CN102069502A - Space robot gripper mechanism - Google Patents

Abstract

Translated fromChinese

空间机器人手爪机构，一种机械臂的末端执行器。本发明解决了以往手爪机构抓捕范围小、锁紧位置不唯一、抓捕过程中易丢失目标等问题，同时大大简化了整个机构，工艺性也得到了改善。其结构为手掌面1、上轴承座3和下轴承座4和箱底7构成了整个机构的基本骨架。两手指轴9安装在手掌面1与上轴承座3之间的轴承孔中，两手指2、5固连在手指轴9上，且两手指轴的轴端装有齿轮19。上轴承座3与下轴承座4之间的通孔装有电机11和制动轴22。制动轴22、电机11轴端装有齿轮21。手爪箱底7通过法兰与轴承座和外部机构相连。箱壁6与手掌面1、箱底7相互连接，完成对整个手爪机构的封装。本机构具有设计紧凑、体积小、加工简单、装卸方便等优点。

A space robot gripper mechanism, an end effector for a robotic arm. The invention solves the problems of small capture range, non-unique locking position and easy loss of target in the capture process of the previous claw mechanism, and at the same time greatly simplifies the whole mechanism and improves the manufacturability. Its structure is that the palm surface 1, the upper bearing seat 3 and the lower bearing seat 4 and the bottom of the box 7 constitute the basic skeleton of the whole mechanism. Two finger shafts 9 are installed in the bearing hole between the palm surface 1 and the upper bearing seat 3, two fingers 2,5 are fixedly connected on the finger shaft 9, and the shaft ends of the two finger shafts are equipped with gears 19. The through hole between the upper bearing seat 3 and the lower bearing seat 4 is equipped with a motor 11 and a brake shaft 22 . Brake shaft 22, motor 11 axle ends are equipped with gear 21. At the bottom of the claw box 7, the flange is connected with the bearing seat and the external mechanism. The box wall 6 is connected with the palm surface 1 and the box bottom 7 to complete the encapsulation of the whole claw mechanism. This mechanism has the advantages of compact design, small size, simple processing, convenient loading and unloading, etc.

Description

Space robot paw mechanism

Technical field

The present invention relates to a kind of space robot paw, a kind of end effector of mechanical arm.

Background technology

In the space station in future, robot can replace the people to carry out maintenance work under the space environment.The work capacity of robot and operating efficiency depend on the size of the work capacity of robot hand.Abroad starting is early divided from structure aspect the paw research of space, and these paw mechanisms mainly contain external grabbing type, inner bearing type and other structures.External grabbing type is divided into two fingers, three again and refers to and refer to more structure.At present in the world relatively two finger paws out of my cabin of success be the ETS-7 mechanical claw of Japan, also have the OTCM paw in the SPDM robot of Canadian space agency.China starts late in the research in this field, Hefei intelligence institute's " microsensor and specialized robot " laboratory development a kind of multisensor paw; Harbin Institute of Technology's robot research has been developed " the integrated paw of multisensor system ".More than these paw ubiquities to arrest scope little, shortcoming such as target should be lost in the capture process, and locked position is not unique.Harbin Institute of Technology had developed the problem that a kind of space robot paw has solved above-mentioned existence afterwards again, but it is too loaded down with trivial details on mechanism design, problems such as processability of product structure difference.

Summary of the invention

The invention solves that the scope of arresting that the existing space robot hand exists is little, locked position is not unique, in the capture process easily problem such as lose objects the time, simplified entire mechanism greatly, improved the transmission efficiency of mechanism, the manufacturability of processing also is improved.

The present invention has adopted following design: this mechanism is positioned at the end of mechanical arm, carries out and arrests operation.7 usefulness bolts connect and compose basic framework at the bottom of palmar aspect 1,top chock 3, step 4 and the case.Two finger axles are installed in the dead eye between palmar aspect 1 and thetop chock 3, and locate by theend cap 8,15 and the shaft shoulder.Finger adopts one to refer to that 5, two refer to design pattern such as Fig. 1 of 2, is connected on thefinger axle 9 withfinger cover plate 16 usefulness bolts.The axle head of two finger axles is equipped with gear 19, with the shaft shoulder and circlip 18 location.

Through hole betweentop chock 3 and the step 4 is installedmotor 11, rotary transformerouter ring sleeve 12 and brake axle 22.Bearing, rotary transformer inner ring,gear 27 and brake rotor 25-1 are housed on the brake axle 22.The motor output shaft end is equipped with gear 21.The transmission that is meshing with each other between gear, and be fan-shaped distribution on same plane.Obtain required rotating speed bycontrol system 29,30drive motors 11 during motion and the torque drive gear is meshing with each other, thereby finally make finger 5,2 finish the task of arresting.

Control system 29,30,brake flange 28 andbrake cover plate 26 are housed on the paw mechanism tank wall.7 have electric connector interface, step flange and mechanical arm flange at the bottom of the paw case.Paw mechanism by palmar aspect 1, tank wall 6 and case at the bottom of 7 shells that constitute paw mechanism jointly.

The present invention has the following advantages: 1. the design's space robot paw finger adopts external grabbing type two to refer to structure, by being synchronized with the movement of two fingers, the track that two finger tips streak can form a bigger enveloping space and escape to prevent target, and target is locked in the V-shaped groove the most at last, realizes that locked position is unique definite.

2. the unique independently rod member of each finger, finger finger-type are one to refer to that 5 two refer to that 2 shape finally holds tightly guaranteeing, processing is simple, and the V-shaped groove of palmar aspect does not have extension, stuck phenomenon can not occur.

3. the involute spur gearing of transmission adopted, the transmission efficiency height does not have axial force.The axle head that gear is installed in each output shaft can be saved the paw inner space, makes inner compact and does not interfere.

4. the end ofbrake axle 22 is equipped with brake 25, adopts the power down braking, has only the short-term power consumption and does not have long-term power consumption, distributes power consumption very under the condition of limited at paw, and this working method is necessary.By paw being carried out the power down braking, can make finger prevent three reaction forces of target object.

5. the design is assembled together palmar aspect 1,top chock 3 and step 4 earlier, to point the faces that are installed on it such asaxle 9,brake axle 22,motor 11,gear 19,21,27 afterwards, this whole is connected with 7 flange at the bottom of the case the most at last, make most of gravity of paw be added on the mechanical arm, the situation that single part bears gravity deformation in the paw can not occur.

6. for improving the control accuracy of paw mechanism, adopted a position probing that twospeed resolver 14 is pointed, finger motion has been carried out closed-loop control.

7. need mach critical piece few among the design, processing technology is simple, adopts the split design at the bottom of bearing block and tank wall, the case, and is easy to loading and unloading.

Description of drawings

Fig. 1 is the front view (removing the front of tank wall 6) of space robot paw of the present invention mechanism

Fig. 2 is the vertical view of space robot paw of the present invention mechanism

Fig. 3 is the left view (removing the left side of tank wall 6) of space robot paw of the present invention mechanism

Fig. 4 is an A-A expanded view among Fig. 1

The specific embodiment

The specific embodiment one: referring to Fig. 1, shown in Figure 3, the present invention is positioned at a kind of art end of mechanical arm, operation is arrested in execution, and 7 usefulness taper bolts were located at the bottom of its structure comprised palmar aspect 1,top chock 3, step 4 and case, and bolting connects and composes the basic framework of this paw mechanism.Wherein the twofinger finger axles 9 and that constituted of palmar aspect 1,top chock 3 refer to the finger bearing block of spool (referring to that with two the finger axle is identical);Top chock 3 and step 4 have constituted the bearing block ofmotor 11 power transmission shafts and brake axle 22.The split type assembling of being convenient to is adopted in its design.

Referring to shown in Figure 4, in two finger axles, 9 dead eyes that are installed between palmar aspect 1 and thetop chock 3, and by end cap (different end cap) 8, (but go side lid) 15 and bearing 10, shaft shoulder location.Finger adopts external grabbing type two to refer to structure, and the finger side projection is angled three straight-bars that are fixed together, and is divided into one and refers to that 5 and two refer to 2, is installed on thefinger axle 9 withfinger cover plate 15 usefulness bolt symmetries.The axle head of twofinger axles 9 is equipped with gear 19, with the shaft shoulder and circlip 18 location, comes transmitting torque withkey 17.

Through hole betweentop chock 3 and the step 4 is installedmotor 11, rotary transformerouter ring sleeve 12 and brake axle 22.Brake axle 22 compresses bearing by the brake axle shaft shoulder and axle twoends end cap 8,15 and locatees; Rotary transformerouter ring sleeve 12 is packed into behind the rotary transformerouter ring 14, and the seam by rotary transformerouter ring sleeve 12 ends is installed in the dead eye of metal (upper seat 3,4, uses bolt and nut at last and fixedlys connected.Angular displacement byrotary transformer 14 is measured finger realizes the closed-loop control of acquisition procedure, improves and catches precision.

Bearing, rotary transformer inner ring,gear 27 and brake rotor 25-1 are housed on thebrake axle 22, and wherein the rotary transformer inner ring is located by the shaft shoulder; Gear 27 usefulness pins 24 and shaft shoulder location; Brake rotor 25-1 is installed inbrake axle 22 ends, connects by key 23 and transmits braking moment, and betweengear 27 and brake armature 25-2 small sliding air gap is arranged.Brake armature 25-2 is connected bybrake flange 28 andbrake cover plate 26 usefulness bolt and nuts and tank wall 6.

Referring to Fig. 2, two ends transversal hollow in the middle of the palmar aspect 1 is convenient to the open and close movement of two fingers.V-shaped groove of palmar aspect 1 central design cooperates the task of arresting of finishing with the V-arrangement face of handle, can realize that the paw head is to 5 free degree constraints of handle.

Referring to Fig. 3, respectively there are two triangle floors at palmar aspect 1 two ends, to support palmar aspect 1 and to be connected with tank wall with this.Top chock 3 two ends are semiclosed, so that finger initial position level.

Referring to Fig. 1, Fig. 3, tank wall 6 is connected with 7 usefulness bolts at the bottom of palmar aspect 1, the case, finishes the encapsulation to whole paw mechanism.Simultaneously, the design of 7 upsides has seam and the flange that cooperates installation with step 4 at the bottom of the case, and the downside design has seam and the flange that cooperates installation with mechanical arm.Seam is used for making the assembly (or mechanical arm) of palmar aspect 1, metal (upper seat 3,4 formations accurate with 7 assemblings at the bottom of the case, and flange is used for being fastenedly connected.Simultaneously the most of gravity of whole paw mechanism has been added on the mechanical arm, has made paw inner stressed rationally.Control system driver 29,circuit board 30 are housed on thetank wall 6, and 7 are equipped with electric connector at the bottom of the case, carry out electrical equipment by electric connector and paw outside and are connected.

Bearing of the present invention plays Support Gear, mainly bears radial load, and the suffered load of bearing is little, so preferentially select ball bearing for use.According to State Standard of the People's Republic of China GB/T276-1994, selecting code name here for use is 61800 ball deep groove ball bearing, and implements grease lubrication.

The specific embodiment two: referring to Fig. 1, Fig. 3, the paw mechanism transmission system is made up ofmotor 11, gear 19 (2),gear 21,gear 27,brake axle 22, finger axle 9 (2).Motor 11 is connected by screw and metal (upper seat 3,4, and at this moment,motor output shaft 11, finger axle 9 (2),brake axle 22 form four parallel in twos axles.One refers to that 5 and two refer to that 2 synchronous rotation realizes by the gear drive group: promptlygear 21 is under the drive ofmotor 11, by with the engagement of gear 19,idle pulley 27, to move passes to two respectively and refers to thatfinger axle 9 and refers to finger axle (referring to that with two the finger axle is identical), thereby realizes the synchronous on-offs motion of two fingers.

7, one refers to that 5, two fingers 2, finger cover plate 16 (2),end cap 8,15 (each 3),brake cover plate 26 all adopt aluminum alloy materials at the bottom of palmar aspect 1 described in the present invention,top chock 3, step 4, tank wall 6, the case, above-mentioned member under the prerequisite that guarantees certain rigidity and intensity, can also alleviate total quality with this material.

Described gear 19 (2), 21,27 and finger axle 9 (2),brake axle 22 all adopt 40Cr, proof strength hardness is to prevent long wearing and tearing.

Claims (5)

Translated fromChinese

1.一种空间机器人手爪机构，其特征在于：该机构位于机械臂的末端，执行抓捕操作，其结构包括手掌面1、上轴承座3和下轴承座4和箱底7构成了本手爪机构的基本骨架。两手指轴9安装在手掌面1与上轴承座3之间的轴承孔中，两手指(2、5)固连在手指轴9上，且两手指轴的轴端装有齿轮19。上轴承座3与下轴承座4之间的通孔安装电机11和制动轴22。制动轴22、电机11轴端装有齿轮21。手爪箱底7通过法兰与轴承座和外部机构相连。箱壁6与手掌面1、箱底7相互连接，完成对整个手爪机构的封装。1. A claw mechanism for a space robot, characterized in that: the mechanism is positioned at the end of the mechanical arm to perform a catching operation, and its structure includes a palm surface 1, an upper bearing seat 3, a lower bearing seat 4 and a box bottom 7 to form the hand The basic skeleton of the claw mechanism. Two finger shafts 9 are installed in the bearing hole between the palm surface 1 and the upper bearing seat 3, two fingers (2, 5) are fixedly connected on the finger shaft 9, and the shaft ends of the two finger shafts are equipped with gears 19. The motor 11 and the braking shaft 22 are installed in the through holes between the upper bearing seat 3 and the lower bearing seat 4 . Brake shaft 22, motor 11 axle ends are equipped with gear 21. At the bottom of the claw box 7, the flange is connected with the bearing seat and the external mechanism. The box wall 6 is connected with the palm surface 1 and the box bottom 7 to complete the encapsulation of the whole claw mechanism.2.根据权利要求1所述的空间机器人手爪机构，其特征在于：手掌面1、上轴承座3、下轴承座4和箱底7构成了本手爪机构的基本骨架，其中手掌面1、上轴承座3的组合构成了二指手指轴9和一指手指轴(与二指手指轴相同)的轴承座；上轴承座3和下轴承座4组合构成了电机11传动轴和制动轴22的轴承座。2. The space robot claw mechanism according to claim 1, characterized in that: the palm surface 1, the upper bearing seat 3, the lower bearing seat 4 and the bottom of the box 7 constitute the basic skeleton of the claw mechanism, wherein the palm surface 1, The combination of the upper bearing seat 3 constitutes the bearing seat of the second finger shaft 9 and the first finger shaft (same as the second finger shaft); the combination of the upper bearing seat 3 and the lower bearing seat 4 constitutes the motor 11 transmission shaft and the brake shaft 22 bearing housings.3.根据权利要求1所述的空间机器人手爪机构，其特征在于：手指采用外抓式二指结构，手指侧面投影为三个成一定角度固连在一起的直杆；手指分为一指5和二指2，该两指对称安装在手掌面1两侧。闭合时，一指5与二指2同步相对运动至交叉，一指5嵌入二指2中间的空隙中，将目标手柄捕获。3. The space robot gripper mechanism according to claim 1, characterized in that: the finger adopts an outer grasping two-finger structure, and the side projection of the finger is three straight rods fixedly connected together at a certain angle; the finger is divided into one finger 5 and two fingers 2, the two fingers are symmetrically installed on both sides of the palm surface 1. When closing, the first finger 5 and the second finger 2 move relative to each other synchronously until they intersect, and the first finger 5 is embedded in the gap between the two fingers 2 to capture the target handle.4.根据权利要求1所述的空间机器人手爪机构，其特征在于：手掌面1中央设计一个V形槽与手柄的V形面配合完成抓捕任务，可以实现手爪机头对手柄5个自由度约束。4. The claw mechanism of the space robot according to claim 1, characterized in that: a V-shaped groove is designed in the center of the palm surface 1 to cooperate with the V-shaped surface of the handle to complete the capture task, which can realize 5 gripper heads to the handle. degrees of freedom constraints.5.根据权利要求1所述的空间机器人手爪机构，其特征在于一指5和二指2的同步转动是通过齿轮传动组实现的：即齿轮21在电机11的带动下，通过与齿轮19、惰轮27的啮合，将运动分别传递给二指手指轴9和一指手指轴(与二指手指轴相同)，从而实现两手指的同步开合运动，完成抓捕释放任务。5. The space robot gripper mechanism according to claim 1, characterized in that the synchronous rotation of one finger 5 and two fingers 2 is realized by a gear transmission group: that is, the gear 21 is driven by the motor 11, and is connected with the gear 19 , the engagement of the idler wheel 27, the motion is delivered to two finger shafts 9 and one finger shaft (identical with the two finger shafts) respectively, so as to realize the synchronous opening and closing motion of two fingers, and complete the task of catching and releasing.

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