2B, joint 1.1 arrives horizontal level, is clamped in rear cylinder 3.2 wall notch.3. see Fig. 6, joint 1.1 is placed in horizontal level, is clamped in rear cylinder 3.2 wall notch, and tail end finger 1 is also in company with rotating simultaneously, is seen as Fig. 1 position after clamping from positive view.In like manner, if step is when taking apart: 1. see Fig. 5, horizontal level joint 1.1 reversely rotate in arc-shaped slot 3.2B 90 ° (clockwise) reach vertical position after unclamp.2. see Fig. 4, the joint 1.1 (marking C-C Section line position in Fig. 5) being stuck in the vertical position of axial notch 3.2A bottom land vertically notch 3.2A moves axially extraction, leaves more alias 3.
Tail end finger can change several pattern on demand, and each tail end selected is pointed interface arrangment thus and just can be connected and fixed with replacing interface, and is fixed on tail end sleeve 4 by more alias 3.
4) configuration of tail end finger following three kinds for the patterns changed: 1. see Fig. 1, external grabbing type elasticity two refers to 1: have hinged axle joint 1.1 from front to back in turn, refer to a spring 1.2, horizontal segment 1.3, upsloping segment 1.4, parallel end 1.5; Top rade d is 30 °-40 °.Finger tip 1.4 adopts elastomeric material and parallel end 1.5 resilient connection.External grabbing type elasticity two refers to be used for grabbing larger workpiece, instrument outward, completes aerospace the turn of the screw, carrying etc. and produces assembling and maintenance.2. Fig. 7 is seen, clamper finger 1b: have spring 1.2b, clamp horizontal section 1.3b between hinged axle staple joint 1.1b, clamping finger, clamping upsloping segment 1.4b, clamping declivity end 1.4b from front to back in turn; Clamping top rade db is 30 °-40 °.Clamper finger 1b completes space science experiment for clamping less test equipment.3. see Fig. 8, arrest finger 1c: have hinged axle to arrest joint 1.1c from front to back in turn, arrest spring 1.2c between finger, arrest upsloping segment 1.3c, circular arc arrests finger tip 1.4c; Arrest top rade d
cit is 30 °-40 °.Fig. 9, arrests on upsloping segment 1.3c and refers to cross section ∏ shape 1.3c
on, lower finger cross section is rectangle 1.3c
under, overlap with ∏ shape Y-direction center line.See Figure 10, circular arc is arrested on finger tip 1.4c and is referred to that end has open slot 1.4c
on, lower finger tail end section is the pawl 1.4c of rectangle
under, upper groove and lower claw Y-direction center line overlap.
Seeing Fig. 8, referring to relative rotation up and down when arresting finger, during folding, when in such as Fig. 8 position, after upper lower end contact, when also continuing to close, then the pawl 1.4c of finger rectangle down
underfinger open slot 1.4c can be inserted
on; , lower finger 1.3c
underrectangular surfaces can sandwich and refer to ∏ shape 1.3c
onin.Upper finger fluting like this, lower finger insert structure increases arrests finger 1c clamping tightness and clamping range.Arrest finger 1c for arresting floating thing, interface and cleaning rubbish etc. out of my cabin.
The course of work: when drive motors rotates, drive shaft coupling 8, screw mandrel 6.1 rotate in turn, transfer nut seat 6.2 to by ball screw to move, nut seat 6.2 drives two drive blocks to move along the axial X of screw mandrel 6.1, by the forward and reverse rotation of drive motors, drive block moves forwards, backwards at relatively-stationary tail end sleeve 4 and tail end finger countershaft.Because drive block 2 has axial notch 2.1, the moving axially of drive block can not be collided and be connected motionless vertical pin 3.3 with more alias.See Fig. 1, moved forward and backward by drive block, under tail end finger inclined-plane and front springs act on, realize the synchronous on-off of two finger tips simultaneously.When drive block moves backward, due to ramp effect, realize the closed action of finger tip, the palm formed by tail end sleeve and tail end finger complete crawl and the clamping of target jointly, and meeting spatial robot hand is to the crawl of target and clamping requirement; When drive block straight forward movement, acted on by front springs 1.2 and realize expansion action, thus complete the release of target.
Claims (3)
1. under-actuated delicacy multi purpose space robot hand, comprising: establish drive motors (9), the shaft coupling connected with drive motors rotating shaft transmission (8); It is characterized in that:
1) cylindrical front end sleeve (5) and tail end sleeve (4) is established to be connected and fixed the stationary body of composition; Drive motors support and front end sleeve are fixed; At front end sleeve tube inner chamber, ball screw (6) is set: wherein screw mandrel (6.1) front end is connected with drive motors rotating shaft by shaft coupling, the screw mandrel support member (7) of screw mandrel peripheral hardware radial support screw mandrel; Nut seat (6.2) in ball screw and screw mandrel worm drive and vertically X move, fixing vertically upper and lower two drive blocks (2) of Z in nut seat rear end;
2) at tail end barrel bore, drive block has the axial notch (2.1) of vertical break-through; What upper and lower two drive block rear end inner surfaces established axial and circumferential all to fix respectively has upper and lower two tail ends referred to point (1), and upper and lower two refer to that front ends are hinged, and two refer to rotate relative to upper and lower folding around hinged axle; Between drive block and tail end sleeve, drive block and tail end be matched in clearance between pointing;
3) between two drive blocks, more alias (3) is established in tail end finger front end, is more matched in clearance between alias and drive block; More alias by establishing vertical pin (3.3) to be fixed on tail end sleeve through drive block notch in front multidiameter (3.1); Upper and lower two axial notch (3.2A) and circumference two 90 ° arc-shaped slots (3.2B) are more opened after alias in cylinder 3.2; The hinged axle in tail end finger front end longitudinally Y lengthens as joint (1.1); Between joint and translation interface for joint axis to snapping in, half-twist clamping, or the interface arrangment unclamping after reversely rotating 90 °, axially extract out; Tail end finger changes several pattern on demand, each tail end selected point thus interface arrangment with change interface and connect and fix, and be fixed on tail end sleeve by more alias;
4) the following three kinds of patterns for replacing of tail end finger configuration: 1. external grabbing type elasticity two refers to (1): have hinged axle joint from front to back in turn, refer to a spring, horizontal segment, upsloping segment, parallel end; Top rade d is 30 °-40 °; 2. clamper finger (1b): have spring between hinged axle joint, clamping finger, clamp horizontal section, clamping upsloping segment, clamping declivity end from front to back in turn; Clamping top rade d
bit is 30 °-40 °; 3. finger (1c) is arrested: have hinged axle joint from front to back in turn, arrest spring between finger, cross section is ∏ shape arrests upsloping segment, upper finger end has the circular arc of open slot to arrest finger tip; Arrest top rade d
cit is 30 °-40 °.
2., by multi purpose space robot hand described in claim 1, it is characterized in that adopting elastomeric material and finger tip clamping face (1.5) resilient connection are and are grabbed the corresponding shape of insert part at tail end finger fingertip (1.4).
3., by multi purpose space robot hand described in claim 1, it is characterized in that, on tail end finger, burying force snesor (11a), position sensor (11b) underground and establishing closed control circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410190538.3A CN103921271B (en) | 2014-05-07 | 2014-05-07 | Under-actuated delicacy multi purpose space robot hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410190538.3A CN103921271B (en) | 2014-05-07 | 2014-05-07 | Under-actuated delicacy multi purpose space robot hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103921271A CN103921271A (en) | 2014-07-16 |
| CN103921271B true CN103921271B (en) | 2015-08-12 |
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|---|---|---|---|
| CN201410190538.3A Expired - Fee Related CN103921271B (en) | 2014-05-07 | 2014-05-07 | Under-actuated delicacy multi purpose space robot hand |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105058403A (en) * | 2015-08-17 | 2015-11-18 | 苏州速腾电子科技有限公司 | Foldable sorting clamp |
| CN106272499A (en) * | 2016-09-26 | 2017-01-04 | 重庆大学 | Flexible electrostatic absorption end effector |
| CN106826888B (en) * | 2017-03-07 | 2023-09-08 | 北京林业大学 | Linkage elastic mechanical gripper |
| CN107214718A (en) * | 2017-06-07 | 2017-09-29 | 佛山市建金建电子科技有限公司 | A kind of Industrial Robot Manipulator mechanism |
| CN111434473A (en) * | 2019-01-15 | 2020-07-21 | 上海哲开自动化科技有限公司 | Multifunctional industrial robot manipulator |
| CN111115219B (en) * | 2019-12-09 | 2021-07-13 | 上海航天控制技术研究所 | Multi-claw radial linkage device |
| CN113289268B (en) * | 2021-05-25 | 2022-11-04 | 河南科技大学第一附属医院 | Reusable radiotherapy gold mark positioner, positioning controller and positioning device |
| CN113441981B (en) * | 2021-06-08 | 2022-07-29 | 江苏拓斯达机器人有限公司 | Internal stay tool and get and put material module |
| CN114931026A (en) * | 2022-06-20 | 2022-08-23 | 南京林业大学 | Spherical fruit picking actuator capable of sensing clamping force |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100451412B1 (en) * | 2001-11-09 | 2004-10-06 | 한국과학기술연구원 | Multi-fingered robot hand |
| JP2008073824A (en) * | 2006-09-25 | 2008-04-03 | Nachi Fujikoshi Corp | Hand device of industrial robot |
| CN202292762U (en) * | 2011-10-25 | 2012-07-04 | 浙江大学 | Fruit/vegetable picking under-actuated mechanical manipulator |
| CN102814819A (en) * | 2012-06-07 | 2012-12-12 | 清华大学 | Finger device of bevel gear motor inverted type composite under-actuated robot |
| CN203818137U (en) * | 2014-05-07 | 2014-09-10 | 四川大学 | Underactuation flexible multifunctional space robot hand claw |
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2014
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