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Space robot paw

A technology of space robots and grippers, applied in the field of robotics, can solve the problems of small capture range of grippers, easy loss of targets, and non-unique determination of the final grasping position, etc., and achieve the effect of flexible rotary motion, fast movement, and large deviation

Inactive Publication Date: 2007-10-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a space robot gripper to solve the problems of the existing special robot gripper in use, such as the small grasping range of the gripper, the non-unique determination of the final gripping position, and the easy loss of the target during the gripping process.

Method used

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Experimental program
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specific Embodiment approach 1

[0006] Specific embodiment 1: This embodiment is described in conjunction with Fig. 1, Fig. 2, Fig. 5, and Fig. 7. This embodiment consists of a housing 1, a motor drive device, a motor position sensor, a harmonic reducer component, a gear transmission, Link mechanism, two-finger four-link mechanism, finger position sensor, support sleeve 9, drive flange 10, shaft end flange 11, end cover plate 12, V-shaped positioning groove 13, contact sensor; the motor position sensor The magnetic ring 3-1-1 is fixedly installed on the motor shaft 2-1 in the motor drive device, the motor casing 2-2 in the motor drive device is fixedly connected with the support sleeve 9, and the support sleeve 9 is connected with the harmonic reducer parts The rigid wheel 4-1 is fixedly connected, the wave generator 4-2 in the harmonic reducer part is fixedly mounted on the motor shaft 2-1, and the flexible spline ring 4-3 in the harmonic reducer part is fixed to the drive flange 10 connection, the driving ...

specific Embodiment approach 2

[0008] Specific embodiment two: this embodiment is described in conjunction with Fig. 1, Fig. 2, the motor position sensor of this embodiment is made up of magnetic encoder and the inherent digital hall element of motor itself; Magnetic encoder is made up of magnetic ring 3-1-1, The magnetic ring detection circuit is composed of 3-1-2; Connect the magnetic ring detection circuit 3-1-2. The motor position sensor is used, and the motor position detection system is composed of a magnetic encoder and a digital hall element inherent in the motor itself. The magnetic ring detection circuit 3-1-2 is installed on the motor shell 2-2 to record the rotation position of the motor. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0009] Specific Embodiment Three: This embodiment is described in conjunction with Fig. 1 and Fig. 2. The motor driving device of this embodiment is a DC brushless motor; the DC brushless motor consists of a motor shaft 2-1, a motor casing 2-2, The stator 2-3, the first motor bearing 2-4, the bearing cover 2-5, and the second motor bearing 2-6 are composed; the motor stator 2-3 is fixedly connected with the motor casing 2-2, and the motor stator 2-3 is equipped with a motor Rotating shaft 2-1, the first motor bearing 2-4 is housed between the motor rotating shaft 2-1 and the motor casing 2-2, the first motor bearing 2-4 is positioned by the bearing cover 2-5, and the bearing cover 2-5 is connected with the motor The casing 2-2 is fixedly connected, the second motor bearing 2-6 is installed between the motor rotating shaft 2-1 and the motor casing 2-2, and the motor casing 2-2 is fixedly connected with the support sleeve 9. It adopts DC brushless motor to facilitate its control...

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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

technical field [0001] The invention relates to a robot, in particular to a space robot gripper. Background technique [0002] With the development of robot technology, robots are used in more special environments. In order to complete a specific task, the robot must have a suitable end robot gripper to cooperate with it to complete the corresponding task. So far, there have been many domestic and international research results in this field. For example, the domestic Hefei Institute of Intelligence "micro-sensor and special robot" is a multi-sensing function that integrates force, touch, slip, and proximity. operating mechanism; Harbin Institute of Technology Robotics Research Institute has developed a "multi-sensor integrated gripper system", the gripper has two parallel fingers, and the motor drives the four-bar linkage through the ball screw for grasping; foreign countries have German ROTEX robot hand, the mechanism adopts screw nut and four-bar linkage with quick repl...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/08B25J19/02
Inventor 高晓辉朱映远刘宏
Owner HARBIN INST OF TECH
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