CN105082169A - Large-tolerance mini-sized end effector having electromechanical output function - Google Patents
Large-tolerance mini-sized end effector having electromechanical output function Download PDFInfo
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- CN105082169A CN105082169A CN201510607803.8A CN201510607803A CN105082169A CN 105082169 A CN105082169 A CN 105082169A CN 201510607803 A CN201510607803 A CN 201510607803A CN 105082169 A CN105082169 A CN 105082169A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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Abstract
The invention discloses a large-tolerance mini-sized end effector having an electromechanical output function and relates to an end effector. The large-tolerance mini-sized end effector having the electromechanical output function aims at solving the problems that an existing space manipulator end effector does not have an electromechanical output function and is poor in operability, small in tolerance and large in energy consumption. The large-tolerance mini-sized end effector comprises a shell module, a power output module, a sensor module, a plurality of motion driving modules and a plurality of capturing motion chains; a motion chain shell, a driving shell, a thread fixing shell and a manipulator connecting piece are communicated in sequence from top to bottom; a motion fixing seat is installed between the motion chain shell and the driving shell; the power output module is arranged inside the motion chain shell in a penetrating mode; the motion driving modules and the power output module are coaxial and are fixed to the motion fixing seat; each capturing motion chain is fixedly connected to the motion fixing seat and driven by the corresponding motion driving module to move; a plurality of connection detecting assemblies are located at the top end of the motion chain shell and distributed at the periphery of the power output module uniformly; the motion fixing seat is fixedly connected to the bottom of the motion chain shell. The large-tolerance mini-sized end effector having the electromechanical output function is applied to the field of space flight and aviation.
Description
Technical field
The present invention relates to a kind of miniature end effector of large tolerance with dynamo-electric output.
Background technology
Space manipulator plays key player in the service support tasks in-orbit such as spacecraft assembling, satellite maintenance, Spacecraft Recovery, in-orbit fuel adding and space trash cleaning, small space mechanical arm has very important status with advantages such as its little inertia, flexibilities in underloaded operation task, and its space end actuator is the of paramount importance part of space manipulator, have important researching value, be the important topic of each spacefaring nation always.
Existing space robot arm end effector can be divided into large-scale end effector and small-sized end effector.The former is using large tolerance as design focal point, but does not substantially have dynamo-electric output, and operability is poor; In the latter, partial design considers dynamo-electric output, but tolerance is relatively little.And in different target acquistion modes, have and close that to catch the design of envelope few.In addition, for the energy problem of space application, the continuation after having caught of existing design needs is powered, and guarantee is stable to be connected.These factors all limit the application that can operate miniature end effector.
Summary of the invention
The object of this invention is to provide and a kind of there is the dynamo-electric miniature end effector of large tolerance exported, to solve existing space robot arm end effector without electromechanics output, poor operability, tolerance is little, energy resource consumption is large problem.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
Have the dynamo-electric miniature end effector of large tolerance exported, it comprises shell module, power take-off module, sensor assembly, motion driver module and many capture movement chains;
Described shell module comprises kinematic chain shell, cover of driver, screw thread set casing, mechanical arm connector, sextuple sensor, motion holder, circuit board, sextuple sensor connector, electrically connected components, multiple location releasing unit, multiple electric output precision are connected detection components with multiple soon;
Described kinematic chain shell, cover of driver, screw thread set casing is communicated with from top to bottom successively with mechanical arm connector, described motion holder is arranged between kinematic chain shell and cover of driver, described power take-off module is located in kinematic chain shell, described motion driver module and power take-off module coaxially arrange and are fixed on motion holder, every bar capture movement chain to be fixedly connected on motion holder and by motion driver module actuation movement, multiple electric output precisions are distributed on the top of kinematic chain shell centered by power take-off module, multiple location releasing unit is distributed on the top of kinematic chain shell centered by power take-off module, the inner side correspondence of each electric output precision is provided with a location releasing unit, multiple connection detection components is all positioned at the top of kinematic chain shell and is distributed on around power take-off module, described motion holder is fixedly connected on the bottom of kinematic chain shell, circuit board and sensor assembly are installed on motion holder, described sextuple sensor connector is fixedly connected on the bottom of cover of driver, electrically fast connected components is arranged between cover of driver and sextuple sensor connector, described sextuple sensor setting is in screw thread set casing, the bottom of sextuple sensor is fixedly connected with mechanical arm connector, the top of sextuple sensor is connected with sextuple sensor connector.
Every bar capture movement chain comprises jointed connecting rod kinematic chain assembly, catches finger, fixed hinge seat, connecting rod export hinge axis, cam hinge axis and connecting rod fixed hinge axle, described fixed hinge seat is fixedly connected on motion holder, described jointed connecting rod kinematic chain assembly is arranged between motion driver module and connecting rod fixed hinge axle, the output of jointed connecting rod kinematic chain assembly is exported hinge axis by connecting rod and is caught finger and is hinged, catch on finger and be processed with bar line chute, cam hinge axis is horizontal through bar line chute and be fixedly connected on fixed hinge seat;
Described jointed connecting rod kinematic chain assembly comprises drive crank, four bar coupled links, the passive connecting rod of four bars, coupling hinge axle, homology connecting rod, export connecting rod and homology connecting rod link axle, it is hinged that described drive crank bar and four bar coupled links pass through microswitch axle, one end of the passive connecting rod of described four bar is hinged by coupling hinge axle, the other end of the passive connecting rod of described four bar by connecting rod fixed hinge axle and fixed hinge seat hinged, one end of described homology connecting rod by motion driver module and drive crank hinged, the other end of described homology connecting rod is hinged by homology connecting rod link axle and output connecting rod, the middle part of described output connecting rod by coupling hinge axle and four bar coupled links hinged, the right-hand member of described output connecting rod is exported hinge axis by connecting rod and is caught finger and is hinged.
Described motion driver module comprises rocking bar power plant module and multiple output rocking bar module, and multiple output rocking bar module is distributed on around rocking bar power plant module centered by rocking bar power plant module;
Described rocking bar power plant module comprises bearing, worm screw, motor cabinet and motor, and the lower end of described bearing is provided with motor cabinet, is provided with motor in described motor cabinet, and the upper end of described worm screw is located on bearing, and the lower end of described worm screw is connected with motor;
Described output rocking bar module comprises worm gear hinge axis, worm gear, spacing adjusting lever, space on right trimming assembly and left space fine-adjusting assembly, described space on right trimming assembly and left space fine-adjusting assembly are set in the two ends of worm gear hinge axis, spacing adjusting lever is provided with between described space on right trimming assembly and left space fine-adjusting assembly, described worm gear hinge axis is arranged on bearing by space on right trimming assembly and left space fine-adjusting assembly, described jointed connecting rod kinematic chain assembly is arranged between worm gear hinge axis and connecting rod fixed hinge axle, one end and the worm gear hinge axis of the drive crank in described jointed connecting rod kinematic chain assembly are hinged, described worm gear is worm sector, worm gear set to be contained on worm gear hinge axis and between space on right trimming assembly and left space fine-adjusting assembly, the link of worm gear is fixedly connected with drive crank, the sawtooth end of worm gear is meshed with worm screw,
The structure of described space on right trimming assembly is identical with the structure of left space fine-adjusting assembly, described space on right trimming assembly comprises right Worm Bearing, right eccentric bearing block and right side holding screw, the right-hand member of described worm gear hinge axis is arranged on bearing by right Worm Bearing, right eccentric bearing block successively, and described right Worm Bearing is connected by right side holding screw with right eccentric bearing block; Described left space fine-adjusting assembly comprises left Worm Bearing, left eccentric bearing block and left side holding screw, the left side of described worm gear hinge axis is arranged on bearing by left Worm Bearing and left eccentric bearing block successively, left Worm Bearing is connected by left side holding screw with left eccentric bearing block, and described spacing adjusting lever is connected between left eccentric bearing block and right eccentric bearing block;
Described right eccentric bearing block and left eccentric bearing block are the bearing seat of off-centre operation structure, horizontal range between worm screw central axis to worm gear center is L, horizontal range L regulates its size by right eccentric bearing block and left eccentric bearing block, makes the smooth motion between worm gear and worm screw realize zero return difference of drive crank;
Every bar capture movement chain is arranged with the worm gear one_to_one corresponding exporting rocking bar module, and every bar capture movement chain to be fixedly connected on motion holder and by the worm-gear driven motion in the output rocking bar module of its correspondence.
The present invention has following beneficial effect:
1, the present invention has the closed of large tolerance and catches envelope, not only can keep the success rate that target captures, also require lower to mechanical arm control accuracy, simultaneously, end effector of the present invention has smaller size smaller tolerance ratio, is applicable to the application of small space mechanical arm.
2, the present invention can provide stable rotary power export and electrically export after having caught, workable.
3, the capture movement chain in the present invention has self-lock ability, and also can keep stable after a loss of power and connect, cruising time is long, can save the precious space energy.
4, the present invention uses multilink jointed connecting rod kinematic chain, and multilink jointed connecting rod kinematic chain can reduce whole system volume and quality when not affecting performance.
5, the present invention is drivings of a collection, transmission, sensing and the modular base unit being controlled in one, can self-movement, and between each motion module, interchangeablity by force, maintains easily.
6, the present invention has machinery and electrically exports, and has wide range of applications, and Multifunctional operational tool can be coordinated to carry out every multi-functional operation task.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is the sectional view of housing module 1 of the present invention;
Fig. 3 is the sectional view of medium power output module 2 of the present invention;
Fig. 4 is the sectional view of capture movement chain 5 in the present invention, and in figure, dotted line is the movement locus of catching finger 5-2;
Fig. 5 is sensor assembly 3 sectional axonometric drawing in the present invention;
Fig. 6 is the main TV structure schematic diagram of motion driver module 4;
Fig. 7 is the plan structure schematic diagram of motion driver module 4;
Fig. 8 is the main TV structure profile of motion driver module 4;
Fig. 9 is the sectional view at A-A place in Fig. 6;
Figure 10 is the sectional view at B-B place in Fig. 9;
Figure 11 is the FB(flow block) of the course of work of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9 and Figure 10 illustrate present embodiment, present embodiment comprises shell module 1, power take-off module 2, sensor assembly 3, motion driver module 4 and many capture movement chains 5;
Described shell module 1 comprises kinematic chain shell 1-1, cover of driver 1-2, screw thread set casing 1-3, mechanical arm connector 1-4, sextuple sensor 1-5, motion holder 1-7, circuit board 1-8, sextuple sensor connector 1-9, electrically connected components 1-11, multiple location releasing unit 1-10, multiple electric output precision 1-12 are connected detection components 1-13 with multiple soon;
Described kinematic chain shell 1-1, cover of driver 1-2, screw thread set casing 1-3 is communicated with from top to bottom successively with mechanical arm connector 1-4, described motion holder 1-7 is arranged between kinematic chain shell 1-1 and cover of driver 1-2, described power take-off module 2 is located in kinematic chain shell 1-1, described motion driver module 4 arranges with power take-off module 2 is coaxial and is fixed on motion holder 1-7, every bar capture movement chain 5 to be fixedly connected on motion holder 1-7 and by motion driver module 4 actuation movement, multiple electric output precision 1-12 are distributed on the top of kinematic chain shell 1-1 centered by power take-off module 2, multiple location releasing unit 1-10 are distributed on the top of kinematic chain shell 1-1 centered by power take-off module 2, the inner side correspondence of each electric output precision 1-12 is provided with a location releasing unit 1-10, multiple connection detection components 1-13 is all positioned at the top of kinematic chain shell 1-1 and is distributed on power take-off module 2 around, described motion holder 1-7 is fixedly connected on the bottom of kinematic chain shell 1-1, circuit board 1-8 and sensor assembly 3 are installed on motion holder 1-7, described sextuple sensor connector 1-9 is fixedly connected on the bottom of cover of driver 1-2, electrically fast connected components 1-11 is arranged between cover of driver 1-2 and sextuple sensor connector 1-9, described sextuple sensor 1-5 is arranged in screw thread set casing 1-3, the bottom of sextuple sensor 1-5 is fixedly connected with mechanical arm connector 1-4, the top of sextuple sensor 1-5 is connected with sextuple sensor connector 1-9.
Achieve while electrically fast connected components 1-11 makes cover of driver 1-2 carry out being mechanically connected with connector 1-9 with sextuple sensor described in present embodiment and be electrically connected fast, and pass through the use of screw thread set casing 3, do not need screw can complete connection fastening.
The design that described kinematic chain shell 1-1 adopts large small column and three-clove style to combine, takes into account attractive in appearance, small size, little quality and designs, and design vision sensor mount pad.
Detailed description of the invention two: composition graphs 1, Fig. 4 and Fig. 5 illustrates present embodiment, in present embodiment, every bar capture movement chain 5 comprises jointed connecting rod kinematic chain assembly 5-1, catch finger 5-2, fixed hinge seat 5-3, connecting rod exports hinge axis 5-4, cam hinge axis 5-5 and connecting rod fixed hinge axle 5-7, described fixed hinge seat 5-3 is fixedly connected on motion holder 1-7, described jointed connecting rod kinematic chain assembly 5-1 is arranged between motion driver module 4 and connecting rod fixed hinge axle 5-7, the output of jointed connecting rod kinematic chain assembly 5-1 exports hinge axis 5-4 with catching by connecting rod and points 5-2 and be hinged, catch on finger 5-2 and be processed with bar line chute 5-2-1, cam hinge axis 5-5 is horizontal through bar line chute 5-2-1 and be fixedly connected on fixed hinge seat 5-3,
Described jointed connecting rod kinematic chain assembly 5-1 comprises drive crank 5-1-1, four bar coupled links 5-1-4, the passive connecting rod 5-1-7 of four bars, coupling hinge axle 5-1-6, homology connecting rod 5-1-2, export connecting rod 5-1-5 and homology connecting rod link axle 5-1-3, described drive crank bar 5-1-1 and four bar coupled links 5-1-4 is hinged by microswitch axle 7, one end of described four bar passive connecting rod 5-1-7 is hinged by coupling hinge axle 5-1-6, the other end of described four bar passive connecting rod 5-1-7 is hinged by connecting rod fixed hinge axle 5-7 and fixed hinge seat 5-3, one end of described homology connecting rod 5-1-2 is hinged with drive crank 5-1-1 by motion driver module 4, the other end of described homology connecting rod 5-1-2 is hinged by homology connecting rod link axle 5-1-3 and output connecting rod 5-1-5, the middle part of described output connecting rod 5-1-5 is hinged by coupling hinge axle 5-1-6 and four bar coupled links 5-1-4, the right-hand member of described output connecting rod 5-1-5 exports hinge axis 5-4 with catching by connecting rod and points 5-2 and be hinged.Other structures and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 5 to Figure 10 illustrates present embodiment, the driver module of motion described in present embodiment 4 comprises rocking bar power plant module 4-1 and multiple output rocking bar module 4-2, and multiple output rocking bar module 4-2 is distributed on around rocking bar power plant module 4-1 centered by rocking bar power plant module 4-1;
Described rocking bar power plant module 4-1 comprises bearing 4-1-1, worm screw 4-1-2, motor cabinet 4-1-3 and motor 4-1-5, the lower end of described bearing 4-1-1 is provided with motor cabinet 4-1-3, motor 4-1-5 is provided with in described motor cabinet 4-1-3, the upper end of described worm screw 4-1-2 is located on bearing 4-1-1, and the lower end of described worm screw 4-1-2 is connected with motor 4-1-5;
Described output rocking bar module 4-2 comprises worm gear hinge axis 4-2-2, worm gear 4-2-3, spacing adjusting lever 4-2-4, space on right trimming assembly 4-2-5 and left space fine-adjusting assembly 4-2-6, described space on right trimming assembly 4-2-5 and left space fine-adjusting assembly 4-2-6 is set in the two ends of worm gear hinge axis 4-2-2, spacing adjusting lever 4-2-4 is provided with between described space on right trimming assembly 4-2-5 and left space fine-adjusting assembly 4-2-6, described worm gear hinge axis 4-2-2 is arranged on bearing 4-1-1 by space on right trimming assembly 4-2-5 and left space fine-adjusting assembly 4-2-6, described jointed connecting rod kinematic chain assembly 5-1 is arranged between worm gear hinge axis 4-2-2 and connecting rod fixed hinge axle 5-7, one end and the worm gear hinge axis 4-2-2 of the drive crank 5-1-1 in described jointed connecting rod kinematic chain assembly 5-1 are hinged, described worm gear 4-2-3 is worm sector, worm gear 4-2-3 to be sleeved on worm gear hinge axis 4-2-2 and between space on right trimming assembly 4-2-5 and left space fine-adjusting assembly 4-2-6, the link of worm gear 4-2-3 is fixedly connected with drive crank 5-1-1, the sawtooth end of worm gear 4-2-3 is meshed with worm screw 4-1-2,
The structure of described space on right trimming assembly 4-2-5 is identical with the structure of left space fine-adjusting assembly 4-2-6, described space on right trimming assembly 4-2-5 comprises right Worm Bearing 4-2-5-1, right eccentric bearing block 4-2-5-2 and right side holding screw 4-2-5-3, the right-hand member of described worm gear hinge axis 4-2-2 is arranged on bearing 4-1-1 by right Worm Bearing 4-2-5-1, right eccentric bearing block 4-2-5-2 successively, and described right Worm Bearing 4-2-5-1 is connected by right side holding screw 4-2-5-3 with right eccentric bearing block 4-2-5-2; Described left space fine-adjusting assembly 4-2-6 comprises left Worm Bearing 4-2-6-1, left eccentric bearing block 4-2-6-2 and left side holding screw 4-2-6-3, the left side of described worm gear hinge axis 4-2-2 is arranged on bearing 4-1-1 by left Worm Bearing 4-2-6-1 and left eccentric bearing block 4-2-6-2 successively, left Worm Bearing 4-2-6-1 is connected by left side holding screw 4-2-6-3 with left eccentric bearing block 4-2-6-2, and described spacing adjusting lever 4-2-4 is connected between left eccentric bearing block 4-2-6-2 and right eccentric bearing block 4-2-5-2;
Described right eccentric bearing block 4-2-5-2 and left eccentric bearing block 4-2-6-2 is the bearing seat of off-centre operation structure, horizontal range between worm screw 4-1-2 central axis to worm gear 4-2-3 center is L, horizontal range L regulates its size by right eccentric bearing block 4-2-5-2 and left eccentric bearing block 4-2-6-2, makes the smooth motion between worm gear 4-2-3 and worm screw 4-1-2 realize zero return difference of drive crank 5-6;
Every bar capture movement chain 5 is arranged with the worm gear 4-2-3 one_to_one corresponding exporting rocking bar module 4-2, and every bar capture movement chain 5 to be fixedly connected on motion holder 1-7 and by the worm gear 4-2-3 actuation movement in the output rocking bar module 4-2 of its correspondence.
In present embodiment, worm gear hinge axis 4-2-2 is located between worm gear 4-2-3 and drive crank 5-1-1, and described worm gear 4-2-3 is fixedly connected with drive crank 5-1-1.One end of described homology connecting rod 5-1-2 is hinged by worm gear hinge axis 4-2-2 and drive crank 5-1-1.
In present embodiment, the number of multiple output rocking bar module 4-2 is two or more, needs concrete setting, strengthen versatility of the present invention according to actual condition.When output rocking bar module 4-2 is three, three export rocking bar module 4-2 axial symmetry centered by rocking bar power plant module 4-1 and are distributed in outside rocking bar power plant module 4-1.Worm gear 4-2-3 has carried out the process of removing material, to reduce volume of the present invention and quality in the part do not used.Motor 4-1-5 is hollow motor, carries out integrated design embedding mutually with worm screw 4-1-2, to reduce volume and the quality of motion driver module 4.In present embodiment, left Worm Bearing 4-2-6-1 and right Worm Bearing 4-2-5-1 all adopts flanged bearing, simplifies structural design, realizes bearing pre-tightened, extends bearing life.
Along with a level of pitch spacing adjusting lever 4-2-4 is stirred in present embodiment, right eccentric bearing block 4-2-5-2 rotates thereupon among a small circle, the right Worm Bearing 4-2-5-1 level concentric with right eccentric bearing block 4-2-5-2 inner circle is moved among a small circle, and right Worm Bearing 4-2-5-1 vertical direction position is substantially constant, finally locked by right side holding screw 4-2-5-3, in like manner in left space fine-adjusting assembly 4-2-6.The level of synchronization of right Worm Bearing 4-2-5-1 and left Worm Bearing 4-2-6-1 is moved among a small circle and is driven worm gear 4-2-3 central horizontal to move among a small circle, for adjusting worm screw 4-1-2 center and worm gear 4-2-3 centre distance L, realize while ensureing worm gear 4-2-3, the smooth motion of worm screw 4-1-2 exporting rocking bar 5-1-1 zero return difference.In present embodiment, worm gear 4-2-3 central horizontal is 0.2mm among a small circle.
Export rocking bar module 4-2 and also comprise alignment pin, described worm gear 4-2-3 is processed with connecting hole and two through holes, described connecting hole is arranged away from the sawtooth end of worm gear 4-2-3, described connecting hole is connected with output rocking bar 5-1-1 by alignment pin, two through holes are all arranged near the sawtooth end of worm gear 4-2-3, have angle theta between two through holes, angle theta is used for overcoming angular deviation between worm gear 4-2-3 in multiple output module 4-2, makes output rocking bar 5-1-1 keep equal angular.Other structures and annexation identical with detailed description of the invention two.
Detailed description of the invention four: composition graphs 1 to Fig. 5 illustrates present embodiment, described in present embodiment, a kind of miniature end effector of large tolerance with dynamo-electric output also comprises current potential meter shaft 6 and microswitch axle 7, described sensor assembly 3 comprises position detection components 3-1 and spacing detection components 3-2, described position detection components 3-1 and current potential meter shaft 6 are coaxially arranged, and described position detection components 3-1 is arranged on motion holder 1-7; Described spacing detection components 3-2 is arranged on motion holder 1-7, and microswitch axle 7 is positioned at the drive crank 5-6 right-hand member hinge place of jointed connecting rod kinematic chain assembly 5-1.
In present embodiment, position detection components 3-1 Real-Time Monitoring current potential meter shaft 6 current location, judges end effector state, and automatically stops at stroke two ends.When position detection components 3-1 lost efficacy; microswitch axle 7 triggers the microswitch of spacing detection components 3-2 respectively when arriving stroke two ends; control system enters external trigger interrupt handling routine, suspends end effector motion, realizes the double protection functions of end effector.Other structures and annexation identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1 to Fig. 5 illustrates present embodiment, power take-off module 2 described in present embodiment comprises speed reducer housing 2-1, output motor shell 2-2, exports coupling assembling 2-3 and rotary power assembly 2-4, the bottom of described speed reducer housing 2-1 is fixedly connected with output motor shell 2-2, and the top of speed reducer housing 2-1 is arranged on the top of kinematic chain shell 1-1; Described output coupling assembling 2-3 is arranged in speed reducer housing 2-1, and described rotary power assembly 2-4 is arranged between speed reducer housing 2-1 and output motor shell 2-2, and described output coupling assembling 2-3 is fixedly connected with rotary power assembly 2-4.Other structures and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 1 to Fig. 5 illustrates present embodiment, the 4-2-3 of worm gear described in present embodiment is the worm gear that copper becomes, described worm screw 4-2 is the worm screw that stainless steel is made, the lead angle of described worm screw 1-2 is α, lead angle α is 3 °, lead angle α makes pressure angle when engaging between worm gear 2-3 and worm screw 1-2 be less than angle of friction, makes worm gear 2-3 and worm screw 1-2 realize self-locking.Setting like this can needs keep export rocking bar position time power-off, save the energy.Other structures and annexation identical with detailed description of the invention five.
Detailed description of the invention seven: composition graphs 1 to Fig. 5 illustrates present embodiment, the kinematic chain of jointed connecting rod described in present embodiment assembly 5 realizes the rotary motion of worm gear 4-2-3 in motion driver module 4 being converted to the rectilinear motion that connecting rod exports hinge axis 5-4 by jointed connecting rod mode.This rectilinear motion is the linear drives realizing Long Distances with small size lightweight.Other structures and annexation identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 1 to Fig. 5 illustrates present embodiment, catch finger 5-2 front end described in present embodiment and be provided with two convex ball 5-2-2 to reduce collision friction power, described in catch and point 5-2 and contacted preliminary envelope in acquisition procedure and pinpoint two processes by the priority of two convex ball 5-2-2.Other structures and annexation identical with detailed description of the invention seven.
Detailed description of the invention nine: present embodiment is described in conjunction with Figure 11, in present embodiment, end effector control strategy is: start end effector, mechanical arm is modulated Shared control pattern, start rocking bar power plant module 4-1, then the swing of worm gear 4-2-3 is converted to rectilinear motion by jointed connecting rod kinematic chain assembly 5-1, driving is caught finger 5-2 and is completed gathering successively, drag, locking process, position detection components 3-1 Real-time Feedback running status in the process, connection detection components 1-13 closes rocking bar power plant module 4-1 after providing and successfully docking signal, there is provided machinery respectively by power take-off module 2 and electric output precision 1-12 and electrically export.Other structures and annexation identical with detailed description of the invention eight.
Operation principle of the present invention:
1) target captures/release: the worm gear 4-2-3 reciprocally swinging that the worm screw 4-1-2 Timing Belt moving axis of motion driver module 4 is symmetrical, by with worm gear 4-2-3 one to one jointed connecting rod kinematic chain assembly 5-1 be converted into the axial reciprocating rectilinear motion that connecting rod exports hinge axis 5-4, because the chute of catching finger 5-2 is limited by cam hinge axis 5-5, drive the top of catching finger 5-2 to move back and forth along dotted line, the realize target that is synchronized with the movement of many capture movement chains 5 captures/release;
2) machinery exports: after target has captured, the rotary power assembly 2-4 in power take-off module 2 rotates, and drives the output coupling assembling 2-3 be fixedly connected with together to export mechanical rotary power;
3) electrically export: while target has captured, namely the electric output precision 1-12 with floating performance completes electrical connection, realize power supply supply and communication function.
Claims (8)
1. there is the dynamo-electric miniature end effector of large tolerance exported, it is characterized in that: it comprises shell module (1), power take-off module (2), sensor assembly (3), motion driver module (4) and many capture movement chains (5);
Described shell module (1) comprises kinematic chain shell (1-1), cover of driver (1-2), screw thread set casing (1-3), mechanical arm connector (1-4), sextuple sensor (1-5), motion holder (1-7), circuit board (1-8), sextuple sensor is with connector (1-9), electrically fast connected components (1-11), multiple location releasing unit (1-10), multiple electric output precision (1-12) and multiple connection detection components (1-13),
Described kinematic chain shell (1-1), cover of driver (1-2), screw thread set casing (1-3) is communicated with from top to bottom successively with mechanical arm connector (1-4), described motion holder (1-7) is arranged between kinematic chain shell (1-1) and cover of driver (1-2), described power take-off module (2) is located in kinematic chain shell (1-1), described motion driver module (4) arranges with power take-off module (2) is coaxial and is fixed on motion holder (1-7), it is upper and by motion driver module (4) actuation movement that every bar capture movement chain (5) is fixedly connected on motion holder (1-7), multiple electric output precision (1-12) is distributed on the top of kinematic chain shell (1-1) centered by power take-off module (2), multiple location releasing unit (1-10) are distributed on the top of kinematic chain shell (1-1) centered by power take-off module (2), the inner side correspondence of each electric output precision (1-12) is provided with location releasing unit (1-10), multiple connection detection components (1-13) is all positioned at the top of kinematic chain shell (1-1) and is distributed on power take-off module (2) around, described motion holder (1-7) is fixedly connected on the bottom of kinematic chain shell (1-1), circuit board (1-8) and sensor assembly (3) are installed on motion holder (1-7), described sextuple sensor connector (1-9) is fixedly connected on the bottom of cover of driver (1-2), electrically fast connected components (1-11) is arranged between cover of driver (1-2) and sextuple sensor connector (1-9), described sextuple sensor (1-5) is arranged in screw thread set casing (1-3), the bottom of sextuple sensor (1-5) is fixedly connected with mechanical arm connector (1-4), the top of sextuple sensor (1-5) is connected with sextuple sensor connector (1-9).
2. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 1, it is characterized in that: every bar capture movement chain (5) comprises jointed connecting rod kinematic chain assembly (5-1), catch finger (5-2), fixed hinge seat (5-3), connecting rod exports hinge axis (5-4), cam hinge axis (5-5) and connecting rod fixed hinge axle (5-7), described fixed hinge seat (5-3) is fixedly connected on motion holder (1-7), described jointed connecting rod kinematic chain assembly (5-1) is arranged between motion driver module (4) and connecting rod fixed hinge axle (5-7), the output of jointed connecting rod kinematic chain assembly (5-1) exports hinge axis (5-4) with catching by connecting rod and points (5-2) and be hinged, catch on finger (5-2) and be processed with bar line chute (5-2-1), cam hinge axis (5-5) is horizontal through bar line chute (5-2-1) and be fixedly connected on fixed hinge seat (5-3),
Described jointed connecting rod kinematic chain assembly (5-1) comprises drive crank (5-1-1), four bar coupled links (5-1-4), the passive connecting rod of four bar (5-1-7), coupling hinge axle (5-1-6), homology connecting rod (5-1-2), export connecting rod (5-1-5) and homology connecting rod link axle (5-1-3), described drive crank bar (5-1-1) is hinged by microswitch axle (7) with four bar coupled links (5-1-4), one end of the passive connecting rod of described four bar (5-1-7) is hinged by coupling hinge axle (5-1-6), the other end of the passive connecting rod of described four bar (5-1-7) is hinged by connecting rod fixed hinge axle (5-7) and fixed hinge seat (5-3), one end of described homology connecting rod (5-1-2) is hinged by motion driver module (4) and drive crank (5-1-1), the other end of described homology connecting rod (5-1-2) is hinged by homology connecting rod link axle (5-1-3) and output connecting rod (5-1-5), the middle part of described output connecting rod (5-1-5) is hinged by coupling hinge axle (5-1-6) and four bar coupled links (5-1-4), the right-hand member of described output connecting rod (5-1-5) exports hinge axis (5-4) with catching by connecting rod and points (5-2) and be hinged.
3. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 2, it is characterized in that: described motion driver module (4) comprises rocking bar power plant module (4-1) and multiple output rocking bar module (4-2), and multiple output rocking bar module (4-2) is distributed on rocking bar power plant module (4-1) around centered by rocking bar power plant module (4-1);
Described rocking bar power plant module (4-1) comprises bearing (4-1-1), worm screw (4-1-2), motor cabinet (4-1-3) and motor (4-1-5), the lower end of described bearing (4-1-1) is provided with motor cabinet (4-1-3), motor (4-1-5) is provided with in described motor cabinet (4-1-3), the upper end of described worm screw (4-1-2) is located on bearing (4-1-1), and the lower end of described worm screw (4-1-2) is connected with motor (4-1-5);
Described output rocking bar module (4-2) comprises worm gear hinge axis (4-2-2), worm gear (4-2-3), spacing adjusting lever (4-2-4), space on right trimming assembly (4-2-5) and left space fine-adjusting assembly (4-2-6), described space on right trimming assembly (4-2-5) and left space fine-adjusting assembly (4-2-6) are set in the two ends of worm gear hinge axis (4-2-2), spacing adjusting lever (4-2-4) is provided with between described space on right trimming assembly (4-2-5) and left space fine-adjusting assembly (4-2-6), described worm gear hinge axis (4-2-2) is arranged on bearing (4-1-1) by space on right trimming assembly (4-2-5) and left space fine-adjusting assembly (4-2-6), described jointed connecting rod kinematic chain assembly (5-1) is arranged between worm gear hinge axis (4-2-2) and connecting rod fixed hinge axle (5-7), one end and the worm gear hinge axis (4-2-2) of the drive crank (5-1-1) in described jointed connecting rod kinematic chain assembly (5-1) are hinged, described worm gear (4-2-3) is worm sector, worm gear (4-2-3) is sleeved on worm gear hinge axis (4-2-2) and goes up and be positioned between space on right trimming assembly (4-2-5) and left space fine-adjusting assembly (4-2-6), the link of worm gear (4-2-3) is fixedly connected with drive crank (5-1-1), the sawtooth end of worm gear (4-2-3) is meshed with worm screw (4-1-2),
The structure of described space on right trimming assembly (4-2-5) is identical with the structure of left space fine-adjusting assembly (4-2-6), described space on right trimming assembly (4-2-5) comprises right Worm Bearing (4-2-5-1), right eccentric bearing block (4-2-5-2) and right side holding screw (4-2-5-3), the right-hand member of described worm gear hinge axis (4-2-2) is successively by right Worm Bearing (4-2-5-1), right eccentric bearing block (4-2-5-2) is arranged on bearing (4-1-1), described right Worm Bearing (4-2-5-1) is connected by right side holding screw (4-2-5-3) with right eccentric bearing block (4-2-5-2), described left space fine-adjusting assembly (4-2-6) comprises left Worm Bearing (4-2-6-1), left eccentric bearing block (4-2-6-2) and left side holding screw (4-2-6-3), the left side of described worm gear hinge axis (4-2-2) is arranged on bearing (4-1-1) by left Worm Bearing (4-2-6-1) and left eccentric bearing block (4-2-6-2) successively, left Worm Bearing (4-2-6-1) is connected by left side holding screw (4-2-6-3) with left eccentric bearing block (4-2-6-2), described spacing adjusting lever (4-2-4) is connected between left eccentric bearing block (4-2-6-2) and right eccentric bearing block (4-2-5-2),
Described right eccentric bearing block (4-2-5-2) and left eccentric bearing block (4-2-6-2) are the bearing seat of off-centre operation structure, horizontal range between worm screw (4-1-2) central axis to worm gear (4-2-3) center is L, horizontal range L regulates its size by right eccentric bearing block (4-2-5-2) and left eccentric bearing block (4-2-6-2), makes the smooth motion between worm gear (4-2-3) and worm screw (4-1-2) realize zero return difference of drive crank (5-6);
Every bar capture movement chain (5) with export rocking bar module (4-2) worm gear (4-2-3) one_to_one corresponding arranges, every bar capture movement chain (5) be fixedly connected on motion holder (1-7) go up and by worm gear (4-2-3) actuation movement in the output rocking bar module (4-2) of its correspondence.
4. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 3, it is characterized in that: described a kind of miniature end effector of large tolerance with dynamo-electric output also comprises current potential meter shaft (6) and microswitch axle (7), described sensor assembly (3) comprises position detection components (3-1) and spacing detection components (3-2), described position detection components (3-1) and current potential meter shaft (6) are coaxially arranged, and described position detection components (3-1) is arranged on motion holder (1-7); Described spacing detection components (3-2) is arranged on motion holder (1-7), and microswitch axle (7) is positioned at drive crank (5-6) the right-hand member hinge place of jointed connecting rod kinematic chain assembly (5-1).
5. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 4, it is characterized in that: described power take-off module (2) comprises speed reducer housing (2-1), output motor shell (2-2), exports coupling assembling (2-3) and rotary power assembly (2-4), the bottom of described speed reducer housing (2-1) is fixedly connected with output motor shell (2-2), and the top of speed reducer housing (2-1) is arranged on the top of kinematic chain shell (1-1); Described output coupling assembling (2-3) is arranged in speed reducer housing (2-1), described rotary power assembly (2-4) is arranged between speed reducer housing (2-1) and output motor shell (2-2), and described output coupling assembling (2-3) is fixedly connected with rotary power assembly (2-4).
6. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 5, it is characterized in that: the worm gear that described worm gear (4-2-3) becomes for copper, the worm screw that described worm screw (4-1-2) is made for stainless steel, the lead angle of described worm screw (1-2) is α, lead angle α is 3 °, lead angle α makes pressure angle when engaging between worm gear (2-3) and worm screw (1-2) be less than angle of friction, makes worm gear (2-3) and worm screw (1-2) realize self-locking.
7. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 6, is characterized in that: described jointed connecting rod kinematic chain assembly (5) realizes the rotary motion of worm gear (4-2-3) in motion driver module (4) to be converted to the rectilinear motion that connecting rod exports hinge axis (5-4) by jointed connecting rod mode.
8. a kind of miniature end effector of large tolerance with dynamo-electric output according to claim 7, it is characterized in that: described in catch finger (5-2) front end and be provided with two convex balls (5-2-2) to reduce collision friction power, described in catch finger (5-2) and contacted preliminary envelope in acquisition procedure and pinpoint two processes by the priority of two convex balls (5-2-2).
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