Clamping jaw function cell for truss rod grabbing

Abstract

The invention relates to a clamping jaw function cell for truss rod grabbing. The clamping jaw function cell is composed of two parts of a grabbing mechanism and a connecting mechanism. The grabbing mechanism is mainly constituted by a stepping motor base, a clamping jaw mounting plate, a cover plate, a stepping motor, a nut lead screw, a telescopic nut seat, a clamping jaw compression spring, a long arm, a short arm, a clamping jaw, a truss rod and the like. The stepping motor mounted at the joint of the stepping motor base drives the nut lead screw to rotate, thus the telescopic nut seat connected with the nut lead screw can make linear movement, the long arm is connected with the telescopic nut seat through the short arm, and opening and closing actions of the clamping jaw can be achieved through pulling of the short arm. The connecting mechanism is constituted by a servo motor, a cam, a shaft, an incomplete bevel gear, a cross-shaped guide rail, a guide rail assembly, a grooved bevel gear, a supporting plate and a connecting face. The cam rotates to push the guide rail assembly to make linear movement. The guide rail assembly moves to the corresponding position through the engaging transmission mode of the incomplete bevel gear and the grooved bevel gear, and thus the connecting locking work can be completed.

Description

technical field [0001] The invention relates to a gripper functional cell for truss grabbing. Background technique [0002] The space cell robot is expected to undertake important tasks such as the daily maintenance of the space station, the on-orbit assembly of large space stations, and the plane tooling of the space triangular truss in future space activities. This requires the design of a gripper functional cell that can complete the clamping work on rod objects, and the working space is an annular column. At present, the commonly used grasping mechanisms of cell robots are the following three types: electric drive mechanism, using motor drive system, flexible control, high positioning accuracy, easy to use and no complicated requirements for the connected mechanism; pneumatic drive mechanism, using cylinder control, simple structure , high speed, and low friction, but its speed stability is poor, and the positioning accuracy cannot be guaranteed; the hydraulic drive mec...

AI Technical Summary

Problems solved by technology

At present, the commonly used grasping mechanisms of cell robots are the following three types: electric drive mechanism, using motor drive system, flexible control, high positioning accuracy, easy to use and no complicated requirements for the connected mechanism; pneumatic drive mechanism, using cylinder control, simple structure , high speed, and low friction, but its speed stability is poor, and the positioning accuracy cannot be guaranteed; the hydraulic drive mechanism adopts a liquid transmission control method, which responds quickly and has a large carrying capacity, but it needs a supporting hydraulic station, which has a complex structure and is not suitable for missions in the space environment

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