CN113696211A - Soft tongs of space arm - Google Patents
Soft tongs of space arm Download PDFInfo
- Publication number
- CN113696211A CN113696211A CN202111068676.0A CN202111068676A CN113696211A CN 113696211 A CN113696211 A CN 113696211A CN 202111068676 A CN202111068676 A CN 202111068676A CN 113696211 A CN113696211 A CN 113696211A
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- Prior art keywords
- gripper
- driving device
- front half
- locking mechanism
- groove
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- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 229920001967 Metal rubber Polymers 0.000 claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims description 14
- 238000013461 design Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000005486 microgravity Effects 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
- 230000001629 suppression Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- 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
-
- 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
Abstract
The invention discloses a space manipulator soft gripper, which comprises: the gripper comprises a gripped object mounting seat, a locking mechanism, a driving device I, a gripper body, a driving device II, a driving rocker arm, a gripper slide rail and a mechanical arm connecting piece; the gripper comprises gripper slide rails, a driving device I, a driving rocker arm, a driving device II, a locking mechanism and a driving device II, wherein the gripper slide rails are arranged on the front end of the gripper slide rails; the two gripper bodies can move oppositely under the coordination of the driving device I and the locking mechanism, so that a gripped object mounting seat is grabbed and locked, and then a gripped object is grabbed; meanwhile, the rear end of the gripper slide rail is provided with a mechanical arm connecting piece for connecting with a mechanical arm; wherein, the end of the tongs body adopts metal rubber material.
Description
Technical Field
The invention relates to the technical field of space mechanical arms, in particular to a soft gripper for a space mechanical arm.
Background
In a space extravehicular microgravity environment, a mechanical arm gripper outside the spacecraft is required to grip and drag extravehicular objects. The mechanical arm gripper is usually of a rigid structure, so that the mechanical arm gripper is not damaged during launching, and the requirement on gripping force in the using process is met. On the one hand, after the mechanical arm gripper catches the object, the driving device of the rigid gripper needs to continuously act, so that the mechanical arm gripper is guaranteed to clamp the object tightly and drag the object to a specified position. On the other hand, the rigid structure can generate vibration and scratch, and the suppression of the vibration in the microgravity environment is a complicated and difficult problem, so the manipulator gripper usually needs to be provided with an additional vibration damper to suppress the vibration.
Space environments are very different from terrestrial environments. Under the conditions of large temperature change and weightlessness, the properties of silica gel, rubber materials and the like frequently used on the ground can be greatly changed, so that the mechanical soft hand grip manufactured by taking the materials as a main body is difficult to work in a space environment for a long time, and the materials can not be directly arranged on a mechanical arm grip outside a space cabin to lift off along with launching of a spacecraft. Meanwhile, the traditional gripper has a high requirement on the driving device because the driving device acts for a long time after grabbing an object, and the problems that the dragging process consumes too long time or meets a large impact force action and the like need to be considered. Robotic arm grippers made of rigid materials encounter vibration and shock problems resulting from collisions when gripping objects in space.
Disclosure of Invention
In view of the above, the invention provides a soft gripper for a space manipulator, which adopts a structural mode of imitating a human body arm in an overall structure, namely, a rigid structure is used as a support inside to imitate a human body skeleton; the outside of the device is grabbed by taking a metal rubber material as a soft structure, and the muscle tissue of the human body is simulated; meanwhile, a locking mechanism for grabbing the object is designed, so that the driving device is not stressed after the object is grabbed.
The technical scheme of the invention is as follows: a soft gripper for a space manipulator, comprising: the gripper comprises a gripped object mounting seat, a locking mechanism, a driving device I, a gripper body, a driving device II, a driving rocker arm, a gripper slide rail and a mechanical arm connecting piece;
the gripper comprises gripper slide rails, a driving device I, a driving rocker arm, a driving device II, a locking mechanism and a driving device II, wherein the gripper slide rails are arranged on the front end of the gripper slide rails; the two gripper bodies can move oppositely under the coordination of the driving device I and the locking mechanism, so that a gripped object mounting seat is grabbed and locked, and then a gripped object is grabbed; meanwhile, the rear end of the gripper slide rail is provided with a mechanical arm connecting piece for connecting with a mechanical arm; wherein, the end of the tongs body adopts metal rubber material.
Preferably, the main body of the grabbed object mounting seat is of a cuboid structure, a circular groove and a square groove are respectively formed in the center positions of the upper end face and the lower end face of the cuboid, and the circular groove is located in the square groove and is used for being in butt joint with the gripper body; meanwhile, the left side and the right side of the upper end surface and the lower end surface of the cuboid are respectively provided with a clamping groove for guiding and limiting the locking mechanism inserted therein; when the gripper is used, the gripped object mounting seat is arranged on a gripped object, is connected with the gripper body through the locking mechanism and realizes gripping and locking.
Preferably, the locking mechanism consists of a circular ring buckle, a connecting rod and a connecting disc; the connecting disc is supported on the circular ring buckle through a connecting rod, and meanwhile, the connecting disc is connected with a rocker arm of the driving device I, so that the locking mechanism can rotate and move under the driving of the driving device I; the circumference of ring buckle is equipped with the arch for with by the concave-convex cooperation of the draw-in groove of grabbing design on the terminal surface about the thing mount pad, realize dying by the lock of grabbing the thing mount pad.
Preferably, the grip body comprises three detachably connected parts, which are respectively: a front half upper portion, a front half lower portion and a rear half portion;
the locking mechanism is arranged between the lower part and the upper part of the front half, fixedly connects the front half with the lower part and the upper part of the front half, and is connected with the rear half through a bolt after being fixed; the left side and the right side of the rear half part are provided with a hand grip guide rail I, and the hand grip guide rail I is in sliding fit with the hand grip slide rail and is used for limiting the sliding of the hand grip body;
the upper part of the front half is a cuboid frame with an upper end and an opening at the front end, and the rear end of the front half is provided with a front half lower mounting groove which is communicated up and down and used for mounting the front half lower part; the lower part of the front half is a U-shaped frame, the horizontal section of the U-shaped frame is provided with a rotating shaft, the upper end of the rotating shaft is coaxially sleeved with a circular ring buckle to realize the connection of the locking mechanism and the gripper body, and the lower end of the rotating shaft is sleeved with a metal rubber sleeve as a gripping soft structure; when grabbing, the rotating shaft at the end where the metal rubber sleeve is located is in concave-convex fit with the circular groove in the grabbed object mounting seat;
an inner cavity at the upper part of the front half is used as a driving device mounting groove I for mounting a driving device I, and the driving device I is connected with a connecting disc of the locking mechanism and controls the rotating motion of the locking mechanism;
one vertical section of the lower part of the front half is inserted into a mounting groove of the lower part of the front half at the upper part of the front half, and the other vertical section is blocked at an opening at the front end of the upper part of the front half and is fastened through a bolt, so that the upper part of the front half and the lower part of the front half form a front half; the rear half part and the front half part are butted through bolts and are fastened into a whole.
Preferably, each be equipped with ball axle mounting groove on the front and back terminal surface of tongs guide rail I respectively, wherein install ball bearing, turn into the rolling cooperation with the sliding fit between tongs slide rail and the tongs guide rail I.
Preferably, the metal rubber sleeve designed on the gripper body is cylindrical or square-cylindrical in shape.
Preferably, a lightening hole is formed in the rear half part of the gripper body.
Preferably, the overall shape of the gripper sliding rail is cylindrical, an open slot which is vertically communicated along the radial direction is formed in the front end of the gripper sliding rail and serves as a gripper guide rail II, guide rail slots are respectively formed in two opposite wall surfaces of the gripper guide rail II, and the gripper guide rail I on the gripper body is in sliding fit with the guide rail slots, so that the two gripper bodies can move towards or away from each other; and a driving device mounting groove II is formed in the position, close to the rear, of the gripper sliding rail and used for mounting a driving device II.
Preferably, the rolling row is arranged in the guide rail groove, and the sliding fit between the rolling row and the hand grip guide rail I is converted into rolling fit.
Preferably, the driving rocker arm is a strip-shaped thin sheet with a set radian in the whole shape, and two ends of the driving rocker arm in the length direction are respectively connected with the gripper body and the driving device II.
Has the advantages that:
1. according to the soft gripper of the space manipulator, a locking mechanism for gripping an object is designed, so that a driving device is not stressed after the object is gripped; the whole structure adopts a structural mode of imitating human arms, namely, the inside of the structure is supported by a rigid structure and imitates human bones; the metal rubber material is used as a soft structure to realize grabbing outside, the muscle tissue of a human body is simulated, and the metal rubber material is used for the soft structure, so that the vibration during grabbing can be inhibited, namely the vibration isolation performance of the soft structure is used for solving the problem of vibration in the grabbing process of the space manipulator; meanwhile, the problem that the performance of a common soft material is unstable in space is solved.
2. The grabbed object mounting seat designed in the invention is used as a transfer medium between the gripper body and the grabbed object, can bear the grabbed object, and can be effectively grabbed and locked by the gripper body.
3. The locking mechanism is specifically designed, can be in concave-convex fit with the grabbed object mounting seat to realize butt joint, can rotate for a set angle under the driving of the driving device I, and is locked with the clamping groove, the grabbed object mounting seat is locked after being grabbed, the driving device I is guaranteed not to be stressed any more, the problem that force is required to be applied by the driving mechanism when some mechanical arms grab is solved, and long-time and high-force grabbing is facilitated.
4. The gripper body is detachably designed, so that the gripper body is convenient to replace and beneficial to prolonging the overall service life of the soft gripper; meanwhile, the locking mechanism is well limited in movement, and the locking mechanism is convenient to replace.
5. The design of the ball bearing in the gripper guide rail I is beneficial to reducing friction and preventing jamming.
6. The metal rubber sleeve is designed, so that the disassembly is convenient, and the soft structure at the tail end of the gripper body can be conveniently replaced.
7. The rolling row designed in the guide rail groove of the gripper slide rail changes sliding friction between the gripper slide rail and the gripper body into rolling friction, so that the gripper body can still move smoothly when being subjected to a large force, the stress of the driving device II when the gripper body grips the gripped object mounting seat is reduced, and the requirement on the torque of the driving device II is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a soft gripper for a space manipulator according to the invention.
Fig. 2 is a schematic view of a grabbed object mounting base in the invention, showing (a) a front view, (b) a left side view, (c) a top view, and (d) an isometric view.
Fig. 3 is a schematic view of the locking mechanism of the present invention, (a) front view, (b) left side view, (c) top view, and (d) isometric view.
Fig. 4 is a three-view of the gripper body according to the present invention.
Fig. 5 is an isometric view of the grip of the present invention.
Fig. 6 is a schematic view of the upper front half of the present invention, (a) front view, (b) left side view, (c) top view, and (d) isometric view.
Fig. 7 is a schematic view of the lower front half of the present invention, (a) front view, (b) left side view, (c) top view, and (d) isometric view.
Fig. 8 is a schematic view of the posterior half of the present invention, (a) front view, (b) left side view, (c) top view, and (d) isometric view.
Fig. 9 is a schematic view of the gripper slide rail according to the present invention, (a) a front view, (b) a left side view, (c) a top view, and (d) an isometric view.
Figure 10 is a schematic representation of a robotic arm linkage of the present invention shown in (a) front, (b) left, (c) top, (d) isometric view.
Wherein, 1-a grabbed object mounting seat, 2-a locking mechanism, 3-a driving device I, 4-a grabber body, 5-a driving device II, 6-a driving rocker arm, 7-a grabber sliding rail, 8-a mechanical arm connecting piece, 11-a clamping groove, 12-a circular groove, 13-a square groove, 14-a threaded hole, 21-a connecting disc, 22-a connecting rod, 23-a circular buckle, 24-a bulge, 41-a rocker arm interface, 42-a rear half part, 43-a grabber guide rail I, 44-a ball shaft mounting groove, 45-a front half upper part, 46-a front half lower part, 71-a grabber guide rail II, 72-a guide rail groove, 73-a driving device mounting groove II, 421-a nut groove, 451-a front half lower part mounting groove, 452-a driving device mounting groove I, 453-nut mounting groove, 461-rotating shaft, 462-metal rubber sleeve.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a soft gripper for a space manipulator, which adopts a structural mode of imitating a human body arm in an integral structure, namely, a rigid structure is used as a support inside to imitate a human body skeleton; the outside of the device is grabbed by taking a metal rubber material as a soft structure, and the muscle tissue of the human body is simulated; meanwhile, a locking mechanism used for grabbing the object is designed, so that the driving device I does not bear force after the object is grabbed.
As shown in fig. 1, the robot soft hand grip includes: the gripper comprises a gripped object mounting seat 1, a locking mechanism 2, a driving device I3, a gripper body 4, a driving device II 5, a driving rocker arm 6, a gripper slide rail 7 and a mechanical arm connecting piece 8;
the two opposite sides of the front end of the gripper slide rail 7 are respectively provided with a gripper body 4, the rear end of each gripper body 4 is connected with a driving device II 5 arranged on the gripper slide rail 7 through a driving rocker arm 6, and the front end of each gripper body is connected with a driving device I3 through a locking mechanism 2; the two gripper bodies 4 can move oppositely under the coordination of the driving device I3 and the locking mechanism 2 so as to grip and lock the gripped object mounting seat 1, and then the gripped object can be gripped (when the gripped object is released, the actions are opposite); meanwhile, the rear end of the gripper slide rail 7 is provided with a mechanical arm connecting piece 8 (shown in fig. 10) for connecting with a mechanical arm, and the arrangement of the mechanical arm connecting piece 8 is convenient for switching and mounting with different mechanical arms; the front and back directions of the whole soft gripper are respectively the direction close to the grabbed object mounting seat 1 and the direction far away from the grabbed object mounting seat 1.
As shown in fig. 2, the main body of the grabbed object mounting base 1 is of a cuboid structure, a circular groove 12 and a square groove 13 are respectively arranged at the center positions of the upper end surface and the lower end surface of the cuboid, and the circular groove 12 is positioned in the square groove 13; meanwhile, the left side and the right side of the upper end surface and the lower end surface of the cuboid are provided with clamping grooves 11 for guiding and limiting the locking mechanism 2 inserted therein; when the gripper is used, the gripped object mounting seat 1 is mounted on a gripped object (connected with the gripped object through the threaded hole 14 arranged at the front end of the gripped object mounting seat 1), and is connected with the gripper body 4 through the locking mechanism 2 to realize gripping and locking;
as shown in fig. 3, the locking mechanism 2 is composed of a circular ring buckle 23, a connecting rod 22 and a connecting disc 21; the connecting disc 21 is supported on the circular ring buckle 23 through the connecting rod 22, and meanwhile, the connecting disc 21 is connected with a rocker arm of the driving device I3, so that the locking mechanism 2 is driven by the driving device I3 to rotate and move; the circumferential direction of the circular ring buckle 23 is provided with a protrusion 24 which is used for being in concave-convex fit with a clamping groove 11 designed on the upper end surface and the lower end surface of the grabbed object mounting seat 1, so that the grabber mounting seat 1 is locked, and the freedom degree of the grabber body 4 on the grabber sliding rail 7 can be restrained after the locking, so that in the process of dragging after grabbing, the driving device I3 is not required to be driven to control the moving freedom degree of the grabber body 4;
as shown in fig. 4 and 5, the gripper body 4 includes three parts detachably connected, respectively: a front upper half 45, a front lower half 46, and a rear half 42;
the locking mechanism 2 is arranged between the front half lower part 46 and the front half upper part 45, fixedly connected with the front half lower part 46 and the front half upper part 45 through bolts, and connected with the rear half part 42 through bolts after being fixed; the left side and the right side of the rear half part 42 are provided with a hand grip guide rail I43, and the hand grip guide rail I43 is in sliding fit with the hand grip slide rail 7 so as to limit the sliding of the hand grip body 4;
as shown in fig. 6, the front half upper portion 45 is a rectangular parallelepiped frame having an upper end and a front end opened, and a front half lower portion mounting groove 451 extending vertically therethrough is provided at a rear end thereof for mounting the front half lower portion 46; as shown in fig. 7, the front half lower portion 46 is a U-shaped frame, a rotating shaft 461 is disposed at the horizontal section thereof, a circular buckle 23 is coaxially sleeved on the upper end of the rotating shaft 461 to realize the connection between the locking mechanism 2 and the grip body 4, and a metal rubber sleeve 462 is sleeved on the lower end thereof to serve as a gripping soft structure; when grabbing, the rotating shaft 461 at the end where the metal rubber sleeve 462 is located is in concave-convex fit with the circular groove 12 in the grabbed object mounting base 1 (the square groove 13 plays a role in guiding and limiting), so that certain rigidity requirement is ensured, and vibration during grabbing is relieved; the metal rubber adopted by the metal rubber sleeve 462 is a novel material, and is made and molded by metal through a series of complex physical methods such as stretching, screwing, stamping and the like, and the metal rubber is characterized in that: the metal rubber sleeve 462 can bear larger temperature change, the performance is kept stable, the metal rubber sleeve can be stored for a long time, the property is kept, the vibration and the like in any direction in a space can be isolated, and the rigidity of the metal rubber sleeve 462 can be adjusted by changing a processing means;
the inner cavity of the front half upper part 45 serves as a driving device mounting groove I452, a driving device I3 is mounted in the driving device mounting groove I452 and connected with a connecting disc 21 of the locking mechanism 2, and the rotating motion of the locking mechanism 2 is controlled;
one vertical section of the front half lower part 46 is inserted into the front half lower part mounting groove 451 of the front half upper part 45, and the other vertical section is blocked at the front end opening of the front half upper part 45 and fastened through a bolt, so that the front half upper part 45 and the front half lower part 46 form an integral structure, namely a front half;
as shown in fig. 8, a nut groove 421 is provided at the upper part of the front end of the rear half 42 of the gripper body 4, and after the rear half 42 is butted with the front half by a bolt, a nut is put into the nut groove 421 to be matched with the bolt connecting the rear half 42 and the front half, so as to fasten the rear half 42 and the front half;
as shown in fig. 9, the grip slide rail 7 is cylindrical in overall shape, and the front end thereof is provided with a radially open slot as a grip guide rail ii 71, two opposite wall surfaces of the grip guide rail ii 71 are respectively provided with a guide rail groove 72, and the grip guide rail i 43 on the grip body 4 is slidably fitted with the guide rail groove 72 to limit the movement of the grip body 4 in the left-right and front-back directions, so that the grip body moves up and down along the guide rail groove 72; and a driving device mounting groove II 73 is formed in the position, close to the rear position, of the gripper slide rail 7 and used for mounting a driving device II 5.
In this embodiment, be equipped with ball axle mounting groove 44 respectively on the front and back terminal surface of every tongs guide rail I43, wherein install ball bearing, turn into the rolling cooperation with the sliding fit between tongs slide rail 7 and tongs guide rail I43 to reduce the frictional force of sliding fit between tongs guide rail I43 and tongs slide rail 7, thereby reduce the friction when tongs body 4 removes.
In this embodiment, the rear half 42 of the gripper body 4 is provided with lightening holes to lighten the whole weight of the soft gripper of the space manipulator.
In this embodiment, the driving rocker arm 6 is a strip-shaped sheet with a set radian, and two ends of the driving rocker arm in the length direction are respectively connected with the gripper body 4 and the driving device ii 5, so that the acting force of the driving device ii 5 is transmitted to the gripper body 4 through the driving rocker arm 6, and the gripper body 4 moves under the constraint of the gripper slide rail 7.
In this embodiment, drive arrangement I3 adopts steering wheel I, and drive arrangement II 5 adopts steering wheel II.
In this embodiment, a rolling row (a rolling bearing) can be installed in the guide rail groove 72, and the sliding fit between the guide rail groove 72 and the gripper guide rail i 43 is converted into the rolling fit, so that the friction of the gripper guide rail i 43 during moving in the guide rail groove is reduced.
In this embodiment, the metal rubber sleeve 462 designed on the gripper body 4 is cylindrical or square-cylindrical in shape.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A soft tongs of space arm which characterized in that includes: the device comprises a grabbed object mounting base (1), a locking mechanism (2), a driving device I (3), a gripper body (4), a driving device II (5), a driving rocker arm (6), a gripper sliding rail (7) and a mechanical arm connecting piece (8);
the two opposite sides of the front end of the gripper sliding rail (7) are respectively provided with a gripper body (4), the rear end of each gripper body (4) is connected with a driving device II (5) arranged on the gripper sliding rail (7) through a driving rocker arm (6), and the front end of each gripper body is connected with a driving device I (3) through a locking mechanism (2); the two gripper bodies (4) can move oppositely under the coordination of the driving device I (3) and the locking mechanism (2) to realize the grabbing and locking of the grabbed object mounting seat (1) and then the grabbing of the grabbed object; meanwhile, a mechanical arm connecting piece (8) is arranged at the rear end of the gripper sliding rail (7) and is used for being connected with a mechanical arm; wherein, the end of the gripper body (4) is made of metal rubber material.
2. The soft gripper for the space manipulator as claimed in claim 1, wherein the main body of the gripped object mounting seat (1) is of a cuboid structure, a circular groove (12) and a square groove (13) are respectively arranged at the center positions of the upper end surface and the lower end surface of the cuboid, and the circular groove (12) is positioned in the square groove (13) and is used for being butted with the gripper body (4); meanwhile, the left side edge and the right side edge of the upper end surface and the lower end surface of the cuboid are respectively provided with a clamping groove (11) for guiding and limiting the locking mechanism (2) inserted therein; when the gripper is used, the gripped object mounting seat (1) is mounted on a gripped object, and is connected with the gripper body (4) through the locking mechanism (2) to realize gripping and locking.
3. The soft gripper for space manipulator as claimed in claim 2, characterized in that the locking mechanism (2) is composed of a ring buckle (23), a connecting rod (22) and a connecting disc (21); the connecting disc (21) is supported on the circular ring buckle (23) through a connecting rod (22), and meanwhile, the connecting disc (21) is connected with a rocker arm of the driving device I (3) to realize that the locking mechanism (2) rotates and moves under the driving of the driving device I (3); the circumference of ring buckle (23) is equipped with arch (24) for with by the unsmooth cooperation of draw-in groove (11) of grabbing design on the terminal surface about thing mount pad (1), the realization is died the lock of grabbing thing mount pad (1).
4. The soft gripper for space manipulators as claimed in claim 3, characterized in that the gripper body (4) comprises three parts which are detachably connected and are respectively: a front half upper part (45), a front half lower part (46) and a rear half part (42);
the locking mechanism (2) is arranged between the front half lower part (46) and the front half upper part (45), fixedly connects the front half lower part and the front half upper part, and is connected with the rear half part (42) through a bolt after being fixed; the left side and the right side of the rear half part (42) are provided with a hand grip guide rail I (43), and the hand grip guide rail I (43) is in sliding fit with the hand grip slide rail (7) and is used for limiting the sliding of the hand grip body (4);
the front half upper part (45) is a rectangular frame with an upper end and a front end opened, and the rear end of the front half upper part is provided with a front half lower part mounting groove (451) which is penetrated up and down and used for mounting a front half lower part (46); the front half lower part (46) is a U-shaped frame, the horizontal section of the front half lower part is provided with a rotating shaft (461), the upper end of the rotating shaft (461) is coaxially sleeved with a circular ring buckle (23) to realize the connection of the locking mechanism (2) and the gripper body (4), and the lower end is sleeved with a metal rubber sleeve (462) as a gripping soft structure; when grabbing, a rotating shaft (461) at the end where the metal rubber sleeve (462) is located is in concave-convex fit with a circular groove (12) in the grabbed object mounting seat (1);
the inner cavity of the front half upper part (45) serves as a driving device mounting groove I (452) and is used for mounting a driving device I (3), the driving device I (3) is connected with a connecting disc (21) of the locking mechanism (2) and controls the rotating motion of the locking mechanism (2);
one vertical section of the front half lower part (46) is inserted into the front half lower part mounting groove (451) of the front half upper part (45), and the other vertical section is blocked at the front end opening of the front half upper part (45) and fastened through a bolt, so that the front half upper part (45) and the front half lower part (46) form a front half part; the rear half part (42) is butted with the front half part through a bolt and is fastened into a whole.
5. The space manipulator soft gripper according to claim 4, wherein each gripper guide rail I (43) is provided with ball shaft mounting grooves (44) on the front and rear end surfaces thereof, wherein ball bearings are mounted to convert the sliding fit between the gripper slide rail (7) and the gripper guide rail I (43) into rolling fit.
6. The soft gripper for the space manipulator as claimed in claim 4, wherein the metal rubber sleeve (462) designed on the gripper body (4) is cylindrical or square-cylindrical in shape.
7. The soft gripper for space manipulators as claimed in claim 4, characterized in that the rear half (42) of the gripper body (4) is provided with lightening holes.
8. The space manipulator soft gripper according to any one of claims 4 to 7, wherein the gripper sliding rail (7) is cylindrical in overall shape, the front end of the gripper sliding rail is provided with an open groove which is vertically penetrated in the radial direction and serves as a gripper guide rail II (71), two opposite wall surfaces of the gripper guide rail II (71) are respectively provided with a guide rail groove (72), and a gripper guide rail I (43) on the gripper body (4) is in sliding fit with the guide rail groove (72) so that the two gripper bodies (4) can move towards or away from each other; and a driving device mounting groove II (73) is formed in the position, close to the rear, of the gripper sliding rail (7) and used for mounting a driving device II (5).
9. The soft gripper for space manipulators as claimed in claim 8, characterized in that the guide rail groove (72) is internally provided with a rolling row for converting the sliding fit between the rolling row and the gripper guide rail I (43) into the rolling fit.
10. The soft space manipulator gripper according to any one of claims 1-7 and 9, wherein the driving rocker arm (6) is a strip-shaped thin sheet with a set radian, and two ends in the length direction of the driving rocker arm are respectively connected with the gripper body (4) and the driving device II (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111068676.0A CN113696211B (en) | 2021-09-13 | 2021-09-13 | Soft tongs of space arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111068676.0A CN113696211B (en) | 2021-09-13 | 2021-09-13 | Soft tongs of space arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113696211A true CN113696211A (en) | 2021-11-26 |
| CN113696211B CN113696211B (en) | 2023-12-01 |
Family
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| JPH09155492A (en) * | 1995-12-06 | 1997-06-17 | Mitsubishi Nagasaki Mach Co Ltd | Device for attaching and detaching attachment for manipulator and system therefor |
| EP2090446A1 (en) * | 2008-02-13 | 2009-08-19 | Butler Engineering & Marketing S.p.A. | Bead releasing device |
| JP2015217465A (en) * | 2014-05-16 | 2015-12-07 | 日産自動車株式会社 | Robot hand |
| CN106312669A (en) * | 2015-06-30 | 2017-01-11 | Smc株式会社 | Chuck apparatus |
| DE102018000438A1 (en) * | 2017-01-23 | 2018-07-26 | Interscience | Gripping device for linear actuation |
| WO2018211763A1 (en) * | 2017-05-17 | 2018-11-22 | Smc株式会社 | Air chuck provided with locking mechanism |
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| JPH09155492A (en) * | 1995-12-06 | 1997-06-17 | Mitsubishi Nagasaki Mach Co Ltd | Device for attaching and detaching attachment for manipulator and system therefor |
| EP2090446A1 (en) * | 2008-02-13 | 2009-08-19 | Butler Engineering & Marketing S.p.A. | Bead releasing device |
| JP2015217465A (en) * | 2014-05-16 | 2015-12-07 | 日産自動車株式会社 | Robot hand |
| CN106312669A (en) * | 2015-06-30 | 2017-01-11 | Smc株式会社 | Chuck apparatus |
| DE102018000438A1 (en) * | 2017-01-23 | 2018-07-26 | Interscience | Gripping device for linear actuation |
| WO2018211763A1 (en) * | 2017-05-17 | 2018-11-22 | Smc株式会社 | Air chuck provided with locking mechanism |
| TW201900364A (en) * | 2017-05-17 | 2019-01-01 | 日商Ｓｍｃ股份有限公司 | Pneumatic chuck with locking mechanism |
| CN110621454A (en) * | 2017-05-17 | 2019-12-27 | Smc株式会社 | Pneumatic clamp with locking mechanism |
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| CN113696211B (en) | 2023-12-01 |
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