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End effector capable of achieving space manipulator self crawling and load operation

A technology of end effector and space manipulator, which is applied in the field of robotics, can solve the problems of small capture tolerance, insufficient, and inability to realize mechanical power output, etc., and achieve the effect of large capture tolerance, large capture preload, and compact structure

Active Publication Date: 2013-10-09
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 solve the problem that the capture and locking functions of the end effectors of the existing European manipulators and assembly manipulators are integrated into the capture mechanism, resulting in a small capture tolerance, and the end effector of the teleoperated manipulator of the space station is due to the limitation of the capture mechanism. The characteristics lead to the inability to realize the problem of insufficient mechanical power output, and then provide an end effector to realize the self-crawling and load operation of the space manipulator

Method used

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  • End effector capable of achieving space manipulator self crawling and load operation
  • End effector capable of achieving space manipulator self crawling and load operation
  • End effector capable of achieving space manipulator self crawling and load operation

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specific Embodiment approach 1

[0013] Specific implementation mode one: combine Figure 1 to Figure 8 This embodiment is described. An end effector that realizes self-crawling and load operation of a space manipulator in this embodiment includes a support and protection device, an engaging docking device, a capture and lock power drive device, a capture and lock device, and a power output drive device. ;

[0014] The support and protection device includes a cover plate A1, a support shell A2, a partition A4 and a bottom plate A3; the support shell A2 is a cylindrical shell, the cover plate A1 is connected to the upper end of the support shell A2, and the base A3 Installed on the lower end of the supporting shell A2, a partition A4 is connected to the inner wall of the supporting shell A2 between the cover plate A1 and the bottom plate A3;

[0015] The engaging and docking device includes three positioning columns B1, three electrical connectors B2, three coupling racks B3 and three contact switches B4, and...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination Figure 2-Figure 3 To illustrate this embodiment, the input transmission mechanism C1 in this embodiment includes the input transmission mechanism C1 including an input motor C1-0, a first spur gear C1-71, a second spur gear C1-72, a third spur gear C1- 73. The fourth spur gear C1-74, the fifth spur gear C1-75, the first connector C1-8 and the first gear shaft C1-13, the transmission shaft C1-5 of the input motor C1-0 is vertically set, and the transmission The first spur gear C1-71 is fixedly installed on the shaft C1-5, the second spur gear C1-72 is installed on the first gear shaft C13 and the two are connected in rotation, and the first gear shaft C13 is fixedly installed on the input motor C1-0 The third spur gear C1-73 is installed on the transmission shaft C1-5 and the two are connected in rotation. The first spur gear C1-71 meshes with the second spur gear C1-72, and the second spur gear C1-72 The spur gear C1-72 is...

specific Embodiment approach 3

[0025] Specific implementation mode three: combination image 3 Referring to this embodiment, the input transmission mechanism C1 in this embodiment further includes a first power-off brake C14, and the first power-off brake C14 is respectively connected to the first housing C1-1 and the transmission shaft C1-5. The tail of the drive shaft C1-5 in this embodiment is provided with a first power-off brake C1-14, which can provide emergency braking for the end effector of the present invention in the event of a power failure to avoid accidents. occurrence or damage to components. Others are the same as in the second embodiment.

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Abstract

The invention provides an end effector capable of achieving space manipulator self crawling and load operation, and relates to the end effector for a manipulator. The end effector capable of achieving space manipulator self crawling and load operation aims to solve the problems that the capturing and locking functions of the end effectors of an European manipulator and an assembling manipulator in the prior art are integrated on a capturing mechanism to cause small capturing allowance, and the end effector of the space station remote teleoperation manipulator is insufficient in mechanical power output because features of the capturing mechanism can not be achieved. The end effector comprises a supporting and protecting device, a meshed docking device, a capturing locking power driving device, a capturing locking device and a power output driving device. The capturing locking power input driving device comprises an input driving mechanism, a sixth straight gear and a lead screw. The capturing locking device comprises a disc and three sets of capturing locking fingers. The power output driving device comprises an output driving mechanism, a seventh straight gear, an output driving shaft, a pre-tightening spring and a power driving piece. The end effector capable of achieving space manipulator self crawling and load operation is used for grabbing loads of the space manipulator.

Description

technical field [0001] The invention relates to an end effector for a mechanical arm, in particular to an end effector capable of realizing self-crawling and load operation of a space manipulator, and belongs to the technical field of robots. Background technique [0002] The space manipulator is installed on the space platform, which can be used for the construction of the space station, on-orbit maintenance, and daily management, as well as for the capture, handling, replacement, and maintenance of loads, and for on-orbit satellite services. Implement on-orbit assembly and construction of large-scale space equipment, such as the assembly of large-scale reflection antennas for space observation equipment. The existing space station manipulator is generally installed on a fixed base, and its operable space is limited. In the case of maintaining the structure of the manipulator, expanding the operable space of the manipulator has become an important direction for the develop...

Claims

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Application Information

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IPC IPC(8): B25J15/10F16H37/02F16H1/20
Inventor 孙奎曹宝石朱映远谢宗武刘宏韩锋
Owner HARBIN INST OF TECH
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