CN206066461U - A kind of device safely captured for robot for space - Google Patents
A kind of device safely captured for robot for space Download PDFInfo
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- CN206066461U CN206066461U CN201621018524.4U CN201621018524U CN206066461U CN 206066461 U CN206066461 U CN 206066461U CN 201621018524 U CN201621018524 U CN 201621018524U CN 206066461 U CN206066461 U CN 206066461U
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- metallic plate
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Abstract
The utility model discloses a kind of device safely captured for robot for space, the device includes：Mechanical arm, six-dimensional force/torque sensor, buffer, end effector and signal processing unit；Wherein, the six-dimensional force/torque sensor is connected with the end of the mechanical arm；The buffer includes the first metallic plate, damping guide rail, spring, microswitch and the second metallic plate；The signal processing unit is connected with the mechanical arm, the six-dimensional force/torque sensor, the microswitch and the end effector respectively.This utility model improves the success rate of capture target object, reduces the damage risk of mechanical arm.
Description
Technical field
This utility model is related to robot for space field, more particularly to a kind of dress safely captured for robot for space
Put.
Background technology
Robot for space is for replacing the mankind scientific experimentation to be carried out in space, goes out the activities such as cabin operation, space exploration
Specialized robot.Robot for space replaces extravehicular activity of astronaut that the risk and cost can be greatly lowered.
Robot for space be in spatial environmentss activity, spatial environmentss and ground environment difference it is very big, robot for space
It is operated in microgravity, fine vacuum, ultralow temperature, intense radiation, in the environment of illumination difference, therefore, robot for space and ground robot
Requirement also necessarily differ, the characteristics of have its own.
The robot for space for being capable of free flight carries out flying around ground with height in Earth's orbit, when which is caught to target
When obtaining operation, the percussion between robot and object may cause object collided away from or robot arm
Adverse consequencess are damaged, these result in the failure of space tasks.
Utility model content
This utility model solve technical problem be：Compared to prior art, this utility model provides a kind of for sky
Between robot security capture device, improve robot for space capture target object success rate, reduce mechanical arm damage
Risk.
This utility model purpose is achieved by the following technical programs：A kind of dress safely captured for robot for space
Put, the device includes：Mechanical arm, six-dimensional force/torque sensor, buffer, end effector and signal processing unit；Wherein,
Six-dimensional force/the torque sensor is connected with the end of the mechanical arm；The buffer includes the first metallic plate, core
Part and the second metallic plate, wherein, core component includes damping guide rail, spring and microswitch；Six-dimensional force/the moment sensing
Device is arranged at the outer wall of first metallic plate；First metallic plate offers the first hole, and one end of the damping guide rail leads to
Cross first hole to be arranged in first metallic plate and be connected with second metallic plate；The spring is sheathed on described
Damping guide rail, and be located between first metallic plate and second metallic plate；The top of the microswitch and the resistance
The cap of Buddhist nun's guide rail is connected, and the reed of the microswitch is contacted with the outer wall of first metallic plate；The end performs
Device is connected with the buffer；The signal processing unit respectively with the mechanical arm, the six-dimensional force/torque sensor,
The microswitch is connected with the end effector；The end effector contact target object, second metallic plate
The effect of being under pressure, guide rail is by first hole axially-movable and provides frictional force for the damping, while so that the spring
Device compresses so that second metallic plate and the first metallic plate relative motion, so as to trigger the microswitch, described micro-
The switching information of dynamic switch is transferred to the signal processing unit, second metallic plate and the first metallic plate relative motion
So that first metallic plate is subject to the pressure of the spring and the damping guide rail, the six-dimensional force/torque sensor to receive
To first metallic plate apply pressure and gather force information and moment information, the force information and moment information are transferred to institute
Signal processing unit is stated, the signal processing unit is controlled according to the switching information, the force information and the moment information
Power output and torque of the mechanical arm to the six-dimensional force/torque sensor so that the six-dimensional force/torque sensor is subject to
The power outside except its axle and torque be zero, while the signal processing unit controls the end effector to the object
Body captured in real time.
In the above-mentioned device safely captured for robot for space, the quantity of the core component is three groups.
In the above-mentioned device safely captured for robot for space, any two is obtained from three microswitch micro-
The switching information of dynamic switch is transferred to the signal processing unit.
In the above-mentioned device safely captured for robot for space, second metallic plate is offered and first hole phase
Corresponding second hole, one end of the damping guide rail are arranged in second metallic plate by second hole and are connected with nut
Connect, the protuberance of the damping guide rail is crimped on the inwall of second metallic plate, and the nut is crimped on second metal
The outer wall of plate.
In the above-mentioned device safely captured for robot for space, second metallic plate is offered and first hole phase
Corresponding second hole, the damping guide rail are arranged with the second nut and the 3rd nut, and the damping guide rail passes through second hole
Second metallic plate is arranged in, wherein, second metallic plate is located between second nut and the 3rd nut, institute
The upper surface that the second nut is stated with second metallic plate mutually crimps, the lower surface of the 3rd nut and second metallic plate
Mutually crimp.
This utility model is had the advantages that compared with prior art：
(1) this utility model by signal processing unit control machinery arm to the power output of six-dimensional force/torque sensor and
Torque, extends the time of contact of end effector and target object, has slackened the impact of impulsive force, improves capture object
The success rate of body；
(2) this utility model produces frictional force along its axially-movable by the compression and damping guide rail of spring and absorbs
Part of impact force during end effector collision target object, is effectively prevented the damage of mechanical arm.
Description of the drawings
Fig. 1 is the structural representation of the device safely captured for robot for space of the present utility model；
Fig. 2 is structural representation of the buffer of the present utility model in original state；
Fig. 3 is structural representation of the buffer of the present utility model in triggering state；
Fig. 4 is the structural representation of damping guide rail of the present utility model；
Fig. 5 is showing for the impulsive force that target object is subject to for the device that robot for space is safely captured of the present utility model
It is intended to；
Fig. 6 is the impact process schematic diagram of robot for space of the present utility model and target object.
Specific embodiment
Below in conjunction with the accompanying drawings this utility model is described in further detail：
Fig. 1 shows the structural representation of the device safely captured for robot for space of the present utility model.Such as Fig. 1 institutes
Show, the device includes：Mechanical arm 1, six-dimensional force/torque sensor 2, buffer 3, end effector 4 and signal processing unit 5,
When being embodied as, the degree of freedom of mechanical arm 1 can be six degree of freedom and more than.Wherein,
Six-dimensional force/torque sensor 2 is connected with the end of mechanical arm 1, when being embodied as, six-dimensional force/torque sensor 2
Can be connected with the end thread of mechanical arm 1, connected mode can have various, and the present embodiment is not limited.
Buffer 3 includes the first metallic plate 31, damping guide rail 32, spring 33, microswitch 34 and the second metallic plate 35,
When being embodied as, the making material of the first metallic plate 31 and the second metallic plate 35 can have various metals, and the present embodiment is not in addition
Limit.Wherein,
Six-dimensional force/torque sensor 2 is arranged at the outer wall of the first metallic plate 31, when being embodied as, six-dimensional force/moment sensing
Device 2 can be connected with the outer wall thread of the first metallic plate 31, it is also possible to weld, and connected mode can have various, and the present embodiment is not
It is limited.
First metallic plate 31 offers the first hole 311, and the one end for damping guide rail 32 is arranged in the first gold medal by the first hole 311
Category plate 31 is simultaneously connected with the second metallic plate 35.
Specifically, the first metallic plate 31 offers the first hole 311, and the second metallic plate 35 is offered and 311 position of the first hole
The second corresponding hole 351, damping guide rail 32 pass through the first metallic plate 31 by the first hole 311, and the first metallic plate 31 is by the
One hole 311 can occur relative motion with damping guide rail 32, and damp guide rail 32 by the second hole 351 through the second metallic plate
35, damping guide rail 32 is provided with protuberance 321, as shown in figure 4, protuberance 321 can be two, to damp the axial direction of guide rail 32
It is distributed symmetrically, it is to be understood that the shape that the first hole 311 opens up is corresponding with the shape of protuberance 321 so that have
The damping guide rail 32 of protuberance 321 can pass right through the first hole 311, and protuberance 321 is crimped on the inwall of the second metallic plate 35,
Nut 322 is connected with the end thread of damping guide rail 32, rotates the outer wall that nut 322 causes nut 322 and the second metallic plate 35
Tight contact between, second metallic plate 35 is fixed so as to pass through nut 322 and protuberance 321.
Explanation is needed exist for, damping guide rail can also be without arranging protuberance, and damping guide rail is through after the first metallic plate
A nut can be connected, the second metallic plate is then then passed through, a nut is reconnected, it is the second metallic plate is solid by two nuts
It is fixed.
Spring 33 is sheathed on damping guide rail 32, and is located between the first metallic plate 31 and the second metallic plate 35, by bullet
Part impulse force can be converted to spring device 33 elastic force of spring 33.
Microswitch 34 is connected with the cap 323 of damping guide rail 32, the reed of microswitch 34 and the first metallic plate 31
Outer wall contacts.When being embodied as, microswitch 34 can be threadedly coupled with the cap 323 of damping guide rail 32, and connected mode can be with
Have various, the present embodiment is not limited.
As shown in Fig. 2 when microswitch is in original state, the reed of microswitch 34 and the first metallic plate 31 outward
Wall contacts, when the second metallic plate 35 receives impact force action, so as to meeting compression spring device 33, the elastic force of spring 33
Can give the first metallic plate 31 active force, so that the reed of microswitch 34 is able to detect that instantaneous variation so that fine motion is opened
34 are closed in the triggering state shown in Fig. 3.
End effector 4 is connected with buffer 3, and end effector 4 is for being arrested operation in real time to target object.
Signal processing unit 5 respectively with mechanical arm 1, six-dimensional force/torque sensor 2, microswitch 34 and end effector 4
It is connected.It is to be appreciated that dotted line frame in Fig. 1 represent be robot for space body, signal processing unit 5 is arranged at
This is in vivo.
During work, 4 contact target object of end effector, target object can have certain impulsive force to end effector 4,
Impulsive force causes 4 pairs of the second metallic plates 35 of end effector to have certain pressure to act on, and damping guide rail 32 is by the first hole 311 along which
Axially-movable simultaneously provides frictional force, while so that spring 33 compresses, the compression of frictional force and spring 33 absorbs part
Impulsive force, spring 33 are compressed and cause 31 relative motion of the second metallic plate 35 and the first metallic plate, so as to trigger microswitch 34,
The switching information of microswitch 34 is transferred to signal processing unit 5, and the second metallic plate 35 is made with 31 relative motion of the first metallic plate
The pressure that the first metallic plate 31 is subject to spring 33 and damping guide rail 32 is obtained, six-dimensional force/torque sensor 2 is subject to the first metallic plate
31 pressure for applying simultaneously gather force information and moment information, and force information and moment information are transferred to signal processing unit 5, at signal
Reason unit 5 according to switching information, force information and moment information control machinery arm 1 to the power output of six-dimensional force/torque sensor 2 and
It is zero that torque causes the power in addition to its axial direction that six-dimensional force/torque sensor 2 is subject to and torque, realizes percussion space-time
Between robot attitude stabilization, so as to improve capture target object success rate, synchronous signal processing unit 5 control end perform
Device 4 is to target object captured in real time.
When microswitch 34 is in impaction state, i.e., when buffer 3 is in initial state, then 34 output pin of microswitch
Voltage is low level, referred to as "ON" information；When microswitch 34 is subject to outside axially pressure in open state, i.e. buffer 3 is flicked
Power is in compressive state, and the microswitch reed being connected on damping guide rail cap is flicked, and 34 output pin voltage of microswitch is
High level, referred to as "Off" state.Switching information is the level signal token state of the output of microswitch 34, on three damping guide rails 32
Microswitch 34 is separately installed with, and relatively reliable end effector 4 is obtained using " two from three " principle of three switching signals
Contact information with target object, the contact information start control machinery arm 1 as trigger trigger processing unit 5 and enter
Row active force is controlled, the contact force come between submissive robot for space and object.
As shown in figure 5, fhImpacted by target object for the end effector 4 that six-dimensional force/torque sensor 2 is collected
Power,It is transformation matrix, resolves on the body of robot for space to the power for being subject to end effector 4, the void in Fig. 5
Wire frame represents body, and signal processing unit 5 is arranged at this in vivo.bfhFor fhThe power of applying is reacted to the power on body.bfhxForbfh
The component of body barycenter is crossed,bfhyForbfhPerpendicular tobfhxComponent.
Signal processing unit 5 is using the f for collectinghCalculate by above-mentioned formula (1)bfhy(111), and by control machinery
Arm 1 is according to formula (2) and formula (3) come control targe object.
bfhx≤fm (2)
bfhy=0 (3)
Wherein, fmFor the maximum impact force that mechanical arm 1 can bear, it is known conditions.
Frictional force is produced along its axially-movable by the compression and damping guide rail of spring in the present embodiment and absorbs end
Part of impact force during the executor's collision target object of end, is effectively prevented the damage of mechanical arm, and passes through signal processing
Power output and torque of the unit control machinery arm to six-dimensional force/torque sensor, extend end effector with target object
Time of contact, the impact of impulsive force is slackened, improve the success rate of capture target object.
As shown in fig. 6, robot for space can do following division with the impact process of target object：1) impact the last stage；2)
Passive assault phase；3) active assault phase；4) stage after impacting.
Before impingement in the stage, robot for space is based on the target acquisition information such as stereoscopic vision and laser radar, using spray
Gas formula propeller adjustment space robotary, carries out impact and prepares.
Passive assault phase, the end effector 4 of robot for space are contacted with target object, and in target object to end
Under the effect of 4 external force of executor, end effector 4 affects buffer 3 that crumple occurs.Meanwhile, six-dimensional force/torque sensor 2 is detected
Force information is received to 1 end of mechanical arm, Crush trigger arm carries out Active Compliance Control, into active assault phase.It is understood that
It is that passive assault phase does not have strict precedence relationship from the time with active assault phase, is entered according to microswitch information
Enter passive assault phase and active assault phase.
When mechanical arm 1 completes whole active compliance process, i.e., end is made using six-dimensional force/torque sensor information realization
Active control firmly so which is less than the maximum that mechanical arm can bear.Robot for space body and target object reach
To the steady statue of geo-stationary, then the stage is entered after impact, geo-stationary shape is in the stage space robot and target
State.
This utility model produces frictional force along its axially-movable by the compression and damping guide rail of spring and absorbs end
Part of impact force during the executor's collision target object of end, is effectively prevented the damage of mechanical arm, and passes through signal processing
Power output and torque of the unit control machinery arm to six-dimensional force/torque sensor, extend end effector with target object
Time of contact, the impact of impulsive force is slackened, improve the success rate of capture target object.
Embodiment described above is this utility model more preferably specific embodiment, and those skilled in the art exists
The usual variations and alternatives carried out in the range of technical solutions of the utility model should be all included in protection domain of the present utility model.
Claims (6)
1. a kind of device safely captured for robot for space, it is characterised in that include：Mechanical arm (1), six-dimensional force/torque is passed
Sensor (2), buffer (3), end effector (4) and signal processing unit (5)；Wherein,
Six-dimensional force/the torque sensor (2) is connected with the end of the mechanical arm (1)；
The buffer (3) includes the first metallic plate (31), core component and the second metallic plate (35), wherein,
Core component includes damping guide rail (32), spring (33) and microswitch (34)；
Six-dimensional force/the torque sensor (2) is arranged at the outer wall of first metallic plate (31)；
First metallic plate (31) offers the first hole (311), and one end of damping guide rail (32) passes through first hole
(311) it is arranged in first metallic plate (31) and is connected with second metallic plate (35)；
The spring (33) is sheathed on damping guide rail (32), and is located at first metallic plate (31) and second gold medal
Between category plate (35)；
The top of the microswitch (34) is connected with the cap (323) of damping guide rail (32), the microswitch (34)
Reed contact with the outer wall of first metallic plate (31)；
The end effector (4) is connected with the buffer (3)；
The signal processing unit (5) respectively with the mechanical arm (1), the six-dimensional force/torque sensor (2), the fine motion
Switch (34) is connected with the end effector (4)；
End effector (4) the contact target object, second metallic plate (35) effect of being under pressure, the damping guide rail
(32) by first hole (311) is along its axially-movable and provides frictional force, while so that the spring (33) compression, makes
Second metallic plate (35) and the first metallic plate (31) relative motion are obtained, so as to trigger the microswitch (34), institute
The switching information for stating microswitch (34) is transferred to the signal processing unit (5), second metallic plate (35) and described
One metallic plate (31) relative motion causes first metallic plate (31) by the spring (33) and the damping guide rail
(32) pressure, the pressure that the six-dimensional force/torque sensor (2) is applied by first metallic plate (31) simultaneously gather power letter
Breath and moment information, the force information and moment information are transferred to the signal processing unit (5), the signal processing unit
(5) mechanical arm (1) is controlled to the six-dimensional force/power according to the switching information, the force information and the moment information
The power output and torque of square sensor (2) so that the power outside except its axle that the six-dimensional force/torque sensor (2) is subject to and
Torque is zero, while the signal processing unit (5) controls the end effector (4) to the target object captured in real time.
2. the device safely captured for robot for space according to claim 1, it is characterised in that the core component
Quantity be three groups.
3. the device safely captured for robot for space according to claim 2, it is characterised in that described micro- from three
The switching information that any two microswitch (34) is obtained in dynamic switch (34) is transferred to the signal processing unit (5).
4. the device safely captured for robot for space according to claim 1, it is characterised in that include：Described second
Metallic plate (35) offers second hole (351) corresponding with first hole (311), and one end of damping guide rail (32) leads to
Cross second hole (351) to be arranged in second metallic plate (35) and be connected with nut (322), damping guide rail (32)
Protuberance (321) be crimped on the inwall of second metallic plate (35), the nut (322) is crimped on second metallic plate
(35) outer wall.
5. the device safely captured for robot for space according to claim 1, it is characterised in that：Second metal
Plate (35) offers second hole (351) corresponding with first hole (311), and damping guide rail (32) is arranged with the second spiral shell
Female and the 3rd nut, the damping guide rail (32) are arranged in second metallic plate (35) by second hole (351), its
In, second metallic plate (35) between second nut and the 3rd nut, second nut and described
The upper surface of two metallic plates (35) mutually crimps, and the 3rd nut is mutually crimped with the lower surface of second metallic plate (35).
6. the device safely captured for robot for space according to claim 2, it is characterised in that：Second metal
Plate (35) offers second hole (351) corresponding with first hole (311), and damping guide rail (32) is arranged with the second spiral shell
Female and the 3rd nut, the damping guide rail (32) are arranged in second metallic plate (35) by second hole (351), its
In, second metallic plate (35) between second nut and the 3rd nut, second nut and described
The upper surface of two metallic plates (35) mutually crimps, and the 3rd nut is mutually crimped with the lower surface of second metallic plate (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621018524.4U CN206066461U (en) | 2016-08-30 | 2016-08-30 | A kind of device safely captured for robot for space |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621018524.4U CN206066461U (en) | 2016-08-30 | 2016-08-30 | A kind of device safely captured for robot for space |
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| Publication Number | Publication Date |
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| CN206066461U true CN206066461U (en) | 2017-04-05 |
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ID=58435423
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| CN201621018524.4U Active CN206066461U (en) | 2016-08-30 | 2016-08-30 | A kind of device safely captured for robot for space |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820859A (en) * | 2018-07-18 | 2018-11-16 | 杭州易闻科技有限公司 | Link robots flexibility handling gripper |
| CN109571517A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of omnidirectional's active friction end effector for extraterrestrial target manipulation |
| CN111745670A (en) * | 2020-06-10 | 2020-10-09 | 北京精密机电控制设备研究所 | Multi-wheel-arm space robot for large rolling target |
-
2016
- 2016-08-30 CN CN201621018524.4U patent/CN206066461U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820859A (en) * | 2018-07-18 | 2018-11-16 | 杭州易闻科技有限公司 | Link robots flexibility handling gripper |
| CN109571517A (en) * | 2018-11-30 | 2019-04-05 | 北京精密机电控制设备研究所 | A kind of omnidirectional's active friction end effector for extraterrestrial target manipulation |
| CN109571517B (en) * | 2018-11-30 | 2021-08-10 | 北京精密机电控制设备研究所 | Omnidirectional active friction end effector for space target control |
| CN111745670A (en) * | 2020-06-10 | 2020-10-09 | 北京精密机电控制设备研究所 | Multi-wheel-arm space robot for large rolling target |
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