CN105150234A - End grabbing mechanism - Google Patents
End grabbing mechanism Download PDFInfo
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- CN105150234A CN105150234A CN201510552398.4A CN201510552398A CN105150234A CN 105150234 A CN105150234 A CN 105150234A CN 201510552398 A CN201510552398 A CN 201510552398A CN 105150234 A CN105150234 A CN 105150234A
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- grasping mechanism
- grabbing mechanism
- torque motor
- grabbing
- helical disk
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Abstract
An end grabbing mechanism belongs to the field of robot end grabbing and comprises a torque motor, a harmonic reducer, a helical disc shaft, expansion hands, a hand eye camera, a grabbing mechanism housing and a grabbing mechanism mounting seat, wherein the torque motor generates power, and the helical disc shaft is driven to rotate by the harmonic reducer; the expansion hands are meshed with the helical disc shaft and conduct radial motion in a guide groove of the grabbing mechanism housing; the hand eye camera is mounted at the front end of the grabbing mechanism housing; and the torque motor and the harmonic reducer are mounted in the grabbing mechanism mounting seat, and the helical disc shaft and the expansion hands are mounted in the grabbing mechanism housing. The end grabbing mechanism has the following beneficial effects: the end plug-in grabbing mechanism facilitates guiding, is very large in grabbing force but small in size, simple and reliable in design and easy to implement; and as the center if the grabbing mechanism is designed to be hollow, wiring of the camera at the front end of the grabbing mechanism is facilitated, and accordingly, cables can be effectively prevented from influencing grabbing and assembling actions of assembled robots.
Description
Technical field
The invention belongs to robot end and capture field, particularly a kind of plug-in type crawl, expansion chuck locking robot end grasping mechanism.
Background technology
Owing to being subject to the restriction of carrier rocket emissivities, the following main border of heavy caliber space telescope has mainly been assembled in-orbit by robot for space.At present, existing robot end's grasping mechanism adopts the crawl of the method realizations such as Dextrous Hand crawl, the absorption of negative pressure dish to target object usually, the type grasping mechanism major defect is, mechanism structure is complicated, appearance and size is large, poor reliability, be difficult to as spatial group machine robot end affector, realize the assembling task in-orbit in the main border of heavy caliber space telescope.
Summary of the invention
In order to solve problems of the prior art, the invention provides the robot for space end grasping mechanism that a kind of structure is simple, appearance and size is little, have high reliability, be applicable to outer space operation task.
The technical scheme that technical solution problem of the present invention adopts is as follows:
A kind of end grasping mechanism, this mechanism comprises: torque motor, harmonic speed reducer, helical disk axle, swelling hand, trick camera, grasping mechanism shell and grasping mechanism mount pad; Torque motor produces power, drives helical disk axle to rotate by harmonic speed reducer; Swelling hand engages with helical disk axle, radially moves in grasping mechanism shell gathering sill; Trick camera is arranged on grasping mechanism case nose; Torque motor and harmonic speed reducer are arranged in grasping mechanism mount pad, and helical disk axle and swelling hand are arranged in grasping mechanism shell.
The invention has the beneficial effects as follows: end plug-in type grasping mechanism of the present invention is not only conducive to centering and guiding, and grasp force is very large, mechanism size is little, and simplicity of design is reliable, easily realizes.Grasping mechanism Center becomes hollow, be conducive to grasping mechanism front end camera cabling, cable effectively can be avoided to capture and the impact of assembled action mounter people, assemble for the main border of future space large aperture telescope the grasping mechanism providing the higher sub-border module of a kind of realizability in-orbit.
Accompanying drawing explanation
Fig. 1 robot end grasping mechanism captures the schematic diagram of sub-border module.
Fig. 2 end of the present invention grasping mechanism single grabbing assembly internal structure sectional view.
In figure: 1, robot end, 2, six-dimension force sensor assembly, 3, travel switch, 4, end grasping mechanism, 5, sub-border to be spliced module, 6, motor shaft end back-up ring, 7, motor shaft, 8, torque motor stator, 9, torque motor rotor, 10, motor cabinet, 11, harmonic speed reducer, 12, grasping mechanism mount pad, 13, outer race end cap, 14, the excessive part of bearing inner ring end cap, 15, a set of cups, 16, helical disk axle, 17, bearing inner ring back-up ring, 18, grasping mechanism shell, 19, angular contact ball bearing, 20, swelling hand, 21, trick camera.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is described in further details.
As shown in Figure 1, end grasping mechanism 4 of the present invention together forms main border concatenation system with robot 1, six-dimension force sensor assembly 2, travel switch 3, sub-mirror module 5.
As shown in Figure 2, end grasping mechanism composition of the present invention comprises: torque motor assembly, harmonic speed reducer 11, grasping mechanism mount pad 12 and gripping head assembly, wherein, torque motor assembly comprises: motor shaft end back-up ring 6, motor shaft 7, torque motor stator 8, torque motor rotor 9, motor cabinet 10; Gripping head assembly comprises: the swelling pawl 20 of the excessive part 14 of outer race end cap 13, bearing inner ring end cap, a set of cups 15 assembly, helical disk axle 16, bearing inner ring back-up ring 17, grasping mechanism shell 18, angular contact ball bearing 19, three 120 ° distribution and trick camera 21.First gripping head assembly is installed on grasping mechanism mount pad 12, again the flexbile gear of harmonic speed reducer 11 being connected with the excessive part 14 of gripping head assembly middle (center) bearing inner ring end cap and grasping mechanism mount pad 12 respectively with just taking turns, finally torque motor assembly being installed on grasping mechanism mount pad 12.
Successively angular contact ball bearing 19 and helical disk axle 16 are installed in a set of cups 15, reinstall bearing inner ring back-up ring 17, angular contact ball bearing 19, and utilize outer race end cap 13 and bearing inner ring end cap excessive part 14 rigid bearing outer ring and inner ring, realize the support to helical disk axle 16, and a set of cups 15 assembly assembled is loaded in grasping mechanism shell 18, by slow circumvolve helical disk axle 16, the swelling hand 20 that three 120 ° distribute is loaded in grasping mechanism shell 18 gathering sill again, and trick camera 21 is fixed on grasping mechanism shell 18 forms gripping head assembly.Finally gripping head assembly is installed on grasping mechanism mount pad 12.
Harmonic speed reducer 11 wave producer is fixed on motor shaft 7 by key and shaft end ring, motor shaft end back-up ring 6, motor shaft 7 are installed on torque motor rotor 9 by recycling screw, and utilize motor cabinet 10 to be fixed on grasping mechanism mount pad 12 by torque motor stator 8 to form torque motor assembly.
Robot 1 drives grasping mechanism 4 to move closer to sub-mirror module 5 under the guiding of trick camera 21, after grasping mechanism 4 arrives precalculated position, sub-mirror module 5 front end by setting attitude, robot 1 is according under the feedback information of its end six-dimension force sensor 2, slow drive grasping mechanism 4 moves forward, now two cylindrical gripping head assemblies (diameter is less than sub-mirror module 5 and captures bore dia) progress in sub-mirror module 5 two crawl hole, and robot 1 constantly adjusts the attitude of end grasping mechanism 4 according to power sense information, final limit switch 3 is triggered, halt.
After this grasping mechanism 4 internal forces torque motor is started working, and drives three swelling hands 20 to stretch out outward gradually.And the eccentric force under the detection of six-dimension force sensor 2 suffered by real-time perception swelling hand 20, in real time adjustment end grasping mechanism 4 attitude, the plug-in type finally realizing end grasping mechanism antithetical phrase mirror module 5 captures, expansion chuck locking action.
Claims (5)
1. an end grasping mechanism, is characterized in that, this mechanism comprises: torque motor, harmonic speed reducer, helical disk axle, swelling hand, trick camera, grasping mechanism shell and grasping mechanism mount pad; Described torque motor produces power, drives helical disk axle to rotate by harmonic speed reducer; Swelling hand engages with helical disk axle, radially moves in grasping mechanism shell gathering sill; Trick camera is arranged on grasping mechanism case nose; Torque motor and harmonic speed reducer are arranged in grasping mechanism mount pad, and helical disk axle and swelling hand are arranged in grasping mechanism shell.
2. a kind of end grasping mechanism according to claim 1, is characterized in that, described grasping mechanism shell is installed on grasping mechanism mount pad front end.
3. a kind of end grasping mechanism according to claim 1, is characterized in that, the quantity of described swelling hand is three, and 120 ° are evenly distributed in grasping mechanism shell gathering sill.
4. a kind of end grasping mechanism according to claim 1, is characterized in that, described helical disk axial end and swelling pawl end face all have Archimedes's flat thread.
5. a kind of end grasping mechanism according to claim 1, is characterized in that, described crawl structure is hollow structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510552398.4A CN105150234A (en) | 2015-09-02 | 2015-09-02 | End grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510552398.4A CN105150234A (en) | 2015-09-02 | 2015-09-02 | End grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105150234A true CN105150234A (en) | 2015-12-16 |
Family
ID=54791427
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510552398.4A Pending CN105150234A (en) | 2015-09-02 | 2015-09-02 | End grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105150234A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
Citations (6)
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|---|---|---|---|---|
| US4602799A (en) * | 1983-10-08 | 1986-07-29 | Roehm Guenter H | Hammer-drill chuck |
| CN201579448U (en) * | 2009-11-13 | 2010-09-15 | 江苏力源金河铸造有限公司 | Self-centering chuck |
| CN202387980U (en) * | 2011-10-31 | 2012-08-22 | 苏州市东立机械有限公司 | Novel three-jaw chuck |
| CN103386688A (en) * | 2013-07-30 | 2013-11-13 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
| CN103817703A (en) * | 2014-02-28 | 2014-05-28 | 华南理工大学 | Multifunctional robot end effector for working at heights |
| CN104289735A (en) * | 2014-09-27 | 2015-01-21 | 江苏恒泽安装工程股份有限公司 | Three-jaw chuck for self-centering numerical control tube intersecting cutting machine |
-
2015
- 2015-09-02 CN CN201510552398.4A patent/CN105150234A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4602799A (en) * | 1983-10-08 | 1986-07-29 | Roehm Guenter H | Hammer-drill chuck |
| CN201579448U (en) * | 2009-11-13 | 2010-09-15 | 江苏力源金河铸造有限公司 | Self-centering chuck |
| CN202387980U (en) * | 2011-10-31 | 2012-08-22 | 苏州市东立机械有限公司 | Novel three-jaw chuck |
| CN103386688A (en) * | 2013-07-30 | 2013-11-13 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
| CN103817703A (en) * | 2014-02-28 | 2014-05-28 | 华南理工大学 | Multifunctional robot end effector for working at heights |
| CN104289735A (en) * | 2014-09-27 | 2015-01-21 | 江苏恒泽安装工程股份有限公司 | Three-jaw chuck for self-centering numerical control tube intersecting cutting machine |
Non-Patent Citations (1)
| Title |
|---|
| 薛源顺: "《磨工（初级）》", 30 April 2005 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107891442A (en) * | 2017-11-28 | 2018-04-10 | 天津扬天科技有限公司 | The hollow cooperation mechanical arm of multiple degrees of freedom |
| CN107891442B (en) * | 2017-11-28 | 2024-01-26 | 天津扬天科技有限公司 | Multi-degree-of-freedom hollow cooperative mechanical arm |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151216 |
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| WD01 | Invention patent application deemed withdrawn after publication |