CN1759994A - Space robot paw - Google Patents

Space robot paw Download PDF

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Publication number
CN1759994A
CN1759994A CN 200510010535 CN200510010535A CN1759994A CN 1759994 A CN1759994 A CN 1759994A CN 200510010535 CN200510010535 CN 200510010535 CN 200510010535 A CN200510010535 A CN 200510010535A CN 1759994 A CN1759994 A CN 1759994A
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drive
flange
connected
motor
finger
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CN 200510010535
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Chinese (zh)
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CN100340379C (en )
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高晓辉
朱映远
刘宏
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哈尔滨工业大学
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Abstract

A grip of space robot is disclosed, which features wide capture range and high locating precision. The motor position sensor is fixed to motor driver connected to supporting sleeve fixed to harmonic speed reducer installed to mainshaft of motor and connected with drive flange. Said drive flange is fixed to shaft-end flange connected with finger position sensors. The gear drive unit on drive flange is connected respectively with the single-finger and dual-finger 4-connection-rod units. The contact sensor is arranged in V-shaped slot on shell.

Description

空间机器人手爪 Space robot gripper

技术领域 FIELD

本发明涉及一种机器人,具体涉及一种空间机器人手爪。 The present invention relates to a robot, in particular to a space robot gripper.

背景技术 Background technique

随着机器人技术的发展,机器人被用于更多的特殊环境中。 With the development of robot technology, robots are used for more specific environment. 机器人为了完成特定任务,必须有适合的末端机器人手爪与之相配合完成相应任务。 In order to accomplish specific tasks the robot, the robot must end with a suitable gripper cooperating therewith task is completed. 目前为止,国内、国际在这一领域中已有不少研究成果,如国内的有合肥智能所“微传感器与特种机器人”是集力觉、触觉、滑觉、接近觉等多种传感功能的作业型执行机构;哈尔滨工业大学机器人研究所研制了“多传感器集成手爪系统”,该手爪有两个平行手指,电机通过滚珠丝杠带动四连杆机构进行抓握;国外有德国的ROTEX机器人手,机构采用丝杠螺母及四连杆机构带有快速更换装置;日本的ETS-VII型机器人手,采用开合手指并有对准机构;加拿大空间臂上安装的空间手爪则采用欠驱动机构,三个手指完成空间抓握。 So far, domestic and international research in this area has been a lot of achievements, such as the country has of Intelligent Machines "micro-sensors and special robot" is a force, tactile, smooth feel, feel closer to other sensing functions job type actuator; robotics Institute, Harbin Institute of Technology developed a "multi-sensor integrated gripper system," which has two parallel gripper fingers, ball screw driven by a motor four-bar linkage mechanism grip; abroad Germany ROTEX robot hand, and a nut screw mechanism using a four bar linkage with a quick change device; Japanese ETS-VII robot hand using finger and the opening and closing an alignment mechanism; Canadian space gripper arm mounting space is used under-drive mechanism, complete with three fingers grip space. 但是,以上列举的这些机器人手爪都不同程度地存在着手爪捕获范围小、最终抓握位置不唯一确定、在抓握过程中易丢失目标的问题。 However, these robot gripper listed above are present in varying degrees to proceed claw capture a small range, the final gripping position is not determined uniquely, easily lost in the grip of target problem processes.

发明内容 SUMMARY

本发明的目的是为解决现有的特种机器人手爪在使用中存在手爪捕获范围小、最终抓握位置不唯一确定、在抓握过程中易丢失目标问题而提供的一种空间机器人手爪。 Object of the present invention is to solve the conventional one sterically special gripper robot gripper robot gripper presence of a small capture range, the final gripping position is not uniquely determined, the target problems easily lost during gripping, in use, provided . 它包括外壳1、电机驱动装置;它还包括电机位置传感器、谐波减速器部件、齿轮传动装置、单手指四连杆机构、双手指四连杆机构、手指位置传感器、支撑套9、驱动法兰10、轴端法兰11、端面盖板12、V形定位槽13、接触传感器;电机位置传感器中的磁环3-1-1固定装在电机驱动装置中的电机转轴2-1上,电机驱动装置中的电机外壳2-2与支撑套9固定连接,支撑套9与谐波减速器部件中的刚轮4-1固定连接,谐波减速器部件中的波发生器4-2固定装在电机转轴2-1上,谐波减速器部件中的柔轮环4-3与驱动法兰10固定连接,驱动法兰10与轴端法兰11固定连接,轴端法兰11与手指位置传感器中的电刷环8-1固定连接,驱动法兰10上固定装有齿轮传动装置中的主传动锥齿轮5-1,齿轮传动装置中的从动单手指锥齿轮5-2与单手指四连杆机构中的单手指驱动杆6-1的一端固定连接,齿轮 It comprises a housing 1, a motor drive means; a position sensor further includes a motor, a harmonic speed reducer member, the gear transmission, a single four-bar linkage finger, two finger four-bar linkage, the finger position sensor support sleeve 9, the driving method a motor position sensor 3-1-1 ring fixedly mounted in the motor drive device motor shaft 2-1; LAN 10, the shaft end flange 11, the end face cover 12, V-shaped positioning groove 13, the contact sensor motor drive device 2-2 and a motor housing 9 is fixedly connected to the support sleeve, the support sleeve 9 fixedly connected to the harmonic reducer member spline 4-1, harmonic reducer member secured in the wave generator 4-2 mounted on the motor shaft 2-1, 4-3 and the drive ring flexspline harmonic reducer flange member 10 is fixedly connected to the drive shaft flange 10 and the flange 11 fixedly connected to the shaft 11 and the finger flange position sensor 8-1 brush ring is fixedly connected with the drive flange fixed to the main drive bevel gear in the 5-1 gear transmission 10, a single finger follower bevel gear gearing in 5-2 single the four bar linkage mechanism single finger finger drive rod fixedly connected to one end of the 6-1 gear 传动装置中的从动双手指锥齿轮5-3与双手指四连杆机构中的双手指驱动杆7-1的一端固定连接,单手指四连杆机构和双手指四连杆机构相对V形定位槽13对称放置,V形定位槽13位于手指位置传感器的上方,V形定位槽13与外壳1固定连接,V形定位槽13内固定装有接触传感器,轴端法兰11通过轴承15与端面盖板12相连接,端面盖板12与外壳1固定连接;所述的单手指四连杆机构中的单手指6-2及单手指指尖6-12和双手指四连杆机构中的双手指7-2及双手指指尖7-12均采用斜楔形结构,所述的单手指6-2和单手指指尖6-12组合构成勾形手指形状,所述的双手指7-2和双手指指尖7-12组合构成勾形手指形状。 Transmission means driven bevel gear 5-3 and the hands that fingers of hands hands that four bar linkage mechanism end of the drive rod 7-1 is fixedly connected to a single four-bar linkage fingers and hands, four-bar linkage means relatively to the V positioning grooves 13 symmetrically placed, V-shaped positioning groove 13 is located above the position of the sensor finger, V-shaped positioning groove 13 is fixedly connected to the housing 1, the contact sensor fixed with 13 V-shaped positioning groove, shaft 11 via a bearing 15 and flange cover plate 12 is connected to the end face, the end face plate 12 is fixedly connected to the housing 1; in the four-link mechanism of the single-finger single finger 6-2 and 6-12 single finger tips and hands that the four-bar linkage 7-2 and hands, hands that are used 7-12 fingertips oblique wedge structure, the single combination of 6-2 and 6-12 fingertip constituting a single finger-shaped finger hook shape, the two-finger 7-2 7-12 fingertips and hands-shaped finger hook shape combinations thereof.

本发明具有以下有益效果:一、本发明的空间机器人手爪模仿人手抓握物体的过程,抓握手指采用对开式四连杆机构,勾形手指形状有利于在抓握时进行较大范围的包络,防止被抓物体逃逸并限制被抓物体的位置偏差,然后利用单手指指尖和双手指指尖的斜楔形结构及关节轴将处于包络范围内任意位置的被抓物体导入到V形定位槽内,从而限制被抓物体的六个自由度,实现对被抓物体的锁紧。 The present invention has the following advantages: First, according to the present invention, the space robot gripper object imitating a human hand during gripping finger off using four-bar linkage, hook-shaped finger shape conducive to a greater range when gripped envelope, to prevent the caught object and limits the escape of the positional deviation of the object to be caught, and then using a single finger tips and two finger joint axis inclined wedge structure and the fingertip will be at any position within the range of the envelope is introduced into the object caught V-shaped positioning grooves, thereby restricting the object caught six degrees of freedom, to achieve the locking of the caught object. 二、为了实现大范围包络并防止抓握过程中的运动卡死现象,采用四连杆机构驱动抓握手指,具有速度快、包络范围大和回转运动灵活的优点。 Second, in order to achieve a wide range of envelope and to prevent movement of the gripping process stuck phenomenon, four-link mechanism drive the gripping finger, having a high speed, a large rotational movement of the envelope from the scope and flexibility advantages. 三、单手指及单手指指尖和双手指及双手指指尖均采用斜楔形结构作为导向面,能逐步插入被抓物体后侧,从而限制了被抓物体的平移。 Third, single-finger and single finger tips and hands, and hands that fingertips are used as a guide inclined surfaces of the wedge structure can be gradually inserted into the rear grip body, thereby limiting the translation of the object to be caught. 四、采用V形定位槽可限制漂浮被抓物体的四个自由度。 Fourth, a V-shaped positioning groove limit the floating object caught four degrees of freedom. 五、为了实现单手指四连杆机构和双手指四连杆机构的相对运动,采用谐波减速器部件减速并通过主传动锥齿轮带动从动单手指锥齿轮和从动双手指锥齿轮转动,并通过从动单手指锥齿轮和从动双手指锥齿轮分成两个等速方向相反的两个运动,从而带动单手指四连杆机构和双手指四连杆机构旋转。 Fifth, in order to achieve single-finger four-bar linkage and hands that relative movement of the four-bar linkage, and harmonic reducer member decelerated by the main drive bevel gear drives the driven bevel gear and the driven single-finger two finger rotation of the bevel gear, and the driven bevel gear, and a single finger follower bevel gear is divided into two two-finger two opposite directions constant movement, so as to drive a single finger four-bar linkage and two finger rotation of the four bar linkage. 六、本发明具有包络范围大、允许被抓物体有较大偏差、锁紧姿态唯一、运动快速、手爪位置闭环控制并具有抓握感知功能的优点。 Sixth, the present invention is an envelope having a large range, allows the object to be caught with a large deviation, a unique locking posture, rapid movement, the position loop control and the gripper gripping an advantage perceived function.

附图说明 BRIEF DESCRIPTION

图1是本发明的主视结构图,图2是图1的AA剖视图,图3是图1的EE剖视图,图4是图1的DD剖视图,图5是本发明的外部结构俯视图,图6是图1的FF剖视图,图7是图1的B向视图,图8是接触传感器的剖面图,图9是电刷环8-1上装有电刷8-2-1和磁钢8-3-1的结构示意图,图10是端面盖板12、电路板8-4、霍尔元件8-3-2及电阻8-2-2组装在一起的结构示意图。 FIG. 1 is a front view of a configuration diagram of the present invention, FIG 2 is an AA sectional view of FIG. 1, FIG. 3 is an EE sectional view of FIG. 1, FIG 4 is a DD sectional view of FIG. 1, FIG 5 is an external structure of the present invention, a plan view, FIG. 6 FF is a cross-sectional view of FIG. 1, FIG. 7 is a view B of FIG. 1, FIG. 8 is a sectional view of a contact sensor, FIG. 9 is provided with a brush to the brush ring magnets and 8-2-1 8-18-3 -1 structure diagram, FIG. 10 is an end cover 12, a circuit board 8-4, a schematic structure of a Hall element and a resistor 8-2-2 8-3-2 assembled together.

具体实施方式 detailed description

具体实施方式一:结合图1、图2、图5、图7说明本实施方式,本实施方式由外壳1、电机驱动装置、电机位置传感器、谐波减速器部件、齿轮传动装置、单手指四连杆机构、双手指四连杆机构、手指位置传感器、支撑套9、驱动法兰10、轴端法兰11、端面盖板12、V形定位槽13、接触传感器组成;电机位置传感器中的磁环3-1-1固定装在电机驱动装置中的电机转轴2-1上,电机驱动装置中的电机外壳2-2与支撑套9固定连接,支撑套9与谐波减速器部件中的刚轮4-1固定连接,谐波减速器部件中的波发生器4-2固定装在电机转轴2-1上,谐波减速器部件中的柔轮环4-3与驱动法兰10固定连接,驱动法兰10与轴端法兰11固定连接,轴端法兰11与手指位置传感器中的电刷环8-1固定连接,驱动法兰10上固定装有齿轮传动装置中的主传动锥齿轮5-1,齿轮传动装置中的从动单手指锥齿轮5-2 A particular embodiment: in conjunction with FIG. 1, FIG. 2, FIG. 5, FIG. 7 illustrates an embodiment of the present embodiment, the housing 1 of the present embodiment, the motor driving apparatus, motor position sensor, harmonic reducer member, the gear transmission, four single-finger a link mechanism, a two-finger four-bar linkage, the finger position sensor support sleeve 9, the drive flange 10, the flange shaft 11, the end face cover 12, V-shaped positioning groove 13, the contact sensors; motor position sensor 3-1-1 ring fixedly mounted in the motor drive device 2-1 on the motor shaft, the motor housing the motor drive device 2-2 is fixedly connected with the support sleeve 9, the support sleeve 9 and the member of harmonic reducer 4-1 spline is fixedly connected to the harmonic reducer wave generator 4-2 member fixedly mounted on the motor shaft 2-1, 4-3 and the drive ring flexspline harmonic reducer flange member 10 is fixed connection, the drive shaft flange 10 and the flange 11 is fixedly connected to the shaft end flange 118-1 is fixedly connected to the finger ring brush position sensor, fixed to the drive flange with the main drive gear 10 on the apparatus 5-1 bevel gear, the driven gear means in a single finger bevel gear 5-2 单手指四连杆机构中的单手指驱动杆6-1的一端固定连接,齿轮传动装置中的从动双手指锥齿轮5-3与双手指四连杆机构中的双手指驱动杆7-1的一端固定连接,单手指四连杆机构和双手指四连杆机构相对V形定位槽13对称放置,V形定位槽13位于手指位置传感器的上方,V形定位槽13与外壳1固定连接,V形定位槽13内固定装有接触传感器,轴端法兰11通过轴承15与端面盖板12相连接,端面盖板12与外壳1固定连接;所述的单手指四连杆机构中的单手指6-2及单手指指尖6-12和双手指四连杆机构中的双手指7-2及双手指指尖7-12均采用斜楔形结构,所述的单手指6-2和单手指指尖6-12组合构成勾形手指形状,所述的双手指7-2和双手指指尖7-12组合构成勾形手指形状。 One end of the single finger fixedly connected to the four bar linkage single finger drive rod 6-1, a driven gear transmission bevel gear 5-3 and the hands that fingers of hands hands that four bar linkage mechanism drive lever 7-1 one end fixedly connected to a single four-bar linkage fingers and hands, four-bar linkage means 13 are placed symmetrically relative to the positioning V-shaped grooves, V-shaped positioning groove 13 is located above the position of the sensor finger, V-shaped positioning groove 131 is fixedly connected to the housing, in contact with the fixed V-shaped positioning groove sensor 13, shaft 12 is connected to the flange 11 through a bearing plate 15 with the end face, the end face plate 12 is fixedly connected to the housing 1; the single finger of the single four-bar linkage mechanism 6-2 single finger and finger tips 6-12 fingers and hands the hands of the four-bar linkage means 7-2 and 7-12 are used both hands fingertips inclined wedge structure, and a single one-finger 6-2 6-12 combinations thereof fingertip-shaped finger hook shape, the hands and the hands 7-2 refers fingertips 7-12 combinations thereof shaped finger hook shape.

本实施方式中的谐波减速器部件采用德国Harmonic Drive公司的HFUS-14-50-2A-GR型减速器。 Harmonic reducer member according to the present embodiment employs HFUS-14-50-2A-GR reducer German company Harmonic Drive.

具体实施方式二:结合图1、图2说明本实施方式,本实施方式的电机位置传感器由磁编码器和电机本身固有的数字霍尔元件组成;磁编码器由磁环3-1-1、磁环检测电路3-1-2组成;磁环3-1-1固定装在电机转轴2-1的外圆周端面上,磁环3-1-1的外侧装有与电机外壳2-2固定连接的磁环检测电路3-1-2。 DETAILED DESCRIPTION II: in conjunction with FIGS. 1 and 2 according to the present embodiment described embodiment, the motor position sensor of the present embodiment is composed of a magnetic encoder and motor inherent digital Hall elements; 3-1-1 magnetic encoder by a ring, ring detection circuit composed 3-1-2; 3-1-1 ring fixedly mounted on the outside of the outer circumference of the motor shaft end surface 2-1, 3-1-1 ring fitted to the motor housing stationary 2-2 ring detection circuit connected to the 3-1-2. 采用电机位置传感器,由磁编码器和电机本身固有的数字霍尔元件构成电机位置检测系统,磁环检测电路3-1-2安装在电机外壳2-2上,用以记录电机的转动位置。 Using the motor position sensor, the motor position detection system constituting the inherent digital encoder and the motor magnetic Hall element, the detection circuit ring mounted on the motor housing 3-1-2 2-2 for recording rotational position of the motor. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式三:结合图1、图2说明本实施方式,本实施方式的电机驱动装置为直流无刷电机;所述的直流无刷电机由电机转轴2-1、电机外壳2-2、电机定子2-3、第一电机轴承2-4、轴承盖2-5、第二电机轴承2-6组成;电机定子2-3与电机外壳2-2固定连接,电机定子2-3内装有电机转轴2-1,电机转轴2-1与电机外壳2-2之间装有第一电机轴承2-4,第一电机轴承2-4通过轴承盖2-5定位,轴承盖2-5与电机外壳2-2固定连接,电机转轴2-1与电机外壳2-2之间装有第二电机轴承2-6,电机外壳2-2与支撑套9固定连接。 DETAILED Embodiment 3: in conjunction with FIGS. 1 and 2 according to the present embodiment described embodiment, the motor driving apparatus according to the present embodiment is a brushless DC motor; brushless DC motor according to the motor shaft 2-1, 2-2 the motor housing, the motor the stator 2-3, the first motor bearings 2-4, 2-5 bearing cap, consisting of a second motor bearing 2-6; 2-32-2 motor stator fixedly connected to the motor housing, the motor stator built with 2-3 shaft 2-1, 2-1 with the motor shaft and the motor housing between the first motor bearing 2-2 2-4, 2-4 by the first motor bearing locating bearing cover 2-5, 2-5 and motor bearing cap 2-2 is fixedly connected to the housing, between which a second motor bearing 2-6 2-2 2-1 motor shaft and the motor housing, the motor housing 9 2-2 fixedly connected to the support sleeve. 采用直流无刷电机,便于对其控制。 Brushless DC motors, to make it easy to control. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式四:结合图1、图2、图3说明本实施方式,本实施方式的齿轮传动装置由主传动锥齿轮5-1、从动单手指锥齿轮5-2、从动双手指锥齿轮5-3、从动单手指锥齿轮轴5-4、从动双手指锥齿轮轴5-5、从动单手指锥齿轮轴承5-6、从动双手指锥齿轮轴承5-7组成;主传动锥齿轮5-1固定装在驱动法兰10的外圆周端面上,主传动锥齿轮5-1分别与从动单手指锥齿轮5-2和从动双手指锥齿轮5-3啮合,从动单手指锥齿轮5-2装在从动单手指锥齿轮轴5-4上,从动单手指锥齿轮5-2与从动单手指锥齿轮轴5-4之间装有从动单手指锥齿轮轴承5-6,从动单手指锥齿轮轴5-4的一端与外壳1固定连接,从动双手指锥齿轮5-3装在从动双手指锥齿轮轴5-5上,从动双手指锥齿轮5-3与从动双手指锥齿轮轴5-5之间装有从动双手指锥齿轮轴承5-7,从动双手指锥齿轮轴5-5的一端与外壳1固定连接。 DETAILED DESCRIPTION IV: in conjunction with FIG. 1, FIG. 2, FIG. 3 illustrates the present embodiment, the gear transmission according to the present embodiment includes a main drive bevel gear 5-1, a single finger follower bevel gear 5-2, bevel driven two-finger gear 5-3, a driven single-finger shaft bevel gear 5-4, a driven bevel gear shaft two-finger 5-5, a driven bevel gear bearing single-finger 5-6, hands driven bevel gear bearing means composed of 5-7; 5-1 main drive bevel gear fixedly mounted drive flange surface of the outer circumferential end, the main drive bevel gear 10 and the driven two-finger 5-1 5-3 bevel gear meshing with the driven bevel gear single-finger 5-2, respectively, 5-2 single finger follower bevel gear mounted on the driven shaft bevel gear single-finger 5-4, driven with a single single-finger between the driven bevel gear 5-2 and the driven bevel gear shaft single-finger 5-4 5-6 Bevel gear bearing finger, single-finger follower bevel gear shaft end 5-4 is fixedly connected to the housing 1, a two-finger follower bevel gear 5-3 mounted on the driven bevel gear shaft two-finger 5-5, from 5-3 hands that the movable bevel gear provided with two finger follower and the driven bevel gear shaft between the hands 5-5 bevel gear bearing means 5-7, the driven bevel gear shaft 5-5 hands that one end fixed to the housing 1 connection. 采用上述结构的齿轮传动装置可通过主传动锥齿轮5-1将动力分别经从动单手指锥齿轮5-2和从动双手指锥齿轮5-3传递给单手指四连杆机构和双手指四连杆机构,从而驱动单手指6-2和双手指7-2进行包络运动。 Gear device constructed as above can be obtained by the main drive bevel gear 5-1, respectively via the power single-finger follower bevel gear 5-2 and the driven bevel gear 5-3 hands that is transmitted to the link mechanism and the single-finger two-finger four-bar linkage to drive the single-finger 6-2 and 7-2 two finger motion envelope. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式五:结合图1、图2、图3、图4说明本实施方式,本实施方式的单手指四连杆机构由单手指驱动杆6-1、单手指6-2、单手指连杆6-3、第一轴承6-4、第一轴6-5、第一端盖6-6、第一轴盖6-7、单手指关节轴6-8、第二轴承6-9、第三轴承6-10、单手指连杆轴6-11、单手指指尖6-12组成;单手指驱动杆6-1的一端固定装在从动单手指锥齿轮5-2的连接轴上,单手指驱动杆6-1的另一端通过第一轴承6-4装在第一轴6-5上并通过第一轴6-5与单手指6-2的尾端相连接,单手指6-2的首端与单手指指尖6-12相连接,第一轴6-5的两端分别与第一端盖6-6和第一轴盖6-7固定连接,与单手指6-2固定连接的单手指关节轴6-8通过第二轴承6-9与单手指连杆6-3的一端铰接,单手指连杆6-3的另一端通过第三轴承6-10与单手指连杆轴6-11铰接,单手指连杆轴6-11与外壳1固定连接。 DETAILED DESCRIPTION five: in conjunction with FIG. 1, FIG 2, FIG 3, FIG 4 illustrates an embodiment according to the present embodiment, a single finger four-link mechanism according to the present embodiment is driven by a single finger bar 6-1, 6-2 single finger, even a single finger 6-3 bar, 6-4 a first bearing, a first shaft 6-5, 6-6 first end cap, a first shaft cover 6-7, 6-8 single-finger joint shaft, a second bearing 6-9, third bearing 6-10, 6-11 single-finger link shaft, consisting of a single fingertip 6-12; single finger end of the drive rod 6-1 fixedly mounted on the driven bevel gear connected to a single finger shaft 5-2 , the other end of the drive lever 6-1 a single finger by a first bearing mounted on a first shaft 6-4 and 6-5 through 6-5 is connected to a first shaft trailing end of the single-finger 6-2, single-finger 6 -2 single headend 6-12 fingertip connected, the ends of the first axis with the first end cap 6-5 6-6 6-7 and the first shaft cover fixedly connected to the single finger 6- single-finger joint shaft 2 fixedly connected to the second hinged at one end by a bearing 6-8 6-9 6-3 single finger rod, the other end of the single-finger rod bearings 6-3 through 6-10 and the third single-finger articulated link shaft 6-11, 6-11 single-finger link shaft fixedly connected to the housing 1. 采用上述结构的单手指四连杆机构,可保证单手指6-2运动灵活自如。 Single-finger above-described four-bar linkage configuration, can ensure that a single movement of the finger 6-2 flexible. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式六:结合图1、图2、图3、图6说明本实施方式,本实施方式的双手指四连杆机构由双手指驱动杆7-1、双手指7-2、双手指连杆7-3、第四轴承7-4、第二轴7-5、第二端盖7-6、第二轴盖7-7、双手指关节轴7-8、第五轴承7-9、第六轴承7-10、双手指连杆轴7-11、双手指指尖7-12组成;双手指驱动杆7-1的一端固定装在从动双手指锥齿轮5-3的连接轴上,双手指驱动杆7-1的另一端通过第四轴承7-4装在第二轴7-5上并通过第二轴7-5与双手指7-2的尾端相连接,双手指7-2的首端与双手指指尖7-12相连接,第二轴7-5的两端分别与第二端盖7-6和第二轴盖7-7固定连接,与双手指7-2固定连接的双手指关节轴7-8通过第五轴承7-9与双手指连杆7-3的一端铰接,双手指连杆7-3的另一端通过第六轴承7-10与双手指连杆轴7-11铰接,双手指连杆轴7-11与外壳1固定连接。 DETAILED DESCRIPTION VI: in conjunction with FIG 1, FIG 2, FIG 3, FIG. 6 illustrates an embodiment according to the present embodiment, the hands of the present embodiment is a four-bar linkage means two finger drive bar 7-1, 7-2 two finger, two finger even 7-3 bar, the fourth bearing 7-4, 7-5 the second shaft, the second end cap 7-6, 7-7 the second shaft cover, two finger joint shaft 7-8, 7-9 fifth bearing, sixth bearing 7-10, 7-11 hands that link shaft, composed of 7-12 fingertips hands; hands that end of the drive rod is fixedly mounted on the driven 7-1 hands that connecting shaft bevel gear 5-3 , hands that the other end of the drive rod 7-1 through 7-4 fourth bearing mounted on the second shaft and the second shaft 7-5 7-5 7-2 refers to a trailing end connected to the hands, a two-finger 7 -2 head end and is connected to the hands fingertips 7-12, 7-5 ends of the second shaft are respectively fixedly connected with the second end cap 7-7 and 7-6 the second shaft cover, the two-finger 7- 2 hands knuckles shaft fixedly connected to the bearing 7-9 and 7-8 through a fifth link hinged at one end a two-finger 7-3, 7-3 hands that the other end of the connecting rod bearing through the sixth and two-finger 7-10 articulated link shaft 7-11, 7-11 hands that link shaft fixedly connected to the housing 1. 采用上述结构的双手指四连杆机构,可保证双手指7-2运动灵活自如。 With the above configuration of the four-bar linkage means hands, hands that can ensure the motion 7-2 flexible. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式七:结合图9、图10说明本实施方式,本实施方式的手指位置传感器由电刷环8-1、电位计、霍尔限位开关、电路板8-4组成;所述的电位计由电刷8-2-1和电阻8-2-2组成;所述的霍尔限位开关由磁钢8-3-1和霍尔元件8-3-2组成;电刷环8-1的外圆周端面上装有电刷8-2-1,电刷环8-1通过轴端法兰11与驱动法兰10固定连接,电刷8-2-1的外圆周端面上装有端面盖板12,端面盖板12上装有电路板8-4,电路板8-4上固定装有电阻8-2-2和霍尔元件8-3-2,磁钢8-3-1装在电刷环8-1上。 Seventh Embodiment: in conjunction with FIG. 9, FIG. 10 illustrates an embodiment according to the present embodiment, the position of the finger sensor of the present embodiment by a brush rings 8-1, potentiometer, Hall limit switch, a circuit board composed of 8-4; the a potentiometer and a resistor brushes 8-2-1 8-2-2 composition; the limit switch by the Hall magnet and a Hall element 8-3-1 8-3-2 composition; brush ring 8 an outer circumferential end surface of the brush with -1 8-2-1, 8-1 ring brush shaft by a flange 11 fixedly connected to the drive flange 10, with an outer circumferential end surface of the end surface of the brush 8-2-1 cover plate 12, provided with a circuit board 12 on the end surface of the cover plate 8-4, 8-4 is fixed on the circuit board with a resistor and a Hall element 8-2-2 8-3-2, 8-3-1 magnet mounted 8-1 on the brush ring. 采用此结构的手指位置传感器,当驱动法兰10转动时,电刷环8-1和电刷8-2-1随之转动,电刷8-2-1滑过电位计产生相应的角度信号。 Finger position sensor using this structure, when the rotation of the driving flange 10, the brush and the brush rings 8-1 8-2-1 rotation therewith, the brush slides 8-2-1 potentiometer generates a corresponding angle signal . 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式八:结合图1、图2、图8说明本实施方式,本实施方式的接触传感器由传感器14-1和应变片14-2组成;传感器14-1与V型定位槽13相邻的表面上贴有应变片14-2。 DETAILED DESCRIPTION VIII: in conjunction with FIG. 1, FIG. 2, FIG. 8 illustrates an embodiment according to the present embodiment, the contact sensor of the present embodiment from the strain gauge sensors 14-1 and 14-2 composition; sensor 13 adjacent to the V-shaped locating groove 14-1 surface strain gauge affixed 14-2. 采用上述结构的接触传感器,当单手指6-2和双手指7-2完成锁紧运动后,接触传感器受到被抓物体的挤压,应变片14-2变形,当被抓物体被锁紧到预定位置时会产生相应的压力及应变片14-2输出电压,这个电压是一个阈值信号被发送到主控计算机中,表示完成锁紧运动,被抓物体被准确定位。 With the above configuration of the touch sensor, when the single-finger means 6-2 and 7-2 hands after the completion of a locking movement, the sensor contacts an object caught by the pressing, strain gauges 14-2 deformed when the object is locked to the grasping and produces a corresponding pressure strain gauge output voltage 14-2 predetermined position, this is a threshold voltage signal is transmitted to the host computer, indicating completion locking motion, caught objects are accurately positioned. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式九:结合图1、图2说明本实施方式,本实施方式的外壳1、单手指6-2及单手指指尖6-12、双手指7-2及双手指指尖7-12、V形定位槽13和接触传感器均采用铝合金材料制成。 DETAILED DESCRIPTION IX: in conjunction with FIG 1, FIG 2 illustrates an embodiment according to the present embodiment, the housing 1 of the present embodiment, a single finger and single finger tips 6-12 6-2, 7-2, and a two-finger hand fingertips 7-12 , V-shaped positioning groove 13 and the contact sensor are made of aluminum alloy. 上述构件采用此材料制成,在保证其具有一定的强度和刚度的同时,还可减轻整体重量。 Said member is made of this material, which ensure a certain strength and rigidity at the same time, it can also reduce the overall weight. 其它组成及连接关系与具体实施方式一相同。 Other connection relationships composition and a specific embodiment of the same.

具体实施方式十:结合图1、图2、图3说明本实施方式,本实施方式的电机驱动装置、电机位置传感器、手指位置传感器、柔轮环4-3、支撑套9、驱动法兰10、轴端法兰11、端面盖板12、单手指驱动杆6-1、单手指连杆6-3、双手指驱动杆7-1及双手指连杆7-3均采用钛合金材料制成。 DETAILED DESCRIPTION ten: in conjunction with FIG. 1, FIG. 2, FIG. 3 illustrates the present embodiment, the motor driving apparatus of the embodiment according to the present embodiment, the motor position sensor, a position sensor finger, ring flexspline 4-3, the supporting sleeve 9, the drive flange 10 , shaft flange 11, the end face plate 12, a single finger drive bar 6-1, the link 6-3 single-finger, two finger drive rod 7-1 and 7-3 are two finger titanium alloy rod material . 上述构件采用钛合金材料制成,在降低整体结构重量的同时,还可提高整体强度,使该机器人手爪对温度有较高的适应能力。 It said member is made of titanium alloy, while reducing the overall weight of the structure, but also improve the overall strength, so that the robot gripper has a high temperature adaptability.

Claims (10)

  1. 1.一种空间机器人手爪,它包括铝合金外壳(1)、电机驱动装置;其特征在于它还包括电机位置传感器、谐波减速器部件、齿轮传动装置、单手指四连杆机构、双手指四连杆机构、手指位置传感器、支撑套(9)、驱动法兰(10)、轴端法兰(11)、端面盖板(12)、V形定位槽(13)、接触传感器;电机位置传感器中的磁环(3-1-1)固定装在电机驱动装置中的电机转轴(2-1)上,电机驱动装置中的电机外壳(2-2)与支撑套(9)固定连接,支撑套(9)与谐波减速器部件中的刚轮(4-1)固定连接,谐波减速器部件中的波发生器(4-2)固定装在电机转轴(2-1)上,谐波减速器部件中的柔轮环(4-3)与驱动法兰(10)固定连接,驱动法兰(10)与轴端法兰(11)固定连接,轴端法兰(11)与手指位置传感器中的电刷环(8-1)固定连接,驱动法兰(10)上固定装有齿轮传动装置中的主传动锥齿轮(5-1),齿轮传动装置中的从动单 A space robot gripper, which comprises an aluminum alloy housing (1), a motor drive device; characterized in that it includes a motor position sensor, harmonic reducer member, the gear transmission, single-finger four-bar linkage, bis four-bar linkage finger, the finger position sensor, a support sleeve (9), the drive flange (10), the shaft end flange (11), the end face plate (12), V-shaped positioning groove (13), a contact sensor; motor magnetic position sensor (3-1-1) fixedly mounted in the motor drive device motor shaft (2-1), the motor housing (2-2) and the support sleeve (9) fixed to the motor drive device is connected the supporting sleeve (9) and the harmonic reducer spline member (4-1) is fixedly connected to the member harmonic reducer wave generator (4-2) fixedly mounted on the motor shaft (2-1) , harmonic reducer flexspline ring member (4-3) and the drive flange (10) is fixedly connected to the drive flange (10) and the shaft end flange (11) fixedly connected to the shaft end flange (11) (8-1) fixedly connected to the finger ring brush position sensor, fixed to the drive flange with the main drive bevel gear (5-1) of the gear transmission (10), the driven gear means in a single 指锥齿轮(5-2)与单手指四连杆机构中的单手指驱动杆(6-1)的一端固定连接,齿轮传动装置中的从动双手指锥齿轮(5-3)与双手指四连杆机构中的双手指驱动杆(7-1)的一端固定连接,单手指四连杆机构和双手指四连杆机构相对V形定位槽(13)对称放置,V形定位槽(13)位于手指位置传感器的上方,V形定位槽(13)与外壳(1)固定连接,V形定位槽(13)内固定装有接触传感器,轴端法兰(11)通过轴承(15)与端面盖板(12)相连接,端面盖板(12)与外壳(1)固定连接;所述的单手指四连杆机构中的单手指(6-2)及单手指指尖(6-12)和双手指四连杆机构中的双手指(7-2)及双手指指尖(7-12)均采用斜楔形结构,所述的单手指(6-2)和单手指指尖(6-12)组合构成勾形手指形状,所述的双手指(7-2)和双手指指尖(7-12)组合构成勾形手指形状。 Refers to a bevel gear (5-2) and the single drive finger finger single four-bar linkage rod (6-1) is fixedly connected at one end, the gear transmission means driven hands bevel gear (5-3) and two-finger One end of the four-bar linkage two finger drive rod (7-1) is fixedly connected, a single four-bar linkage fingers and hands, four-bar linkage means relative to the V-shaped positioning groove (13) symmetrically placed, V-shaped positioning groove (13 ) located above the finger position sensor, fixedly connected V-shaped positioning groove (13) with the housing (1), the V-shaped positioning groove (13) is fixed in contact with the sensor, the shaft end flange (11) through a bearing (15) and end surface cover (12) is connected to the end face of the cover plate (12) with the housing (1) is fixedly connected; single finger of a single four-bar linkage mechanism of the finger (6-2) and a single finger tips (6-12 ) hands and fingers of both hands four bar linkage means (7-2) and hands, fingertips (7-12) are made oblique wedge structure, the single finger (6-2) and a single finger tips (6 -12) in combination constituting a finger-shaped hook shape, the two-finger (7-2) and hands fingertips (7-12) in combination constituting a finger-shaped hook shape.
  2. 2.根据权利要求1所述的空间机器人手爪,其特征在于电机位置传感器由磁编码器和电机本身固有的数字霍尔元件组成;磁编码器由磁环(3-1-1)、磁环检测电路(3-1-2)组成;磁环(3-1-1)固定装在电机转轴(2-1)的外圆周端面上,磁环(3-1-1)的外侧装有与电机外壳(2-2)固定连接的磁环检测电路(3-1-2)。 Space robot according to claim 1 of the gripper, characterized in that the motor position sensor and a magnetic encoder motor inherent digital Hall elements; a magnetic encoder ring (3-1-1), a magnetic ring detection circuit (3-1-2) composition; magnetic ring (3-1-1) fixedly mounted on the outside of the motor shaft (2-1) of the outer circumferential end surface of the magnetic ring (3-1-1) is provided with the motor housing (2-2) ring detection circuit (3-1-2) is fixedly connected.
  3. 3.根据权利要求1所述的空间机器人手爪,其特征在于电机驱动装置为直流无刷电机;所述的直流无刷电机由电机转轴(2-1)、电机外壳(2-2)、电机定子(2-3)、第一电机轴承(2-4)、轴承盖(2-5)、第二电机轴承(2-6)组成;电机定子(2-3)与电机外壳(2-2)固定连接,电机定子(2-3)内装有电机转轴(2-1),电机转轴(2-1)与电机外壳(2-2)之间装有第一电机轴承(2-4),第一电机轴承(2-4)通过轴承盖(2-5)定位,轴承盖(2-5)与电机外壳(2-2)固定连接,电机转轴(2-1)与电机外壳(2-2)之间装有第二电机轴承(2-6),电机外壳(2-2)与支撑套(9)固定连接。 According to claim space robot gripper to claim 1, characterized in that the motor drive means is a brushless DC motor; brushless DC motor according to a motor shaft (2-1), the motor housing (2-2), motor stator (2-3), a first motor bearing (2-4), a bearing cap (2-5), a second motor bearing (2-6) composition; motor stator (2-3) and the motor housing (2- 2) is fixedly connected, a motor stator (2-3) that has the motor shaft (2-1), with a first motor bearing (2-4) between motor shaft (2-1) with motor housing (2-2) a first motor bearing (2-4) (2-5) positioned by the bearing cap, the bearing cap (2-5) and the motor housing (2-2) is fixedly connected to the motor shaft (2-1) with the motor housing (2 with a second motor bearing (2-6) between -2), the motor housing (2-2) and the support sleeve (9) is fixedly connected.
  4. 4.根据权利要求1所述的空间机器人手爪,其特征在于齿轮传动装置由主传动锥齿轮(5-1)、从动单手指锥齿轮(5-2)、从动双手指锥齿轮(5-3)、从动单手指锥齿轮轴(5-4)、从动双手指锥齿轮轴(5-5)、从动单手指锥齿轮轴承(5-6)、从动双手指锥齿轮轴承(5-7)组成;主传动锥齿轮(5-1)固定装在驱动法兰(10)的外圆周端面上,主传动锥齿轮(5-1)分别与从动单手指锥齿轮(5-2)和从动双手指锥齿轮(5-3)啮合,从动单手指锥齿轮(5-2)装在从动单手指锥齿轮轴(5-4)上,从动单手指锥齿轮(5-2)与从动单手指锥齿轮轴(5-4)之间装有从动单手指锥齿轮轴承(5-6),从动单手指锥齿轮轴(5-4)的一端与外壳(1)固定连接,从动双手指锥齿轮(5-3)装在从动双手指锥齿轮轴(5-5)上,从动双手指锥齿轮(5-3)与从动双手指锥齿轮轴(5-5)之间装有从动双手指锥齿轮轴承(5-7),从动双手指锥齿轮轴(5-5)的一端与外 The space robot gripper according to claim 1, characterized in that the gearing by the main drive bevel gear (5-1), a single finger follower bevel gear (5-2), a two-finger follower bevel gear ( 5-3), the driven bevel gear single-finger shaft (5-4), a two-finger follower bevel gear shaft (5-5), a single finger follower bevel gear bearing (5-6), a two-finger follower bevel gear bearings (5-7) composition; main drive bevel gear (5-1) fixedly mounted on the outer circumferential end surface of the drive flange (10), the main drive bevel gear (5-1) are single-finger and the driven bevel gear ( 5-2) and two finger follower (5-3) engaged with a bevel gear, a driven bevel gear single finger (5-2) mounted on a single finger follower bevel gear shaft (5-4), a single finger follower cone fitted between the gear (5-2) and the driven bevel gear single-finger shaft (5-4) a single finger follower bevel gear bearing (5-6), a single finger end of the driven shaft bevel gear (5-4) of the housing (1) is fixedly connected to the driven bevel gear hands means (5-3) mounted on the two finger driven bevel gear shaft (5-5), a two-finger follower bevel gear (5-3) and the driven bis hands with the driven bevel gear shaft between the fingers (5-5) means a bevel gear bearing (5-7), one end of a two-finger follower bevel gear shaft (5-5) with the outer (1)固定连接。 (1) is fixedly connected.
  5. 5.根据权利要求1所述的空间机器人手爪,其特征在于单手指四连杆机构由单手指驱动杆(6-1)、单手指(6-2)、单手指连杆(6-3)、第一轴承(6-4)、第一轴(6-5)、第一端盖(6-6)、第一轴盖(6-7)、单手指关节轴(6-8)、第二轴承(6-9)、第三轴承(6-10)、单手指连杆轴(6-11)、单手指指尖(6-12)组成;单手指驱动杆(6-1)的一端固定装在从动单手指锥齿轮(5-2)的连接轴上,单手指驱动杆(6-1)的另一端通过第一轴承(6-4)装在第一轴(6-5)上并通过第一轴(6-5)与单手指(6-2)的尾端相连接,单手指(6-2)的首端与单手指指尖(6-12)相连接,第一轴(6-5)的两端分别与第一端盖(6-6)和第一轴盖(6-7)固定连接,与单手指(6-2)固定连接的单手指关节轴(6-8)通过第二轴承(6-9)与单手指连杆(6-3)的一端铰接,单手指连杆(6-3)的另一端通过第三轴承(6-10)与单手指连杆轴(6-11)铰接,单手指连杆轴(6-11)与外壳(1)固定连接 The space robot gripper according to claim 1, wherein the single-finger four bar linkage driven by a single finger bar (6-1), single-finger (6-2), single-finger link (6-3 ), a first bearing (6-4), a first axis (6-5), a first end cap (6-6), a first shaft cover (6-7), single-finger joint axis (6-8), a second bearing (6-9), a third bearing (6-10), single-finger link shaft (6-11), a single fingertip (6-12) composition; single-finger drive rod (6-1) One end of the other end of the single-finger fixedly mounted on the driven bevel gear (5-2) of the connecting shaft, single-finger drive rod (6-1) is mounted on a first shaft (6-5 via a first bearing (6-4) a) by a trailing end and is connected to a first shaft (6-5) with a single finger (6-2), single-finger (6-2) and the first end of the single finger tips (6-12) is connected to the first both ends of a shaft (6-5), respectively, with the first end cap (6-6) and the first shaft cover (6-7) is fixedly connected with the single finger (6-2) fixedly connected to a single finger joint axis ( 6-8) hinged at one end by a second bearing (6-9) and the single-finger link (6-3), and the other end of the single-finger link (6-3) by a third bearing (6-10) single a finger link shaft (6-11) is hinged, single-finger link shaft (6-11) with the housing (1) is fixedly connected
  6. 6.根据权利要求1所述的空间机器人手爪,其特征在于双手指四连杆机构由双手指驱动杆(7-1)、双手指(7-2)、双手指连杆(7-3)、第四轴承(7-4)、第二轴(7-5)、第二端盖(7-6)、第二轴盖(7-7)、双手指关节轴(7-8)、第五轴承(7-9)、第六轴承(7-10)、双手指连杆轴(7-11)、双手指指尖(7-12)组成;双手指驱动杆(7-1)的一端固定装在从动双手指锥齿轮(5-3)的连接轴上,双手指驱动杆(7-1)的另一端通过第四轴承(7-4)装在第二轴(7-5)上并通过第二轴(7-5)与双手指(7-2)的尾端相连接,双手指(7-2)的首端与双手指指尖(7-12)相连接,第二轴(7-5)的两端分别与第二端盖(7-6)和第二轴盖(7-7)固定连接,与双手指(7-2)固定连接的双手指关节轴(7-8)通过第五轴承(7-9)与双手指连杆(7-3)的一端铰接,双手指连杆(7-3)的另一端通过第六轴承(7-10)与双手指连杆轴(7-11)铰接,双手指连杆轴(7-11)与外壳(1)固定连接 The space robot gripper according to claim 1, characterized in that the four-bar linkage by a two-finger two finger drive rod (7-1), a two-finger (7-2), a two-finger link (7-3 ), the fourth bearing (7-4), a second shaft (7-5), a second end cap (7-6), a second shaft cover (7-7), a two-finger joint axis (7-8), fifth bearing (7-9), the sixth bearing (7-10), a two-finger link shaft (7-11), hands fingertips (7-12) composition; two finger drive rod (7-1) One end of a two-finger fixedly mounted on the driven bevel gear (5-3) of the connecting shaft, the other end of the two-finger drive rod (7-1) is mounted on the second shaft (fourth bearing by 7-5 (7-4) a) by a second shaft (7-5) with a two-finger (7-2) is connected to the trailing end, a two-finger (7-2) and the first end of hands fingertips (7-12) is connected to the first both ends of the two shafts (7-5), respectively, and the second end cap (7-6) and the second shaft cover (7-7) is fixedly connected with a two-finger hand (7-2) fixedly connected to the shaft of the knuckle ( 7-8) and two finger rod hinged at one end (7-3) by a fifth bearing (7-9), the other end of the two-finger link (7-3) by the sixth bearing (7-10) and bis a finger link shaft (7-11) is hinged, two-finger shaft fixed to the connecting link (7-11) with the housing (1)
  7. 7.根据权利要求1所述的机器人手爪,其特征在于手指位置传感器由电刷环(8-1)、电位计、霍尔限位开关、电路板(8-4)组成;所述的电位计由电刷(8-2-1)和电阻(8-2-2)组成;所述的霍尔限位开关由磁钢(8-3-1)和霍尔元件(8-3-2)组成;电刷环(8-1)的外圆周端面上装有电刷(8-2-1),电刷环(8-1)通过轴端法兰(11)与驱动法兰(10)固定连接,电刷(8-2-1)的外圆周端面上装有端面盖板(12),端面盖板(12)上装有电路板(8-4),电路板(8-4)上固定装有电阻(8-2-2)和霍尔元件(8-3-2),磁钢(8-3-1)装在电刷环(8-1)上。 Robot gripper according to claim 1, characterized in that the brush ring finger by a position sensor (8-1), potentiometer, Hall limit switch, a circuit board (8-4) composed of; the potentiometer by the brush (8-2-1) and a resistor (8-2-2) composition; said Hall magnet by a limit switch (8-3-1) and a Hall element (8-3- 2) the composition; with a brush (8-2-1) outer circumferential end surface of the brush ring (8-1) of the brush ring (8-1) by a shaft flange (11) and the drive flange (10 ) fixedly connected to the outer circumference of the brush (8-2-1) with an end face of the end face cover (12), on which the circuit board (8-4), the board (8-4) on the end surface of the cover plate (12) with fixed resistors (8-2-2) and a Hall element (8-3-2), the magnet (8-3-1) mounted on the brush ring (8-1).
  8. 8.根据权利要求1所述的空间机器人手爪,其特征在于接触传感器由传感器(14-1)和应变片(14-2)组成;传感器(14-1)与V型定位槽(13)相邻的表面上贴有应变片(14-2)。 The space robot gripper according to claim 1, characterized in that a contact sensor by a sensor (14-1) and strain gauges (14-2) composition; a sensor (14-1) with a V-shaped positioning groove (13) adjacent surfaces pasted with a strain gauge (14-2).
  9. 9.根据权利要求1所述的空间机器人手爪,其特征在于所述的外壳(1)、单手指(6-2)及单手指指尖(6-12)、双手指(7-2)及双手指指尖(7-12)、V形定位槽(13)和接触传感器均采用铝合金材料制成。 Space robot according to claim 1, said gripper, characterized in that the housing (1), a single finger (6-2) and a single fingertip (6-12), a two-finger (7-2) and hands, fingertips (7-12), V-shaped positioning groove (13) and the contact sensor are made of aluminum alloy.
  10. 10.根据权利要求1所述的空间机器人手爪,其特征在于所述的电机驱动装置、电机位置传感器、手指位置传感器、柔轮环(4-3)、支撑套(9)、驱动法兰(10)、轴端法兰(11)、端面盖板(12)、单手指驱动杆(6-1)、单手指连杆(6-3)、双手指驱动杆(7-1)及双手指连杆(7-3)均采用钛合金材料制成。 According to claim 1 of the space robot gripper, wherein said motor driving apparatus, motor position sensor, a position sensor finger, ring flexspline (4-3), a support sleeve (9), the drive flange (10), the shaft end flange (11), the end face cover (12), single-finger drive rod (6-1), single-finger link (6-3), two finger bar drive (7-1) and bis a finger link (7-3) are made of titanium material.
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CN101875196A (en) * 2010-03-15 2010-11-03 中国原子能科学研究院 Remote guide rail centering manipulator
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CN101722509B (en) 2009-11-30 2011-01-26 哈尔滨工业大学 Electrical connection integrated mechanism for locking space
CN101875196A (en) * 2010-03-15 2010-11-03 中国原子能科学研究院 Remote guide rail centering manipulator
CN101875196B (en) 2010-03-15 2011-11-02 中国原子能科学研究院 Remote guide rail centering manipulator
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CN102514015A (en) * 2011-12-23 2012-06-27 哈尔滨工业大学 Three-finger capture positioning mechanism
CN102991730A (en) * 2012-12-13 2013-03-27 上海航天测控通信研究所 Self-balancing spacecraft capturing mechanism
CN102991730B (en) * 2012-12-13 2015-09-09 上海航天测控通信研究所 Spacecraft capture self-balancing mechanism
CN103072142B (en) 2012-12-26 2014-09-10 西北工业大学 Space rope catching and locking device
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