Self-adaption claw mechanism of spatial on-orbit service robot

A service robot, self-adaptive technology, applied in the directions of manipulators, chucks, manufacturing tools, etc., can solve the problems of large workspace, inability to achieve versatility, few grasping modes, etc., to achieve strong versatility, self-adaptive self-stable lock Die, grab effects with a large envelope range

Inactive Publication Date: 2013-11-20
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Its biggest advantage is that it has a large working space; however, its grasping modes are few and cannot reach the level of versatility

Method used

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  • Self-adaption claw mechanism of spatial on-orbit service robot
  • Self-adaption claw mechanism of spatial on-orbit service robot
  • Self-adaption claw mechanism of spatial on-orbit service robot

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Embodiment Construction

[0030] Such as Figure 1a , Figure 1b , Figure 1c As shown, it is a three-dimensional perspective view of the self-adaptive gripper mechanism of the space on-orbit service robot of the present invention, including: the self-adaptive gripper 1 , the motor and its transmission mechanism 2 , and the base part 3 .

[0031] The self-adaptive finger 1 is composed of two symmetrical and identical five-bar mechanisms. Each five-bar mechanism includes: a contact rod 101, an intermediate rod 102, an active rod 103, a driven rod 104, a driven pin 105, and an intermediate pin. 106, driving pin 107, driving shaft 108, driven shaft 109, torsion spring 110; the motor and its transmission mechanism 2 include: motor 201, L-shaped motor bracket 202, U-shaped motor bracket 203, pinion 204, large gear 205 , worm shaft 206 , worm wheel 207 ; the base part 3 includes: a palm base 301 , a palm front shell 302 , a palm front cover 303 , a palm rear cover 304 , and a worm shaft positioning base 305 ...

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Abstract

Disclosed is a self-adaption claw mechanism of a spatial on-orbit service robot. The self-adaption claw mechanism is composed of a self-adaption claw, a motor, a transmission mechanism of the motor and a base part. The self-adaption claw is used for achieving the function of on-orbit target object capturing. The motor and the transmission mechanism of the motor are used for transmitting torque, and the motor provides active torque. The base part is used for maintaining the relative positions of all the parts of a system. The self-adaption claw mechanism has adaptivity, so that grabbing modes can be selected in a self-adaption mode according to the shapes of target objects, and the universality is strong. The claw mechanism has auto-stability, and after the claw mechanism makes contact with the target objects, the post grabbing process is prone to self-stabilization due to the fact that a torsion spring which has the effect of adjusting the torque in a passive mode is adopted. The active and passive composite driving design with the single motor and the torsion spring combined is adopted in the mechanism, so that control strategies are simplified, and impulsive loads can be effectively buffered. The self-adaption claw mechanism is applied to the on-orbit robot, and greatly improves the task executing efficiency.

Description

technical field [0001] The invention aims to serve the field of space on-orbit service, and relates to an adaptive finger mechanism of a space on-orbit service robot. This finger mechanism has strong versatility and a wide range of applications, and is suitable for multi-task space capture and The need to repair tasks greatly improves the efficiency of task execution. technical background [0002] On-orbit services include spacecraft assembly, satellite maintenance, spacecraft recovery, on-orbit fuel filling, and space junk removal. The end effector with reasonable structure, reliable function and simple control can greatly improve the reliability of grasping and reduce the complexity of the entire robotic arm system. Facing the actual needs of multi-tasking operations for on-orbit service, an adaptable and versatile finger mechanism emerged as the times require. [0003] With the in-depth development of research, various claw mechanisms for on-orbit service have emerged a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/08
Inventor 楚中毅胡健雷宜安周苗李建超卢山李延宝
Owner BEIHANG UNIV
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