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Large-tolerance mini-sized end effector having electromechanical output function

An end effector and large-tolerance technology, applied in manipulators, manufacturing tools, chucks, etc., can solve problems such as poor operability, no electrical output, and large energy consumption, and achieve strong interchangeability of parts, long battery life, and The effect of low control precision

Active Publication Date: 2015-11-25
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a large-tolerance miniature end effector with electromechanical output to solve the problems of existing space manipulator end effectors without electromechanical output, poor operability, small tolerance, and large energy consumption

Method used

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  • Large-tolerance mini-sized end effector having electromechanical output function
  • Large-tolerance mini-sized end effector having electromechanical output function
  • Large-tolerance mini-sized end effector having electromechanical output function

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Experimental program
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specific Embodiment approach 1

[0035] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 , Image 6 , Figure 7 , Figure 8 , Figure 9 with Figure 10 Describe this embodiment, this embodiment includes a shell module 1, a power output module 2, a sensor module 3, a motion drive module 4 and a plurality of capture kinematic chains 5;

[0036] The shell module 1 includes a kinematic chain shell 1-1, a drive shell 1-2, a threaded fixed shell 1-3, a mechanical arm connector 1-4, a six-dimensional sensor 1-5, a motion fixing seat 1-7, and a circuit board 1-8, connectors 1-9 for six-dimensional sensors, electrical quick-connect components 1-11, multiple positioning release components 1-10, multiple electrical output components 1-12 and multiple connection detection components 1-13;

[0037]The kinematic chain housing 1-1, the driving housing 1-2, the threaded fixing housing 1-3 and the mechanical arm connector 1-4 are sequentially connected from top to bott...

specific Embodiment approach 2

[0040] Specific implementation mode two: combination figure 1 , Figure 4 with Figure 5 Describe this embodiment, in this embodiment, each capture kinematic chain 5 includes a combined link kinematic chain assembly 5-1, capture finger 5-2, fixed hinge seat 5-3, connecting rod output hinge shaft 5-4, cam hinge The shaft 5-5 and the connecting rod fix the hinge shaft 5-7, the fixed hinge seat 5-3 is fixedly connected to the motion fixed seat 1-7, and the combined link kinematic chain assembly 5-1 is arranged on the motion drive module 4 Between the connecting rod and the fixed hinge shaft 5-7, the output end of the combined link kinematic chain assembly 5-1 is hinged with the catching finger 5-2 through the connecting rod output hinge shaft 5-4, and the catching finger 5-2 is processed with The line chute 5-2-1, the cam hinge shaft 5-5 horizontally passes through the line chute 5-2-1 and is fixedly connected to the fixed hinge seat 5-3;

[0041] The combined link kinematic c...

specific Embodiment approach 3

[0042] Specific implementation mode three: combination Figure 5 to Figure 10 Describe this embodiment. In this embodiment, the motion drive module 4 includes a rocker power module 4-1 and a plurality of output rocker modules 4-2. 1 as the center and evenly distributed around the rocker power module 4-1;

[0043] The rocker power module 4-1 includes a support 4-1-1, a worm 4-1-2, a motor seat 4-1-3 and a motor 4-1-5, and the support 4-1-1 The lower end is provided with a motor seat 4-1-3, the motor seat 4-1-3 is provided with a motor 4-1-5, and the upper end of the worm 4-1-2 is set on the support 4-1-1 On, the lower end of the worm 4-1-2 is connected with the motor 4-1-5;

[0044] The output rocker module 4-2 includes a worm gear hinge shaft 4-2-2, a worm gear 4-2-3, a spacing adjustment lever 4-2-4, a right spacing fine-tuning assembly 4-2-5 and a left spacing fine-tuning assembly 4 -2-6, the right spacing fine-tuning assembly 4-2-5 and the left spacing fine-tuning assemb...

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Abstract

The invention discloses a large-tolerance mini-sized end effector having an electromechanical output function and relates to an end effector. The large-tolerance mini-sized end effector having the electromechanical output function aims at solving the problems that an existing space manipulator end effector does not have an electromechanical output function and is poor in operability, small in tolerance and large in energy consumption. The large-tolerance mini-sized end effector comprises a shell module, a power output module, a sensor module, a plurality of motion driving modules and a plurality of capturing motion chains; a motion chain shell, a driving shell, a thread fixing shell and a manipulator connecting piece are communicated in sequence from top to bottom; a motion fixing seat is installed between the motion chain shell and the driving shell; the power output module is arranged inside the motion chain shell in a penetrating mode; the motion driving modules and the power output module are coaxial and are fixed to the motion fixing seat; each capturing motion chain is fixedly connected to the motion fixing seat and driven by the corresponding motion driving module to move; a plurality of connection detecting assemblies are located at the top end of the motion chain shell and distributed at the periphery of the power output module uniformly; the motion fixing seat is fixedly connected to the bottom of the motion chain shell. The large-tolerance mini-sized end effector having the electromechanical output function is applied to the field of space flight and aviation.

Description

technical field [0001] The present invention relates to a high tolerance miniature end effector with an electromechanical output. Background technique [0002] The space manipulator plays an important role in on-orbit service support tasks such as spacecraft assembly, satellite maintenance, spacecraft recovery, on-orbit fuel filling, and space junk cleaning. The small space manipulator has the advantages of small inertia and flexibility in It plays a pivotal role in the operation tasks of light loads, and its space end effector is the most important part of the space manipulator, which has important research value and has always been an important topic of various aerospace powers. [0003] Existing space manipulator end effectors can be divided into large end effectors and small end effectors. The former focuses on large tolerance, but basically has no electromechanical output, and the operability is poor; part of the design of the latter considers electromechanical output,...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J15/10B25J15/00
CPCB25J15/00B25J15/10
Inventor 樊绍巍吴军金明河孙奎刘宏
Owner HARBIN INST OF TECH
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