CN209351629U - Multi-functional end effector - Google Patents
Multi-functional end effector Download PDFInfo
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- CN209351629U CN209351629U CN201822174037.2U CN201822174037U CN209351629U CN 209351629 U CN209351629 U CN 209351629U CN 201822174037 U CN201822174037 U CN 201822174037U CN 209351629 U CN209351629 U CN 209351629U
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- arm tooling
- end effector
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Abstract
The utility model relates to a kind of multi-functional end effectors, end effector mobile jib is mounted on end effector bracket, one end of end-of-arm tooling interface male end is connect with the threaded one end of end effector mobile jib, and the other end of end-of-arm tooling interface male end is connected with end-of-arm tooling general-purpose interface female end；Control cabinet is mounted on end effector bracket, and one end of end effector bracket, which is equipped with, provides the camera of vision positioning, and the other end is equipped with the ring flange for being connected to the end effector mobile jib other end；The inside of end-of-arm tooling interface male end is equipped with the piston being reciprocally moveable, ball is equipped between the outer surface and end-of-arm tooling interface male end of piston one end, the movement that ball passes through piston is radially movable, abuts with end-of-arm tooling general-purpose interface female end, realizes the connection between end-of-arm tooling general-purpose interface female end and end-of-arm tooling interface male end.The utility model realizes the automatic replacement of end-of-arm tooling, ensure that the precision of tool changing process, while can also improve the efficiency of tool changing.
Description
Technical field
The utility model belongs to the in-orbit field operation of spacecraft, specifically a kind of multi-functional end effector.
Background technique
Recently as the rapid development of space technology, the demand that the mankind explore exploiting outer space constantly increases, and spacecraft exists
Rail life problems also gradually highlight, and when the module failures such as fuel shortage, hardware-software occurs in spacecraft, all most likely result in boat
Scrapping for its device is fallen, and the deep space exploration task of spacecraft is seriously affected.Therefore, it is necessary to spacecraft in-orbit service technology
Upgraded, by operations such as in-orbit replacement, maintainable technology on-orbit and in-orbit filling, can effectively extend spacecraft uses the longevity
Life, keeps the duration of task.
In order to preferably complete space-orbit task, design miscellaneous dedicated end effector tool, and by they
It is applied in space tasks.In order to which adapted space mechanical arm system preferably completes various in-orbit tasks, reduces and complete space times
The cost of business generally can be equipped with multiple and different end effector tools to a mechanical arm system.Therefore, for space manipulator
A kind of multi-functional end effector is developed, one end and mechanical arm tail end flanged joint are made, other end is designed to that standardization connects
Mouthful, various operational instrument can be carried, which constitutes a kind of multiple functional, safe and reliable, efficient
The quick-change system of rate.It completes the tasks such as in-orbit filling, maintainable technology on-orbit for Space Manipulator System and reduces in-orbit maintenance
Cost etc. all there is very great meaning.
Utility model content
The purpose of this utility model is to provide a kind of multi-functional end effectors.The multi-functional end effector, which uses, to be pushed away
Pressure type locks ball bearing mechanism, pushes drive piston by control, changes axial ball distribution radius, by axial ball profile,
Ensure that both ends interface end face is formed to be stably connected with, realize the automatic replacement of end-of-arm tooling, ensure that the precision of tool changing process,
The efficiency of tool changing can also be improved simultaneously.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes control cabinet, camera, end-of-arm tooling general-purpose interface female end, end-of-arm tooling interface male end, end
Actuator mobile jib, end effector bracket and ring flange, wherein end effector mobile jib is mounted on end effector bracket, institute
The one end for stating end-of-arm tooling interface male end is connect with the threaded one end of end effector mobile jib, end-of-arm tooling interface male end it is another
End is connected with the end-of-arm tooling general-purpose interface female end；The control cabinet is mounted on end effector bracket, which executes
One end of device bracket, which is equipped with, provides the camera of vision positioning, and the other end is equipped with the flange for being connected to the end effector mobile jib other end
Disk；The inside of the end-of-arm tooling interface male end is equipped with the piston being reciprocally moveable, the outer surface of the piston one end and end work
Have and be equipped with ball between interface male end, the ball is radially movable by the movement of piston, with the end-of-arm tooling is general connects
Mouth female end abuts, and realizes the connection between the end-of-arm tooling general-purpose interface female end and end-of-arm tooling interface male end；
Wherein: being provided with counterbore among the end-of-arm tooling interface male end, the edge of the counterbore open end prolongs axially outward
It stretches, form boss, offer ball hole on the plateau sidewall；The piston is placed in counterbore, and counterbore edge is divided axially into
Relatively independent cavity A and cavity B is offered and cavity A and cavity B phase respectively on the side wall of the end-of-arm tooling interface male end
Blow vent A, the blow vent B of connection；Open up fluted on the side wall of described piston one end, the ball is placed in the groove and rolling
It is radially movable in ball hole by the piston along axial reciprocating movement in the hole of bead；
The axial cross section of the piston is in the shape of an " I ", is cavity B between the I-shaped widthwise edge, following horizontal edge with
It is cavity A between the counterbore bottom surface；
The centre of the end-of-arm tooling general-purpose interface female end offers through-hole, and the inner surface of the through-hole is equipped with and the rolling
The conical surface that pearl abuts；
The one side of the end-of-arm tooling interface male end towards end-of-arm tooling general-purpose interface female end is equipped with guide rod, the end work
Correspondence offers interface in tool general-purpose interface female end；
The guide rod is in bullet shaped, i.e. the diameter of the guide rod is gradually reduced from bottom to top；
The two sides of end effector bracket one end are symmetrically installed with support rod fixed corner code, and the support rod of every side is fixed
Camera support bar is respectively connected in corner brace, the camera is mounted on the camera support bar.
The advantages of the utility model and good effect are as follows:
1. the utility model connects multi-functional end effector by space manipulator end flange, multi-functional end is utilized
The end-of-arm tooling interface male end of actuator front end carries out docking cooperation with end-of-arm tooling general-purpose interface female end, completes space manipulator
Selection to different end-of-arm toolings.
2. the utility model locks ball bearing mechanism using push-press type, drive piston is pushed by control, changes ball distribution
Radius ensures that both ends interface end face is formed by ball profile and is stably connected with, realizes the automatic replacement of end-of-arm tooling.
3. the utility model appearance is unique, structure novel, control is simple, and functional reliability is high.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the structural front view of the utility model；
Fig. 3 is the structure top view of the utility model；
Fig. 4 is the amagnified partial perspective of the utility model end-of-arm tooling general-purpose interface female end and end-of-arm tooling interface male end
Figure；
Fig. 5 is the partial enlargement main view of the utility model end-of-arm tooling general-purpose interface female end and end-of-arm tooling interface male end
Figure；
Fig. 6 is the schematic perspective view that the utility model end-of-arm tooling passes through interface female end；
Fig. 7 is the structural front view of the utility model end-of-arm tooling general-purpose interface female end；
Fig. 8 is A-A cross-sectional view of Fig. 7；
Fig. 9 is the schematic perspective view of the utility model end-of-arm tooling interface male end；
Figure 10 is the structural front view of the utility model end-of-arm tooling interface male end；
Figure 11 is B-B cross-sectional view of Figure 10；
Wherein: 1 is control cabinet, and 2 be camera, and 3 be camera support bar, and 4 be support rod fixed corner code, and 5 is logical for end-of-arm tooling
It is interface with interface female end, 501,502 be the conical surface, and 6 be end-of-arm tooling interface male end, and 601 be guide rod, and 602 be blow vent A,
603 be blow vent B, and 604 be cavity A, and 605 be cavity B, and 606 be ball, and 607 be piston, and 608 be groove, and 609 be ball
Hole, 610 be boss, and 7 be end effector mobile jib, and 8 be end effector bracket, and 9 be ring flange.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Fig. 1~5, the utility model includes control cabinet 1, camera 2, camera support bar 3, support rod fixed corner code
4, end-of-arm tooling general-purpose interface female end 5, end-of-arm tooling interface male end 6, end effector mobile jib 7, end effector bracket 8 and
Ring flange 9, wherein end effector mobile jib 7 is mounted on end effector bracket 8, one end of end-of-arm tooling interface male end 6 with
The threaded one end of end effector mobile jib 7 connects, the other end and end-of-arm tooling general-purpose interface female end of end-of-arm tooling interface male end 6
5 are connected.Control cabinet 1 is mounted on end effector bracket 8, places the electronic components such as controller, chip for installing.The end
The two sides of one end of actuator bracket 8 are held to be symmetrically installed with support rod fixed corner code 4, on the support rod fixed corner code 4 of every side
It is connected with camera support bar 3, camera 2 is mounted on the camera support bar 3, and to provide vision fixed for the crawl of space manipulator
Position, convenient for accurate crawl target.The other end of end effector bracket 8 is equipped with ring flange 9, the ring flange 9 and end effector
The other end of mobile jib 7 is threadedly coupled.The inside of end-of-arm tooling interface male end 6 is equipped with the piston 607 being reciprocally moveable, the piston
Ball 606 is equipped between the outer surface and end-of-arm tooling interface male end 6 of 607 one end, ball 606 passes through the movement of piston radially
Movement is abutted with end-of-arm tooling general-purpose interface female end 5, realizes that the end-of-arm tooling general-purpose interface female end 5 and end-of-arm tooling interface are public
Connection between end 6.
As can be seen from figures 6 to 8, the end-of-arm tooling general-purpose interface female end 5 of the utility model is discoid, and end-of-arm tooling is general to be connect
The centre of mouth female end 5 offers through-hole, and the inner surface of the through-hole is equipped with the conical surface 502 abutted with ball 606.End-of-arm tooling is logical
It is along the circumferential direction evenly equipped at least one interface 501 with the edge of interface female end 5, the interface 501 of the present embodiment is two.
As shown in Fig. 9~11, the end-of-arm tooling interface male end 6 of the utility model be it is discoid, centre is provided with counterbore, this is heavy
The edge of hole open end extends axially outwardly, forms boss 610, and the boss 610 is in end-of-arm tooling general-purpose interface female end 5 and end
When ending tool interface male end 6 connects in the through-hole of insert end tool general-purpose interface female end 5.It is offered on the side wall of counterbore multiple
Ball hole 609 is equipped with ball 606 in each ball hole 609.Piston 607 is placed in counterbore, and by the counterbore along axial point
For relatively independent cavity A604 and cavity B605, offered respectively and cavity A604 on the side wall of end-of-arm tooling interface male end 6
Blow vent A602, the blow vent B603 being connected with cavity B605.The groove of annular is offered on the side wall of 607 one end of piston
608, ball 606 is placed in the groove 608 and ball hole 609, by piston 607 along axial reciprocating movement, in ball hole
It is radially movable in 609.The axial cross section of the piston 607 of the present embodiment is in the shape of an " I ", is between the I-shaped widthwise edge
It is cavity A604 between cavity B605, following horizontal edge and counterbore bottom surface.End-of-arm tooling interface male end 6 is general towards end-of-arm tooling
The one side of interface female end 5 is equipped with identical as 501 quantity of interface, one-to-one guide rod 601, the end-of-arm tooling interface male end 6
When being connect with end-of-arm tooling general-purpose interface female end 5, corresponding interface 501 is inserted by guide rod 601 and realizes guiding.The present embodiment
Guide rod 601 is in bullet shaped, i.e. the diameter of the guide rod 601 is gradually reduced from bottom to top, is convenient for butt junction location.
The working principle of the utility model are as follows:
End-of-arm tooling general-purpose interface female end 5 and end-of-arm tooling interface male end 6 use and " direct insertion pipe fitting " internal structure
Similar method is designed, and end-of-arm tooling general-purpose interface female end 5 uses standardized designs, is used for and end-of-arm tooling interface male end
6 are cooperated.
End effector is installed on space manipulator end, by the vision positioning of camera 2, it is logical to solve end-of-arm tooling
With the pose of interface female end 5, space manipulator motion profile is then solved by mechanical arm trajectory planning algorithm, controls mechanical arm
Reach specified pose, it will be in the 601 aligned end tool general-purpose interface female end 5 of guide rod in end-of-arm tooling interface male end 6
Interface 501 guides cooperation, then pushes transmission by the piston 607 inside control end-of-arm tooling interface male end 6, changes
Become 606 distribution radius of ball (i.e. radially movable), ensures that both ends interface end face forms stable company by the profile of ball 606
It connects, realizes that multi-functional end effector replaces diversified end-of-arm tooling.
The utility model connects multi-functional end effector by space manipulator end flange, is held using multi-functional end
The end-of-arm tooling interface male end 6 of row device front end carries out docking cooperation with end-of-arm tooling general-purpose interface female end 5, completes space manipulator
Selection to different end-of-arm toolings.The utility model locks ball bearing mechanism using push-press type, pushes drive piston by control, changes
Become ball distribution radius, ensure that both ends interface end face is formed by ball profile and be stably connected with, realize end-of-arm tooling it is automatic more
It changes.
Claims (7)
1. a kind of multi-functional end effector, it is characterised in that: including control cabinet (1), camera (2), end-of-arm tooling general-purpose interface
Female end (5), end-of-arm tooling interface male end (6), end effector mobile jib (7), end effector bracket (8) and ring flange (9),
Middle end effector mobile jib (7) is mounted on end effector bracket (8), one end of the end-of-arm tooling interface male end (6) with
The threaded one end of end effector mobile jib (7) connects, and the other end and the end-of-arm tooling of end-of-arm tooling interface male end (6) are general
Interface female end (5) is connected；The control cabinet (1) is mounted on end effector bracket (8), the end effector bracket (8)
One end, which is equipped with, provides the camera (2) of vision positioning, and the other end is equipped with the ring flange for being connected to end effector mobile jib (7) other end
(9)；The inside of the end-of-arm tooling interface male end (6) is equipped with the piston (607) being reciprocally moveable, piston (607) one end
Ball (606) are equipped between outer surface and end-of-arm tooling interface male end (6), the ball (606) is by the movement of piston along diameter
It is abutted to movement, with the end-of-arm tooling general-purpose interface female end (5), realizes the end-of-arm tooling general-purpose interface female end (5) and end
Connection between tool interface male end (6).
2. multi-functional end effector according to claim 1, it is characterised in that: the end-of-arm tooling interface male end (6)
Centre is provided with counterbore, and the edge of the counterbore open end extends axially outwardly, forms boss (610), on boss (610) side wall
Offer ball hole (609)；The piston (607) is placed in counterbore, and counterbore edge is divided axially into relatively independent cavity A
(604) and cavity B (605) it, is offered respectively and cavity A (604) and cavity on the side wall of the end-of-arm tooling interface male end (6)
Blow vent A (602), the blow vent B (603) that B (605) is connected；It is opened up on the side wall of described piston (607) one end fluted
(608), the ball (606) is placed in the groove (608) and ball hole (609), by the piston (607) along axial direction
It moves back and forth, it is radially movable in ball hole (609).
3. multi-functional end effector according to claim 2, it is characterised in that: the axial cross section of the piston (607)
In the shape of an " I ", being between the I-shaped widthwise edge cavity B (605) is chamber between following horizontal edge and the counterbore bottom surface
Body A (604).
4. multi-functional end effector according to claim 1, it is characterised in that: the end-of-arm tooling general-purpose interface female end
(5) centre offers through-hole, and the inner surface of the through-hole is equipped with the conical surface (502) abutted with the ball (606).
5. multi-functional end effector according to claim 1, it is characterised in that: the end-of-arm tooling interface male end (6)
Guide rod (601) are equipped with towards the one side of end-of-arm tooling general-purpose interface female end (5), in the end-of-arm tooling general-purpose interface female end (5)
Correspondence offers interface (501).
6. multi-functional end effector according to claim 5, it is characterised in that: the guide rod (601) is in bullet shaped,
That is the diameter of the guide rod (601) is gradually reduced from bottom to top.
7. multi-functional end effector according to claim 1, it is characterised in that: the end effector bracket (8) one
The two sides at end are symmetrically installed with support rod fixed corner code (4), are respectively connected with camera support on the support rod fixed corner code (4) of every side
Bar (3), the camera (2) are mounted on the camera support bar (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822174037.2U CN209351629U (en) | 2018-12-24 | 2018-12-24 | Multi-functional end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822174037.2U CN209351629U (en) | 2018-12-24 | 2018-12-24 | Multi-functional end effector |
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| Publication Number | Publication Date |
|---|---|
| CN209351629U true CN209351629U (en) | 2019-09-06 |
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ID=67800484
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| Application Number | Title | Priority Date | Filing Date |
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| CN201822174037.2U Active CN209351629U (en) | 2018-12-24 | 2018-12-24 | Multi-functional end effector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515768A (en) * | 2018-12-24 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of multi-functional end effector |
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2018
- 2018-12-24 CN CN201822174037.2U patent/CN209351629U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109515768A (en) * | 2018-12-24 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of multi-functional end effector |
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