CN109333576B - Tail end capturing gripper for space manipulator and capturing method - Google Patents
Tail end capturing gripper for space manipulator and capturing method Download PDFInfo
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- CN109333576B CN109333576B CN201811210053.0A CN201811210053A CN109333576B CN 109333576 B CN109333576 B CN 109333576B CN 201811210053 A CN201811210053 A CN 201811210053A CN 109333576 B CN109333576 B CN 109333576B
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- lead screw
- rod
- limiting
- connecting rod
- screw nut
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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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
Abstract
The invention relates to a tail end capturing paw for a space manipulator and a capturing method, and belongs to the technical field of tail end tools of space manipulators. The invention adopts a parallelogram connecting rod structure, ensures that the front end paw is always kept in a vertical state in the motion process, improves the tolerance in the capturing process and ensures the smoothness in the capturing process; the two motors used by the invention both adopt hollow motors, and the double lead screws adopt a nested structure, so that the compactness of the structure is increased while the functions are ensured, and the space occupied by the paw is small; the front end finger can be replaced according to the shape of the target object passive end butt joint device, and can be applied to different scenes and environments; the invention effectively ensures the connection and fixation of the target object in six degrees of freedom through the structure of three fingers and one ejector rod, and improves the integral rigidity after the capture.
Description
Technical Field
The invention relates to a tail end capturing paw for a space manipulator and a capturing method, belongs to the technical field of tail end tools of space manipulators, and relates to a manipulator tail end operating paw capable of capturing and connecting a target object at three degrees of freedom. The paw finishes grabbing, connecting and fixing the passive end of the target object through a double-lead-screw nested structure. The gripper can be used for a space manipulator catching and butting system.
Background
The catching gripper is a tail end execution tool of a space manipulator, is used as an executor with functions of space soft butt joint, catching and the like, has an indispensable function, and simultaneously, space on-orbit operation puts higher requirements on compactness and reliability of the gripper.
Most of the capturing grippers used in the space at the present stage can only complete the connection or capturing of the target object in two degrees of freedom, namely, can only complete the grasping task, and cannot complete the fixed connection of the target object in three degrees of freedom.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the terminal capturing gripper for the space manipulator and the capturing method thereof overcome the defects of the prior art, smooth capturing and fixed connection operation of a passive end of a target object on three degrees of freedom are completed through the gripper and a mandril, and the capturing rigidity and reliability are guaranteed.
The technical solution of the invention is as follows:
a tail end catching paw for a space manipulator comprises three groups of link mechanisms, a supporting flange, a hollow lead screw, a limiting rod, a hollow lead screw nut, a first shaft system, a first motor, a front end limiting cover, a second shaft system, a front shell, a threaded mandril, a third shaft system, a mandril lead screw nut, a middle shell, a second motor, a rear shell and an end cover;
each of the three groups of link mechanisms comprises a finger, a front link, a rear link, a transmission rod and a mounting pillar;
the front connecting rod comprises a main plate and a support lug perpendicular to the main plate;
the fingers comprise catching plates, vertical plates and limiting plates, the catching plates are arranged on one sides of the vertical plates, the limiting plates are arranged on the other sides of the vertical plates, and the catching plates, the vertical plates and the limiting plates can be of an integrally formed structure;
the bottom end of a vertical plate in the finger is movably connected with one end of a front connecting rod main plate through a pin, and the other end of the front connecting rod main plate is connected with a support lug on a support flange through a pin;
the bottom end of the limiting plate in the finger is movably connected with one end of the rear connecting rod through a pin, and the other end of the rear connecting rod is connected with the other lug on the supporting flange through a pin;
the support lug of the front connecting rod is movably connected with one end of the transmission rod through a pin, the other end of the transmission rod is movably connected with one end of the mounting support through a pin, and the other end of the mounting support is fixedly connected to the hollow lead screw nut;
the end cover is fixedly connected to the top end of the front shell through a support flange;
the hollow lead screw is connected to the end cover through a second shaft system, and the hollow lead screw is connected to the inner surface of the front shell through a first shaft system;
the hollow lead screw is sleeved outside the threaded ejector rod;
the hollow screw nut is sleeved outside the hollow screw;
one end of the limiting rod is fixedly connected to the end cover, and the other end of the limiting rod penetrates through the hollow lead screw nut and is fixedly connected to the bottom end of the front shell;
the front shell is fixedly connected above the middle shell, and the rear shell is fixedly connected below the middle shell;
the ejector rod lead screw nut is connected to the inner side of the middle shell through a third shaft system; the push rod screw nut is sleeved outside the threaded push rod;
the upper part of the threaded mandril is a cuboid, and the lower part of the threaded mandril is a cylinder with threads;
the front end limiting cover is fixedly arranged above the end cover, a square hole matched with the shape of the threaded ejector rod is formed in the center of the front end limiting cover, and the square hole is used for limiting the threaded ejector rod to rotate in the circumferential direction;
the first shaft system and the third shaft system both adopt two pairs of angular contact ball bearings which are arranged back to back; the second shaft system adopts a deep groove ball bearing;
the top end of the threaded ejector rod is provided with a metal cap for buffering; the bottom end of the threaded ejector rod is limited through a metal cap, and the threaded ejector rod sequentially penetrates through the front end limiting cover, the hollow lead screw and the ejector rod lead screw nut from top to bottom;
the hollow screw rod is driven by a first motor;
the ejector rod lead screw nut is driven by a second motor;
the connecting points of the fingers and the front connecting rod, the connecting points of the fingers and the rear connecting rod, the connecting points of the supporting flange and the front connecting rod and the connecting points of the supporting flange and the rear connecting rod form four end points of a parallelogram, and the purpose is to ensure that the capturing plate of the fingers is always in a vertical state in the capturing process.
A method for catching a tail end catching paw for a space manipulator comprises the following steps:
the first motor drives the hollow screw rod to rotate, the hollow screw rod drives the hollow screw rod nut to precess along a straight line under the limit of the limiting rod, the hollow screw rod nut drives the transmission rod to move through the mounting support, the transmission rod pushes the front connecting rod to move, the front connecting rod drives the fingers to fold again, the movable end of the target object is held tightly, and the limiting is completed; meanwhile, the second motor drives the ejector rod lead screw nut to rotate, the ejector rod lead screw nut drives the threaded ejector rod to precess along a straight line under the limitation of the front end limiting cover, the target object is jacked from the bottom end, and limiting capture is completed.
Advantageous effects
(1) The invention adopts a parallelogram connecting rod structure, ensures that the front end paw is always kept in a vertical state in the motion process, improves the tolerance in the capturing process and ensures the smoothness in the capturing process;
(2) the two motors used by the invention both adopt hollow motors, and the double lead screws adopt a nested structure, so that the compactness of the structure is increased while the functions are ensured, and the space occupied by the paw is small;
(3) the front end finger can be replaced according to the shape of the target object passive end butt joint device, and can be applied to different scenes and environments;
(4) the invention effectively ensures the connection and fixation of the target object in six degrees of freedom through the structure of three fingers and one ejector rod, and improves the integral rigidity after the capture.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of a finger.
Detailed Description
The invention designs a catching hand which consists of parts such as a dual-drive motor, a hollow lead screw, a shaft system, fingers, a connecting rod, a positioning ejector rod and the like. And the three fingers are driven by a motor and a lead screw to complete the constraint of the degrees of freedom of the target interface in the XZ two directions. The ejector rod completes the constraint on the Y direction, so that the capturing of the passive end of the target object is ensured. FIG. 1 is a schematic diagram of a grasper and a passive end of a target.
The grabbing hand drives a hollow lead screw by a motor 1, the lead screw drives connecting rods of three fingers to move, so that the three fingers at the tail end of the grabbing hand are driven to fold, and the grabbing hand tightly holds the passive end of a target object; the motor 2 drives the nut to rotate to drive the threaded ejector rod to move to push against the plane of the passive end, so that the constraint on the Y direction of the passive end is ensured.
The core part is of a double-lead-screw nested structure, the motor drives the hollow lead screw to rotate, the nut precesses along a straight line under the limitation of the limiting rod to drive the finger assembly to move, the target object is tightly held, and the limitation is completed; the hollow lead screw is internally provided with a mandril lead screw and a nut thereof, the front end of the mandril lead screw is the mandril, the second motor drives the lead screw nut to rotate, the mandril lead screw advances along a straight line under the limitation of the square limiting hole at the front end, and the target object is jacked to complete the limiting capture.
The front-end claw part of the catcher adopts a parallelogram connecting rod structure, the lead screw drives the supporting connecting rod, the supporting connecting rod drives the claw part to move, and the contact surface of the tail-end finger is ensured to be always vertical to the XZ plane in the moving process.
The driving part adopts double-motor driving, and two motors all adopt hollow motors, and inside the screw ejector rod passed hollow lead screw, increased the compactness of structure when guaranteeing the function.
The front end finger can be modified and designed according to different passive end forms, and the tail end flange can be modified and connected according to a target mechanical arm interface.
Examples
As shown in fig. 1 and 2, the terminal capture gripper for the space manipulator comprises three groups of link mechanisms, a support flange 4, a hollow lead screw 7, a limiting rod 8, a hollow lead screw nut 9, a first shaft system 10, a first motor 11, a front end limiting cover 12, a second shaft system 13, a front shell 14, a threaded ejector rod 15, a third shaft system 16, an ejector rod lead screw nut 17, a middle shell 18, a second motor 19, a rear shell 20 and an end cover 21;
each of the three groups of link mechanisms comprises a finger 1, a front link 2, a rear link 3, a transmission rod 5 and a mounting pillar 6;
the front connecting rod 2 comprises a main plate and a support lug perpendicular to the main plate;
the finger 1 comprises a catching plate 111, a vertical plate 112 and a limiting plate 113, wherein the catching plate 111 is arranged on one side of the vertical plate 112, the limiting plate 113 is arranged on the other side of the vertical plate 112, and the catching plate 111, the vertical plate 112 and the limiting plate 113 can be of an integrally formed structure;
the bottom end of a vertical plate 112 in the finger 1 is movably connected with one end of a main plate of the front connecting rod 2 through a pin, and the other end of the main plate of the front connecting rod 2 is connected with a support lug on the support flange 4 through a pin;
the bottom end of a limiting plate 113 in the finger 1 is movably connected with one end of a rear connecting rod 3 through a pin, and the other end of the rear connecting rod 3 is connected with the other lug on the supporting flange 4 through a pin;
the support lug of the front connecting rod 2 is movably connected with one end of a transmission rod 5 through a pin, the other end of the transmission rod 5 is movably connected with one end of a mounting support 6 through a pin, and the other end of the mounting support 6 is fixedly connected to a hollow lead screw nut 9;
end cap 21 is fixedly attached to the top end of front housing 14 via support flange 4;
the hollow lead screw 7 is connected to the end cover 21 through a second shaft system 13, and the hollow lead screw 7 is connected to the inner surface of the front shell 14 through a first shaft system 10;
the hollow lead screw 7 is sleeved outside the threaded mandril 15;
the hollow lead screw nut 9 is sleeved outside the hollow lead screw 7;
one end of the limiting rod 8 is fixedly connected to the end cover 21, and the other end of the limiting rod 8 is fixedly connected to the bottom end of the front shell 14 after penetrating through the hollow lead screw nut 9;
the mandril lead screw nut 17 is connected to the inner side of the middle shell 18 through a third shaft system 16; the ejector rod lead screw nut 17 is sleeved outside the threaded ejector rod 15;
the upper part of the threaded mandril 15 is a cuboid, and the lower part of the threaded mandril 15 is a column with threads;
the front end limiting cover 12 is fixedly arranged above the end cover 21, a square hole matched with the shape of the threaded mandril 15 is formed in the center of the front end limiting cover 12, and the square hole is used for limiting the rotation of the threaded mandril 15 in the circumferential direction;
the first shafting 10 and the third shafting 16 both adopt two pairs of angular contact ball bearings which are arranged back to back; the second shaft system 13 adopts a deep groove ball bearing;
the top end of the threaded ejector rod 15 is provided with a metal cap for buffering; the bottom end of the threaded mandril 15 is limited by a metal cap, and the threaded mandril 15 sequentially passes through the front-end limiting cover 12, the hollow lead screw 7 and the mandril lead screw nut 17 from top to bottom;
the hollow lead screw 7 is driven by a first motor 11;
the mandril lead screw nut 17 is driven by a second motor 19;
the connecting point of the finger 1 and the front connecting rod 2, the connecting point of the finger 1 and the rear connecting rod 3, the connecting point of the support flange 4 and the front connecting rod 2 and the connecting point of the support flange 4 and the rear connecting rod 3 form four end points of a parallelogram, and the purpose is to ensure that the catching plate of the finger 1 is always in a vertical state in the catching process.
A method for catching a tail end catching paw for a space manipulator comprises the following steps:
the first motor 11 drives the hollow lead screw 7 to rotate, the hollow lead screw 7 drives the hollow lead screw nut 9 to precess along a straight line under the limit of the limiting rod 8, the hollow lead screw nut 9 drives the transmission rod 5 to move through the mounting support 6, the transmission rod 5 pushes the front connecting rod 2 to move, the front connecting rod 2 drives the fingers 1 to fold again, the target object is held tightly at the moving end, and the limit is completed; meanwhile, the second motor 19 drives the ejector rod lead screw nut 17 to rotate, the ejector rod lead screw nut 17 drives the threaded ejector rod 15 to linearly advance under the limitation of the front end limiting cover 12, the target object is jacked from the bottom end, and limiting capture is completed.
Claims (9)
1. The utility model provides a space arm catches hand claw with end which characterized in that: the gripper comprises three groups of link mechanisms, a support flange (4), a hollow lead screw (7), a limiting rod (8), a hollow lead screw nut (9), a first shaft system (10), a first motor (11), a front-end limiting cover (12), a second shaft system (13), a front housing (14), a threaded mandril (15), a third shaft system (16), a mandril lead screw nut (17), a middle housing (18), a second motor (19), a rear housing (20) and an end cover (21);
each of the three groups of link mechanisms comprises a finger (1), a front link (2), a rear link (3), a transmission rod (5) and a mounting pillar (6);
the finger (1) comprises a catching plate (111), a vertical plate (112) and a limiting plate (113), wherein the catching plate (111) is arranged on one side of the vertical plate (112), and the limiting plate (113) is arranged on the other side of the vertical plate (112);
the bottom end of a vertical plate (112) in the finger (1) is movably connected with one end of a main plate of the front connecting rod (2), and the other end of the main plate of the front connecting rod (2) is connected with a support lug on the support flange (4);
the bottom end of a limiting plate (113) in the finger (1) is movably connected with one end of a rear connecting rod (3), and the other end of the rear connecting rod (3) is connected with the other support lug on the support flange (4);
the support lug of the front connecting rod (2) is movably connected with one end of the transmission rod (5), the other end of the transmission rod (5) is movably connected with one end of the mounting support (6), and the other end of the mounting support (6) is fixedly connected to the hollow screw nut (9);
the end cover (21) is fixedly connected to the top end of the front shell (14) through a support flange (4);
the hollow lead screw (7) is connected to the end cover (21) through a second shaft system (13), and the hollow lead screw (7) is connected to the inner surface of the front shell (14) through a first shaft system (10);
the hollow lead screw (7) is sleeved outside the threaded ejector rod (15);
the hollow lead screw nut (9) is sleeved outside the hollow lead screw (7);
one end of a limiting rod (8) is fixedly connected to the end cover (21), and the other end of the limiting rod (8) penetrates through the hollow lead screw nut (9) and is fixedly connected to the bottom end of the front shell (14);
the front shell (14) is fixedly connected above the middle shell (18), and the rear shell (20) is fixedly connected below the middle shell (18);
the mandril lead screw nut (17) is connected to the inner side of the middle shell (18) through a third shaft system (16); the mandril lead screw nut (17) is sleeved outside the threaded mandril (15);
the front end limiting cover (12) is fixedly arranged above the end cover (21);
the hollow lead screw (7) is driven by a first motor (11);
the mandril lead screw nut (17) is driven by a second motor (19).
2. The space manipulator tip capture gripper of claim 1, wherein: the front connecting rod (2) comprises a main plate and a support lug perpendicular to the main plate.
3. The space manipulator tip capture gripper of claim 1, wherein: the catching plate (111), the vertical plate (112) and the limiting plate (113) are of an integrally formed structure.
4. The space manipulator tip capture gripper of claim 1, wherein: the upper part of the threaded mandril (15) is a cuboid, and the lower part of the threaded mandril is a cylinder with threads.
5. The space manipulator tip capture gripper of claim 1, wherein: the center of the front end limiting cover (12) is provided with a square hole matched with the shape of the threaded mandril (15), and the square hole is used for limiting the rotation of the threaded mandril (15) in the circumferential direction.
6. The space manipulator tip capture gripper of claim 1, wherein: the first shaft system (10) and the third shaft system (16) both adopt two pairs of angular contact ball bearings which are arranged back to back; the second shaft system (13) adopts a deep groove ball bearing.
7. The space manipulator tip capture gripper of claim 1, wherein: the top end of the threaded ejector rod (15) is provided with a metal cap, the bottom end of the threaded ejector rod (15) is limited through the metal cap, and the threaded ejector rod (15) sequentially penetrates through the front end limiting cover (12), the hollow lead screw (7) and the ejector rod lead screw nut (17) from top to bottom.
8. The space manipulator tip capture gripper of claim 1, wherein: the connecting point of the finger (1) and the front connecting rod (2), the connecting point of the finger (1) and the rear connecting rod (3), the connecting point of the support flange (4) and the front connecting rod (2), and the connecting point of the support flange (4) and the rear connecting rod (3) form four end points of a parallelogram.
9. A method of capturing with a distal capturing gripper using the space manipulator of any of claims 1-8, characterized by the steps of:
the first motor (11) drives the hollow lead screw (7) to rotate, the hollow lead screw (7) drives the hollow lead screw nut (9) to precess along a straight line under the limit of the limiting rod (8), the hollow lead screw nut (9) drives the transmission rod (5) to move through the mounting strut (6), the transmission rod (5) pushes the front connecting rod (2) to move, the front connecting rod (2) drives the fingers (1) to fold, the moving end of a target object is held tightly, and the limiting is completed; meanwhile, a second motor (19) drives an ejector rod lead screw nut (17) to rotate, the ejector rod lead screw nut (17) drives a threaded ejector rod (15) to precess along a straight line under the limitation of a front end limiting cover (12), a target object is jacked from the bottom end, and limiting capture is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210053.0A CN109333576B (en) | 2018-10-17 | 2018-10-17 | Tail end capturing gripper for space manipulator and capturing method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811210053.0A CN109333576B (en) | 2018-10-17 | 2018-10-17 | Tail end capturing gripper for space manipulator and capturing method |
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| CN109333576A CN109333576A (en) | 2019-02-15 |
| CN109333576B true CN109333576B (en) | 2020-10-23 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110465954A (en) * | 2019-07-12 | 2019-11-19 | 武汉科技大学 | A kind of tableware recycling machine people system and control method based on machine vision |
| CN114916313B (en) * | 2022-06-20 | 2023-03-14 | 南京林业大学 | Flexible sensible tea tender shoot picking clamping jaw |
| CN115610660A (en) * | 2022-11-14 | 2023-01-17 | 国网上海市电力公司 | Mechanical arm of uninstallation carry equipment and unmanned aerial vehicle who contains this arm |
| CN116587311A (en) * | 2023-05-17 | 2023-08-15 | 乐孜芯创半导体设备(上海)有限公司 | Connecting rod type single-arm double-finger vacuum mechanical arm and vacuum chamber |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102294690B (en) * | 2011-05-12 | 2013-07-03 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN103331759B (en) * | 2013-06-28 | 2015-06-10 | 哈尔滨工业大学 | Large-allowance capturing mechanism for end effector of spatial large manipulator |
| CN103341863B (en) * | 2013-07-10 | 2015-08-19 | 哈尔滨工业大学 | A kind of implementation space mechanical arm is from creeping and the end effector of load operation |
| CN104669290A (en) * | 2014-08-29 | 2015-06-03 | 北京精密机电控制设备研究所 | Under-actuated spatial manipulator end effector |
| CN105082169B (en) * | 2015-09-22 | 2017-03-22 | 哈尔滨工业大学 | Large-tolerance mini-sized end effector having electromechanical output function |
| CN106363607A (en) * | 2016-10-31 | 2017-02-01 | 北京控制工程研究所 | Space manipulator system for capturing with strong bearing ability and large motion range |
| CN207616596U (en) * | 2017-11-24 | 2018-07-17 | 西安科技大学 | A kind of drive lacking three-jaw clamping device |
| CN108656146B (en) * | 2018-05-29 | 2020-11-10 | 北京航空航天大学 | Continuous-rotation multifunctional three-finger mechanical gripper |
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