Three-degree-of-freedom spherical space robot wrist

A space robot and degree-of-freedom technology, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of motion coupling, large weight, low integration, etc., and achieve the effect of friction compensation, compact structure, and simple processing.

Inactive Publication Date: 2012-05-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0013] The purpose of the present invention is to provide a three-degree-of-freedom spherical space robot wrist to solve the problems of the current three-degree-of-freedom robot wrist with complex structure, low integration, heavy weight and kinematic coupling

Method used

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  • Three-degree-of-freedom spherical space robot wrist
  • Three-degree-of-freedom spherical space robot wrist
  • Three-degree-of-freedom spherical space robot wrist

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Experimental program
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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1-Figure 3Describe this embodiment, the wrist of this embodiment comprises spherical assembly, upper hemispherical gear transmission mechanism 5, upper hemispherical motor and deceleration mechanism 6, lower hemispherical motor and deceleration mechanism 8, frame 9, lower hemispherical gear transmission mechanism 10, rotation Motor and reduction mechanism 12, self-rotation gear transmission mechanism 13, turntable 15, external universal joint 16, end effector interface 18 and three absolute angle sensors 7, the spherical assembly includes upper hemispherical shaft 1-1, upper hemisphere 1, lower The hemisphere 3, the lower hemisphere shaft 3-1, the inner universal joint 4 and the inner universal joint shaft 4-1, the upper hemisphere shaft 1-1 and the upper hemisphere 1 are coaxially arranged and integrated, and the upper hemisphere shaft 1-1 and The end effector interface 18 is rotatably connected, the upper hemisphere 1 ...

specific Embodiment approach 2

[0026] Specific implementation mode two: combination figure 2 To illustrate this embodiment, the wrist of this embodiment also includes a thin-walled bearing 2, and the upper hemisphere 1 and the lower hemisphere 3 are rotatably connected by the thin-walled bearing 2, which can ensure that the upper hemisphere axis 1-1 is around the normal line of the offset slope of the lower hemisphere 3 Rotate freely so that the working space of the upper hemispherical shaft 1-1 at the output end takes the normal line of the offset slope as the axis and a cone with a cone angle of 2α. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0027] Specific implementation mode three: combination figure 2 Describe this embodiment, the wrist of this embodiment also includes a flange bearing 11, the lower hemispherical shaft 3-1 and the frame 9 are rotationally connected through the flange bearing 11, which can ensure the free rotation of the lower hemisphere 3 around the central axis of the frame 9, Make the lower hemisphere 3 offset slope normal rotate 360° around the central axis of the frame 9, and then expand the working space of the upper hemispherical shaft 1-1 at the output end to a cone with a cone angle of 4α around the central axis of the frame 9. Other components and connections are the same as those in the first embodiment.

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Abstract

The invention discloses a three-degree-of-freedom spherical space robot wrist and relates to a robot wrist. The three-degree-of-freedom spherical space robot wrist solves the problems of complex structure, low integrated level, large own weight and coupling motion of the three-degree-of-freedom robot wrist. In the three-degree-of-freedom spherical space robot wrist, an upper semisphere shaft is rotationally connected with an interface of an end effector; an upper semisphere is rotationally connected with a lower semisphere; the contact surface of the upper semisphere and the lower semisphere is an offset inclined plane; the angle between the offset inclined plane and the horizontal plane is 10 to 25 degrees; an upper semisphere motor and a speed reducing mechanism are fixedly connected with a universal joint shaft through an upper semisphere gear transmission mechanism; the universal joint shaft is fixedly connected with the upper semisphere shaft through an internal universal joint; the upper semisphere shaft is rotationally connected with the interface of the end effector; a lower semisphere motor and the speed reducing mechanism are fixedly connected with a lower semisphere shaft through a lower semisphere gear transmission mechanism; a rotation motor and the speed reducing mechanism are fixedly connected with a turnplate through a rotation gear transmission mechanism; and the turnplate is in transmission connection with the interface of the end effector through an external universal joint. The three-degree-of-freedom spherical space robot wrist is applied to aerospace robots.

Description

technical field [0001] The invention relates to a space robot wrist. Background technique [0002] Space robots are playing an increasingly important role in missions such as planetary exploration and sampling, spacecraft and space station maintenance, such as soil sampling on the surface of the moon and Mars, spacecraft control and hatch opening, and space cabin assembly. , Spacecraft maintenance, etc., can be completed instead of astronauts. The notable features of space robots are compact structure, high degree of integration, large power-to-weight ratio and large space for action. [0003] Space robots used in dangerous and extreme environments have strict requirements on the performance indicators of the wrist. The wrist is an important basic component connecting the arm and the hand, and its performance directly affects the positioning accuracy, flexibility and operation function of the end effector of the space robot. The function of the robot wrist is to change the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
Inventor 邓宗权侯绪研姜生元全齐全
Owner HARBIN INST OF TECH
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