Two-degree-of-freedom hinged joint with single-direction return function

Abstract

A two-degree-of-freedom hinged joint with a return function belongs to a wire rope connection return device for a mechanical arm tail end effector adopting a wire rope soft catching manner. The hinged joint is a two-degree-of-freedom hinged joint comprising housings (2 and 9), a centrally slotted cylinder (6), and a rotating shaft (4), wherein a return leaf spring (3) and a return torsion spring (5) form an automatic return device. The two-degree-of-freedom hinged joint is characterized in that the rotation axle centers of the hinged joint in two directions are on the same point, and the return leaf spring (3) and the return torsion spring (5) are additionally arranged on a common hinged joint, so that a wire rope (8) connected with the hinged joint can return to an initial position automatically after rotation.

Description

technical field [0001] The invention belongs to a wire rope connection reset device of a mechanical arm end effector adopting a wire rope soft capture method technical background [0002] In the field of aerospace, there is a mechanical arm end effector, which uses three wire ropes to rotate each other to achieve soft capture of the adapter. The two ends of each wire rope are respectively hinged on two concentric rings that can rotate relative to each other. In the initial state, the three wire ropes are evenly distributed in the inner groove of the ring and are close to the inner wall of the ring. When the two rings rotate relative to each other, The steel wire rope rotates in a plane approximately perpendicular to the axis of the ring, and the space surrounded by the three steel wire ropes gradually shrinks, finally completing the grabbing of the large end of the adapter rod section. When the end effector capture mechanism is reset, the wire rope is required to return to ...

AI Technical Summary

Problems solved by technology

This hinged joint has several defects: it only has two degrees of freedom of rotation, and it does not have the function of spring automatic reset. When the capture mechanism repeats its work many times, it often occurs that the wire rope cannot return smoothly to the groove on the inner wall of the ring; The mechanism has very strict requirements on the length of the three steel wire ropes, which makes it more difficult to fix the steel wire ropes and joints; the tension of the steel wire ropes is decomposed into two disjoint spatial forces after passing through the joint, so that the shaft at the end will be additionally subjected to a The action of bending moment may easily cause uneven stress on the shaft installation hole

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