Mechanical arm end device and adapter

Abstract

The application discloses a mechanical arm end device and an adapter, which comprise a capturing and locking mechanism and a positioning mechanism, wherein the positioning mechanism is installed on one side of the capturing and locking mechanism; the capturing and locking mechanism comprises a power assembly, a capturing assembly and a capturing shell; the power assembly is arranged in the capturing shell and drives the capturing assembly to perform grabbing; the positioning mechanism is installed on the capturing shell; the positioning mechanism preliminarily positions the adapter, the power assembly drives the capturing assembly, and the capturing assembly grabs the adapter. The locking jaw of the application has a very large opening envelope range, and the adapter can be captured under the condition that the target is roughly locked by a visual system. The design significantly improves the capturing success rate, especially in the case that the space environment is complex and the visual recognition accuracy is limited, the end device can still quickly and accurately capture the target, and the operation failure risk caused by the difficulty in accurate positioning is reduced.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm end effector crawling and on-orbit assembly technology, and in particular relates to a robotic arm end effector and adapter. Background Technology

[0002] In fields such as space exploration, satellite maintenance, space station construction, and on-orbit servicing, robotic arms serve as an important operational tool, widely used in tasks such as payload handling, module assembly, and equipment inspection. With the increasing complexity of space missions, particularly in scenarios such as large antenna assembly, space station module docking, and on-orbit replacement of replaceable units, higher demands are placed on the precision, reliability, fault tolerance, and electrical connectivity of the robotic arm's end effector.

[0003] Currently, existing robotic arm end effectors face the following main technical challenges when docking with target adapters: It is difficult to balance positioning accuracy and fault tolerance; Existing end-effectors mostly rely on vision systems for precise positioning. However, factors such as varying lighting conditions in the on-orbit environment, target occlusion, and limitations in the accuracy of vision sensors often lead to deviations in visual positioning. If the initial positioning deviation is large, the end-effector will struggle to successfully capture the adapter, resulting in docking failure. While some devices employ mechanical guidance structures for auxiliary positioning, these often have limited positioning stages and a small tolerance range, making it difficult to achieve a smooth transition from coarse to fine positioning.

[0004] The process of unlocking and separating may result in a stuck state; After the mission is completed, the end effector needs to be reliably separated from the adapter. Some existing locking mechanisms may experience problems such as jamming or insufficient separation force when unlocking due to prolonged pre-tensioning or the influence of temperature differences or vacuum environments on the rail, which may prevent the end effector from being successfully withdrawn and seriously affect the safety and reliability of the mission.

[0005] There is a lack of suitable electrical connection solutions for floating cooperative objectives; In on-orbit assembly and inspection tasks, not only mechanical connections are required between the end-effector and the adapter, but also stable electrical connections (such as power supply and signal transmission). However, due to slight positional and angular deviations (i.e., floating characteristics) during on-orbit docking, traditional rigid electrical connectors struggle to adapt to these deviations, easily leading to pin bending, poor contact, or failure to engage. Existing technologies lack an integrated design solution that can both accommodate floating deviations and ensure electrical reliability.

[0006] Limited capture envelope range and poor fault tolerance; Some end-effectors have limited gripping mechanisms (such as grippers and hooks) with limited opening angles or ranges. When the vision system roughly locks onto the target or when there is a large relative deviation between the end-effector and the adapter, it is difficult to successfully capture the target, thus limiting the success rate of the robotic arm in complex environments.

[0007] In summary, how to achieve multi-level positioning from coarse to fine while ensuring that the end effector of the robotic arm has a large capture tolerance range, ensuring the locking reliability after docking, and being able to separate smoothly during unlocking, while providing an electrical connection scheme that adapts to floating characteristics, is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0008] In view of this, the present invention aims to provide a robotic arm end effector and adapter to solve at least one of the technical problems in the prior art.

[0009] To address the needs of on-orbit assembly and inspection of certain large-area antennas, an innovative solution is proposed for the modular, splicing on-orbit assembly of large-area antenna structures. This solution utilizes a robotic arm end effector to assist the robotic arm in completing on-orbit assembly and crawling inspection tasks. Through the flexible operation of the robotic arm and the precise positioning function of the end effector, this solution can efficiently complete the modular splicing and installation of large-area antennas. While ensuring assembly quality, it significantly improves assembly efficiency and reduces reliance on manual operation. The robotic arm end effector adopts a modular design, possessing good versatility and adaptability, and can be flexibly configured according to the requirements of different antenna structures. This technology has broad application prospects in space station maintenance, satellite repair, and equipment maintenance in other complex space environments, providing important technical support for future spacecraft maintenance and on-orbit servicing.

[0010] This invention relates to the field of crawling and on-orbit assembly of robotic arm end effectors, providing a space robotic arm end effector and adapter. This device, after initial target identification by a vision system, performs multi-level positioning through mechanical structures, completing precise engagement step by step to achieve a final, complete fit between the end effector and the adapter. The device adopts a modular design concept, possessing high versatility and scalability, and can adapt to different types of robotic arms and operational tasks. In practical applications, this device can significantly improve the operational accuracy and efficiency of robotic arms, reduce the need for manual intervention, and ensure the safety and reliability of the operation process. This invention has broad application prospects, particularly in satellite maintenance, space station repair, and remote operation, where it has significant promotional value.

[0011] To achieve the above objectives, the technical solution of the present invention is implemented as follows: A robotic arm end effector includes a capture and locking mechanism and a positioning mechanism, wherein the positioning mechanism is mounted on one side of the capture and locking mechanism; The capture and locking mechanism includes a power component, a capture component, and a capture housing; the power component is located inside the capture housing and drives the capture component to perform the grasping action. The positioning mechanism is installed on the capture housing; the positioning mechanism performs initial positioning of the adapter, the power component drives the capture component, and the capture component grabs the adapter.

[0012] Furthermore, the power assembly includes a gear assembly, a motor, a T-screw, and a screw nut; The motor's mounting end is connected to the capture housing, and the motor's output end is connected to the gear assembly; The T-shaped lead screw is installed inside the capture housing, and its tail end is connected to the gear assembly, which drives it to rotate. The lead screw nut is installed on the T-shaped lead screw; Several capture components are connected to the lead screw nut for gripping.

[0013] Furthermore, the capture components include a locking claw and a locking claw guide pin; The lead screw nut includes a nut and guide rods. Several guide rods are arranged on the nut along the circumference, and the guide rods are rotatably connected to the locking pawl. The bottom of the capture housing is provided with a movable groove that allows the locking claw to move, and the position of the movable groove corresponds to the position of the locking claw; The locking claw is provided with a guide groove, and the locking claw guide pin is slidably disposed in the guide groove and installed in the capture housing; the capture housing is provided with an arc-shaped stop, which is disposed between the guide rod and the capture housing; The motor drives the T-shaped lead screw to rotate through the gear assembly. The lead screw nut moves along the axis of the T-shaped lead screw, which drives the locking pawl to open or lock along the arc-shaped stop.

[0014] Furthermore, the locking claw includes a connecting end, a straight end, and a vertical end; The connecting end is inclined on one side of the straight end, and the vertical end is on the other side of the straight end; The connecting end is rotatably connected to the guide rod; Guide grooves are provided at the connecting end and the straight end; The gear assembly includes a driving gear and a driven gear. The driving gear is connected to the output shaft of the motor, and the driven gear is connected to a T-type lead screw. The driving gear and the driven gear mesh.

[0015] Furthermore, the capture assembly also includes at least one anti-rotation guide rod, which is disposed on the guide rod of the lead screw nut; The guide rod is slidably mounted on the anti-rotation guide rod.

[0016] Furthermore, the number of locking claws is the same as the number of locking claw guide pins and the same as the number of guide rods of the lead screw nut, and the number of locking claws is at least 3; It also includes several cable clips, which are set inside the capture housing. The cable clips are used to gather the wiring of the floating electrical connector; the number of cable clips is at least 3.

[0017] Furthermore, the positioning mechanism includes a positioning mechanism housing, an adapter guide pin, a first annular tooth, a disc spring, and a floating electrical connector socket; One side of the positioning mechanism housing is mounted on the capture and locking mechanism, and several first annular teeth and several disc springs are mounted circumferentially on the other side of the positioning mechanism housing; the first annular teeth and disc springs are arranged alternately. The adapter guide pin is arranged circumferentially at the end of the positioning mechanism housing away from the capture and locking mechanism, and the position of the adapter guide pin corresponds to the first annular tooth; The floating electrical connector socket is located at the middle of the end of the positioning mechanism housing away from the capture and locking mechanism; The number of adapter guide pins, first annular teeth, and disc springs are the same; The adapter guide pins must be at least 3.

[0018] An adapter for a robotic arm end effector includes an adapter housing, a floating electrical connector plug, a second annular tooth, an adapter guide hole, and a disc spring trigger head. One end of the adapter housing is connected to the positioning mechanism, and the other end is connected to the target; Several second annular teeth and several disc spring trigger heads are arranged circumferentially at one end of the adapter housing near the positioning mechanism. The second annular teeth correspond to the first annular teeth of the positioning mechanism; the disc spring trigger heads correspond to the disc springs of the positioning mechanism. Several adapter guide holes are arranged circumferentially at one end of the adapter housing near the positioning mechanism, and the positions of the adapter guide holes correspond to the positions of the adapter guide pins of the positioning mechanism; The floating electrical connector plug is located in the middle of the end of the adapter housing near the positioning mechanism, and the floating electrical connector plug corresponds to the floating electrical connector socket.

[0019] Furthermore, the adapter housing is provided with side grooves corresponding to the locking claws of the capture assembly.

[0020] The above-described robotic arm end effector and its adapter docking / disconnection method include the following steps: S1: Drive the locking claw of the capture and locking mechanism to open, and the robotic arm drives the end effector to move, so that the locking claw grabs the side groove of the adapter; S2: Drive the locking claw to retract, causing the end device to move closer to the adapter, so that the adapter guide pin enters the adapter guide hole for initial positioning; S3: Continue to drive the locking claw to retract, so that the floating electrical connector socket of the positioning mechanism mates with the floating electrical connector plug of the adapter; S4: Continue to drive the locking claw to retract, causing the disc spring trigger head of the adapter to compress the disc spring of the positioning mechanism to generate a preload force; S5: Continue to drive the locking claw to retract, so that the first ring tooth of the positioning mechanism is fully engaged with the second ring tooth of the adapter, and the final positioning is completed; S6: Drive the locking claw of the capture locking mechanism to extend forward, release the lock on the adapter, release the elastic force of the compressed disc spring, push the disc spring trigger head, and automatically separate the end device from the adapter; after the locking claw is fully opened, the robotic arm drives the end device to withdraw.

[0021] This application employs a mechanical structure combining locking claws, locating pins, and ring teeth to form a multi-level positioning mechanism. This design not only improves positioning accuracy but also provides a high fault tolerance, ensuring more reliable mating between the end effector and the adapter. During docking, the disc spring on the end effector generates preload to ensure docking stability. When unlocking is required, the disc spring provides sufficient driving force to ensure smooth separation of the end effector and adapter. Simultaneously, the locking claw generates thrust when contacting the adapter end face, further facilitating the separation process. Furthermore, to meet the electrical connection requirements of the on-orbit floating cooperative target, a pair of floating electrical connectors are installed in both the end effector and the adapter. This design not only ensures the reliability of the electrical connection but also adapts to the floating characteristics of the target. Through these innovative designs, the end effector can efficiently and safely complete on-orbit assembly and inspection tasks in complex space environments, significantly improving operational reliability and efficiency.

[0022] Compared with the prior art, the robotic arm end effector and adapter described in this invention have the following advantages: 1) The locking claw of this application has a very large opening envelope, which can capture the adapter even when the vision system has only roughly locked onto the target. This design significantly improves the capture success rate, especially in complex spatial environments and situations where visual recognition accuracy is limited. It can still ensure that the end device can quickly and accurately capture the target, reducing the risk of operational failure due to the difficulty in achieving precise positioning.

[0023] 2) This application implements a multi-level positioning system consisting of a locking claw, guide pin, and ring teeth, enabling precise mating of the end effector and adapter, step by step, from coarse to fine. This multi-level positioning mechanism not only improves positioning accuracy but also provides a high margin of error, ensuring more reliable mating between the end effector and adapter. During the docking process, the locking claw first achieves coarse positioning, followed by precise positioning via the guide pin and ring teeth, ultimately achieving a high-precision mating.

[0024] 3) This application incorporates a disc spring, which provides sufficient driving force to separate the end device from the adapter during unlocking, preventing jamming. The disc spring generates preload upon successful docking to ensure the stability of the docking; during unlocking, the disc spring provides sufficient driving force to ensure smooth separation of the end device and adapter, avoiding operational failures or equipment damage due to jamming. Attached Figure Description

[0025] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of a robotic arm end effector proposed in this invention; Figure 2 This is a schematic diagram of a capture and locking mechanism for a robotic arm end effector proposed in this invention; Figure 3 This is a schematic diagram of a positioning mechanism for a robotic arm end effector proposed in this invention; Figure 4 This is a schematic diagram of an adapter for a robotic arm end effector proposed in this invention.

[0026] Explanation of reference numerals in the attached figures: 1. Capture and locking mechanism; 2. Positioning mechanism; 3. Adapter; 4. Target; 5. Gear assembly; 6. Motor; 7. T-screw; 8. Screw nut; 9. Locking claw; 10. Anti-rotation guide rod; 11. Cable clip; 12. Locking claw guide pin; 13. Positioning mechanism housing; 14. Adapter guide pin; 15. First ring tooth; 16. Disc spring; 17. Floating electrical connector socket; 18. Adapter housing; 19. Floating electrical connector plug; 20. Second ring tooth; 21. Adapter guide hole; 22. Disc spring trigger head. Detailed Implementation

[0027] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0028] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0030] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0031] Example 1 like Figure 1 As shown, this embodiment provides a basic robotic arm end effector, including a capture and locking mechanism 1 and a positioning mechanism 2. The positioning mechanism 2 is installed on one side of the capture and locking mechanism 1. The capture and locking mechanism 1 includes a power component, a capture component, and a capture housing. The power component is disposed within the capture housing and is used to drive the capture component to perform a grasping action. The positioning mechanism 2 is installed on the capture housing, and its positioning structure is disposed within the capture component for initial positioning of the adapter 3.

[0032] like Figure 2 As shown, the power assembly includes a motor 6, a gear assembly 5, a T-shaped lead screw 7, and a lead screw nut 8. The output end of the motor 6 is connected to the gear assembly 5, the tail end of the T-shaped lead screw 7 is connected to the gear assembly 5, and the lead screw nut 8 is mounted on the T-shaped lead screw 7. The capturing assembly includes a locking claw 9 and a locking claw guide pin 12. The lead screw nut 8 is provided with several guide rods, which are rotatably connected to the locking claw 9. The motor 6 drives the T-shaped lead screw 7 to rotate, which in turn moves the lead screw nut 8, thereby driving the locking claw 9 to open or close, thus achieving the grasping of the adapter 3.

[0033] like Figure 4As shown, the adapter 3 includes an adapter housing 18, a floating electrical connector plug 19, a second annular tooth 20, an adapter guide hole 21, and a disc spring trigger head 22. One end of the adapter housing 18 is connected to the positioning mechanism 2, and the other end is connected to the target 4. The adapter guide hole 21 corresponds to the adapter guide pin 14 of the positioning mechanism 2, the second annular tooth 20 corresponds to the first annular tooth 15, and the disc spring trigger head 22 corresponds to the disc spring 16. The floating electrical connector plug 19 corresponds to the floating electrical connector socket 17, and the adapter housing 18 has a side groove corresponding to the locking claw 9 of the capture assembly.

[0034] In this embodiment, the capture housing is made of lightweight, high-strength aluminum alloy. Motor 6 is a brushless DC motor with a built-in Hall sensor, enabling closed-loop control of position and speed to ensure the accuracy of the locking claw 9's movement. The helix angle of the T-screw 7 is set to 5° to 10°, giving it a self-locking characteristic to prevent the locking claw 9 from accidentally disengaging in the event of a power outage or other unforeseen circumstances.

[0035] The lead screw nut 8 and the guide rod are integrally machined and formed. There are 3 guide rods evenly distributed along the circumference. Each guide rod has a pin hole at its end and is rotatably connected to the connecting end of the locking claw 9 through a stainless steel pin.

[0036] The target connection end of adapter 3 is equipped with a standard bolt hole array, which allows for quick replacement with targets 4 of different sizes and shapes via bolts. Target 4 can be an antenna panel or equipment module. The adapter housing 18 has a weight-reduction cavity inside, which reduces the overall weight while ensuring structural strength.

[0037] Example 2 There are three locking claws 9, evenly distributed on the guide rod of the lead screw nut 8, and each locking claw 9 corresponds to a locking claw guide pin 12. The bottom of the capture housing has a movable groove corresponding to the position of the locking claw 9, and the locking claw 9 has a guide groove. The locking claw guide pin 12 is slidably disposed in the guide groove and installed in the capture housing. The capture housing has an arc-shaped stop to limit the movement trajectory of the locking claw 9.

[0038] In this embodiment, the lead screw nut 8 is also provided with two anti-rotation guide rods 10. The guide rods slidably set on the anti-rotation guide rods 10 to ensure that the lead screw nut 8 does not rotate radially during movement. Three cable clips 11 are set in the capture housing to gather the cables of the floating electrical connector.

[0039] Example 3 like Figure 3As shown, the positioning mechanism 2 includes a positioning mechanism housing 13, adapter guide pins 14, first annular teeth 15, disc springs 16, and a floating electrical connector socket 17. Three adapter guide pins 14 are arranged circumferentially at the end of the positioning mechanism housing 13 away from the capturing and locking mechanism 1. Three first annular teeth 15 and three disc springs 16 are arranged alternately circumferentially. The floating electrical connector socket 17 is located in the middle of the positioning mechanism housing 13.

[0040] One end of the adapter 3 is provided with an adapter guide hole 21 corresponding to the adapter guide pin 14, a second ring tooth 20 corresponding to the first ring tooth 15, and a disc spring trigger head 22 corresponding to the disc spring 16. During the docking process, the locking claw 9 first completes the coarse positioning, then the adapter guide pin 14 cooperates with the adapter guide hole 21 to achieve fine positioning, and finally the first ring tooth 15 and the second ring tooth 20 mesh to complete the final positioning. The disc spring 16 generates a preload force during docking to ensure a stable connection.

[0041] Example 4 The end device and adapter 3 are respectively equipped with a floating electrical connector socket 17 and a floating electrical connector plug 19, which achieve electrical connection after positioning. The disc spring 16 not only provides preload during docking, but also provides sufficient driving force during unlocking to ensure smooth separation of the end device and adapter 3.

[0042] The specific working process is as follows: After the vision system identifies the target, the robotic arm moves the end effector to the adapter area. The motor drives the locking claw to open, the robotic arm moves forward, the locking claw retracts to grasp the adapter, and the entire assembly moves towards the adapter. The adapter guide pin first engages with the guide hole to complete the initial positioning; then the floating electrical connector socket engages with the plug; the disc spring trigger head contacts the disc spring and generates a preload; finally, the first ring tooth meshes with the second ring tooth to complete the final positioning. During unlocking, the locking claw extends forward, the disc spring provides the unlocking force, the locking claw opens, and the robotic arm removes the end effector. After the vision system identifies target 4, the robotic arm moves the end effector to within approximately 50mm above adapter 3. At this time, motor 6 starts, driving T-screw 7 to rotate forward via gear assembly 5. Screw nut 8 moves away from adapter 3, pushing locking claw 9 to open outward along the arc-shaped stop, with an envelope range of over 120°.

[0043] The robotic arm moves the end effector toward the adapter 3, causing the open locking claw 9 to surround the side groove of the adapter housing 18. Then the motor 6 reverses, the lead screw nut 8 moves toward the adapter 3, and the locking claw 9 gradually closes under the action of the locking claw guide pin 12 and the arc-shaped stop, firmly gripping the side groove of the adapter housing 18.

[0044] After the locking claw 9 grips the adapter 3, the motor 6 continues to reverse, driving the entire end effector towards the adapter 3, completing the following positioning in sequence: the adapter guide pin 14 enters the adapter guide hole 21, correcting radial and angular deviations; the floating electrical connector socket 17 contacts the floating electrical connector plug 19, completing the electrical signal and power connection; the disc spring trigger head 22 contacts and compresses the disc spring 16, generating preload to ensure a secure docking; the first annular tooth 15 fully engages with the second annular tooth 20, achieving final axial and circumferential precise positioning. At this point, the end effector and adapter 3 are mechanically locked and electrically connected, allowing for on-orbit assembly or inspection tasks.

[0045] After the task is completed, the device needs to be unlocked and separated. Motor 6 rotates in the forward direction, and the locking claw 9 extends forward, releasing the lock on the adapter housing 18. At the same time, the compressed disc spring 16 releases its elastic force, pushing the disc spring trigger head 22 outward, causing the end effector to automatically separate from the adapter 3. After the locking claw 9 is fully open, the robotic arm carries the end effector away safely.

[0046] Example 5 There are six locking claws 9, evenly distributed at 60° intervals along the circumference on the guide rod of the lead screw nut 8. Each locking claw 9 corresponds to a locking claw guide pin 12, which is slidably disposed in the guide groove of the locking claw 9 and fixed in the capture housing. When the six locking claws 9 open simultaneously, the adapter 3 can be successfully captured even when the vision system only roughly locks the position of the target 4.

[0047] There are 6 cable clips 11, which are evenly distributed along the inner wall of the capture housing. They are used to gather the floating electrical connector and other cables to prevent multiple cables from getting tangled or stuck during movement.

[0048] The adapter housing 18 of the adapter 3 has six side grooves corresponding to the six locking claws 9, evenly distributed at 60° intervals along the circumference. The depth and width of the side grooves match the vertical end dimensions of the locking claws 9, ensuring that the locking claws 9 can firmly hook the adapter when closed.

[0049] The positioning mechanism 2 has six adapter guide pins 14, six first annular teeth 15, and six disc springs 16, which are evenly distributed along the circumference. Correspondingly, the adapter 3 also has six adapter guide holes 21, six second annular teeth 20, and six disc spring trigger heads 22.

[0050] Example 6 There are four locking claws 9, evenly distributed at 90° intervals along the circumference on the guide rod of the lead screw nut 8. Each locking claw 9 corresponds to a locking claw guide pin 12. The four locking claws 9 open synchronously.

[0051] There are two anti-rotation guide rods 10, which are arranged in a cross shape between the guide rods of the lead screw nut 8. They not only play an anti-rotation role, but also reduce the number of parts and help to reduce the overall weight.

[0052] There are four cable clips 11, which are evenly distributed along the inner wall of the capture housing and are used to gather the cable.

[0053] The adapter housing 18 of the adapter 3 has four side grooves corresponding to the four locking claws 9, which are evenly distributed at 90° intervals along the circumference.

[0054] The positioning mechanism 2 has four adapter guide pins 14, four first annular teeth 15, and four disc springs 16, which are evenly distributed along the circumference. Correspondingly, the adapter 3 also has four adapter guide holes 21, four second annular teeth 20, and four disc spring trigger heads 22.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A robotic arm end effector, characterized in that: It includes a capture and locking mechanism and a positioning mechanism, with the positioning mechanism installed on one side of the capture and locking mechanism; The capture and locking mechanism includes a power component, a capture component, and a capture housing; the power component is located inside the capture housing and drives the capture component to perform the grasping action. The positioning mechanism is installed on the capture housing; the positioning mechanism performs initial positioning of the adapter, the power component drives the capture component, and the capture component grabs the adapter.

2. The robotic arm end effector according to claim 1, characterized in that: The power components include gear assembly, motor, T-screw, and screw nut; The motor's mounting end is connected to the capture housing, and the motor's output end is connected to the gear assembly; The T-shaped lead screw is installed inside the capture housing, and its tail end is connected to the gear assembly, which drives it to rotate. The lead screw nut is installed on the T-shaped lead screw; Several capture components are connected to the lead screw nut for gripping.

3. The robotic arm end effector according to claim 2, characterized in that: The capture components include a locking claw and a locking claw guide pin; The lead screw nut includes a nut and guide rods. Several guide rods are arranged on the nut along the circumference, and the guide rods are rotatably connected to the locking pawl. The bottom of the capture housing is provided with a movable groove that allows the locking claw to move, and the position of the movable groove corresponds to the position of the locking claw; The locking claw is provided with a guide groove, and the locking claw guide pin is slidably disposed in the guide groove and installed in the capture housing; the capture housing is provided with an arc-shaped stop, which is disposed between the guide rod and the capture housing; The motor drives the T-shaped lead screw to rotate through the gear assembly. The lead screw nut moves along the axis of the T-shaped lead screw, which drives the locking pawl to open or lock along the arc-shaped stop.

4. The robotic arm end effector according to claim 3, characterized in that: The locking claw includes a connecting end, a straight end, and a vertical end; The connecting end is inclined on one side of the straight end, and the vertical end is on the other side of the straight end; The connecting end is rotatably connected to the guide rod; Guide grooves are provided at the connecting end and the straight end; The gear assembly includes a driving gear and a driven gear. The driving gear is connected to the output shaft of the motor, and the driven gear is connected to a T-type lead screw. The driving gear and the driven gear mesh.

5. The robotic arm end effector according to claim 4, characterized in that: The capture assembly also includes at least one anti-rotation guide rod, which is disposed on the guide rod of the lead screw nut; The guide rod is slidably mounted on the anti-rotation guide rod.

6. The robotic arm end effector according to claim 5, characterized in that: The number of locking claws is the same as the number of locking claw guide pins and the same as the number of guide rods of the lead screw nut. The number of locking claws is at least 3. It also includes several cable clips, which are set inside the capture housing. The cable clips are used to gather the wiring of the floating electrical connector; the number of cable clips is at least 3.

7. The robotic arm end effector according to claim 1, characterized in that: The positioning mechanism includes a positioning mechanism housing, an adapter guide pin, a first annular tooth, a disc spring, and a floating electrical connector socket; One side of the positioning mechanism housing is mounted on the capture and locking mechanism, and several first annular teeth and several disc springs are mounted circumferentially on the other side of the positioning mechanism housing; the first annular teeth and disc springs are arranged alternately. The adapter guide pin is arranged circumferentially at the end of the positioning mechanism housing away from the capture and locking mechanism, and the position of the adapter guide pin corresponds to the first annular tooth; The floating electrical connector socket is located at the middle of the end of the positioning mechanism housing away from the capture and locking mechanism; The number of adapter guide pins, first annular teeth, and disc springs are the same; The adapter guide pins must be at least 3.

8. An adapter for a robotic arm end effector according to any one of claims 1-7, characterized in that: Includes adapter housing, floating electrical connector plug, second ring tooth, adapter guide hole, and disc spring trigger head; One end of the adapter housing is connected to the positioning mechanism, and the other end is connected to the target; Several second annular teeth and several disc spring trigger heads are arranged circumferentially at one end of the adapter housing near the positioning mechanism. The second annular teeth correspond to the first annular teeth of the positioning mechanism; the disc spring trigger heads correspond to the disc springs of the positioning mechanism. Several adapter guide holes are arranged circumferentially at one end of the adapter housing near the positioning mechanism, and the positions of the adapter guide holes correspond to the positions of the adapter guide pins of the positioning mechanism; The floating electrical connector plug is located in the middle of the end of the adapter housing near the positioning mechanism, and the floating electrical connector plug corresponds to the floating electrical connector socket.

9. An adapter for a robotic arm end effector according to claim 8, characterized in that: The adapter housing has side slots that correspond to the locking claws of the capture assembly.

10. The adapter docking and disassembly method for a robotic arm end effector according to any one of claims 1-7 and the robotic arm end effector according to claim 9, characterized in that: Includes the following steps: S1: Drive the locking claw of the capture and locking mechanism to open, and the robotic arm drives the end effector to move, so that the locking claw grabs the side groove of the adapter; S2: Drive the locking claw to retract, causing the end device to move closer to the adapter, so that the adapter guide pin enters the adapter guide hole for initial positioning; S3: Continue to drive the locking claw to retract, so that the floating electrical connector socket of the positioning mechanism mates with the floating electrical connector plug of the adapter; S4: Continue to drive the locking claw to retract, causing the disc spring trigger head of the adapter to compress the disc spring of the positioning mechanism to generate a preload force; S5: Continue to drive the locking claw to retract, so that the first ring tooth of the positioning mechanism is fully engaged with the second ring tooth of the adapter, and the final positioning is completed; S6: Drive the locking claw of the capture locking mechanism to extend forward, release the lock on the adapter, release the elastic force of the compressed disc spring, push the disc spring trigger head, and automatically separate the end device from the adapter; after the locking claw is fully opened, the robotic arm drives the end device to withdraw.

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