CN102514015A

CN102514015A - Three-finger capture positioning mechanism

Info

Publication number: CN102514015A
Application number: CN201110438814XA
Authority: CN
Inventors: 朱映远; 倪风雷; 王志国; 史士财; 孙奎; 刘宏
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2011-12-23
Filing date: 2011-12-23
Publication date: 2012-06-27

Abstract

A three-finger capture positioning mechanism relates to a robot tail end butting device and aims to solve the problems of small capture range and low correction capability of an existing robot tail end butting device. A worm shaft is mounted in a casing, an input end of the worm shaft is connected with an output shaft of a motor, two worm gears are meshed with teeth on the worm shaft and mounted on worm gear shafts, a single finger and double fingers are symmetric about the axis of the worm shaft, two single-finger connectors are mounted on one worm gear shaft, two double-finger connectors are mounted on the other worm gear shaft, a central line of a single-finger connecting arm and a central line of a double-finger connecting arm are positioned in the same plane, a V-shaped groove is arranged on a fixed plate, the fixed plate is fixedly connected with the casing, the V-shaped groove is positioned among the single finger and double fingers, the central line of the V-shaped groove is overlapped with the axis of the worm shaft, a handle on a capture joint device after capture is arranged in the V-shaped groove, and a V-shaped surface matched with the V-shaped groove is arranged on the handle. The three-finger capture positioning mechanism is used for a space robot to capture a floating target.

Description

Three finger-types are arrested detent mechanism

Technical field

The present invention relates to a kind of robot end's docking facilities.

Background technology

Along with the continuous development of Robotics and the expansion in robot application field, require robot and to accomplish the butt joint of floating target is caught in space environment work.Because space be hunted down target location, the uncertain characteristics of attitude, need a kind of range of tolerable variance big, can proofread and correct the docking facilities of arresting of pose deviation.No matter the ordinary robot's end-effector and the target that is hunted down are to have or not special-purpose docking facilities at present, but all are to be in relatively-stationary pose state, can't arrest all uncertain realization of goal of pose.Therefore needing a kind of docking facilities that has big pose tolerance and located higher to decide appearance to assist robot to accomplish space articulation catches.

Summary of the invention

The objective of the invention is to be in the multiple degrees of freedom floating state for the capture target that solves robot, the problem that existing robot end's docking facilities capture range is little, calibration capability is weak, and provide a kind of three finger-types to arrest detent mechanism.

The present invention includes that housing, motor, worm shaft, two worm gears, two worm-wheel shafts, one hands refer to, both hands refer to, fixed head and catch interface arrangement, worm shaft is installed in the housing through bearing, the input of worm shaft is connected with the output shaft of motor; Two worm wheel symmetrical are arranged on the both sides of worm shaft, and two worm gears all with worm shaft on the tooth engagement, worm gear is installed on the worm-wheel shaft; The two ends of worm-wheel shaft are installed on the housing through bearing, and one hand refers to by singly referring to linking arm, singly refer to catch head, two and refer to that singly curved boom and two refer to that singly connector forms, singly refer to catch be arranged on the upper end that singly refers to linking arm; Two refer to that singly curved boom is symmetricly set on the both sides that singly refer to linking arm with the center line that singly refers to linking arm; And each refers to that singly an end of curved boom is connected with singly referring to linking arm, and each refers to that singly the other end of curved boom refers to singly that with one connector is connected, and singly refers to linking arm, singly refers to catch head, two and refer to that singly curved boom and two refer to that singly connector processes one; Both hands refer to caught head, two two finger curved booms and two two finger connectors and formed by two finger linking arms, two two fingers; Two two fingers are caught head and are laterally arranged, and two two fingers are caught head and all are arranged on pair upper ends that refer to linking arms, and two two finger curved booms are symmetricly set on the both sides of two finger linking arms with the center line of two finger linking arms; And each two end of curved boom that refer to refers to that with two linking arm is connected; Each pair refers to that other ends of curved booms are connected with two finger connectors, and two finger linking arms, two two fingers are caught head, two two finger curved booms and two two finger connectors and processed one, and one hand refers to refer to be symmetrical set with the axis of worm shaft with both hands; And two refer to that singly connector is installed on the worm-wheel shaft; Two two refers to that connectors are installed on another worm-wheel shaft, and the center line that singly refers to linking arm and two center lines that refer to linking arms are in same plane, and fixed head is provided with V-shaped groove; Fixed head is fixedly connected with housing; And V-shaped groove refers to and between both hands referred to, the center line of V-shaped groove and the dead in line of worm shaft were caught interface arrangement and be made up of handle, two supports and two hemisphere at one hand; Two supports are symmetricly set on the two ends of handle; And each support is connected with handle through a hemisphere, and the handle after catching is arranged in the V-shaped groove, and handle is provided with the V-arrangement face that matches with V-shaped groove.

The present invention has the following advantages: one, the present invention adopts one hand to refer to the three finger-type structures that refer to both hands; Can realize envelope, guiding, correction and location to handle, pose side-play amount that not only can the compression goal handle can also be with stable being fixed in the V-shaped groove of target handle; V-shaped groove and one hand refer to that assignment is closed with both hands, and five frees degree that can the limited target handle obtain higher location accuracy of attitude determination.Two, V-shaped groove and the handle that has a V-arrangement face cooperate, and one degree of freedom that can the limited target handle obtains higher location accuracy of attitude determination.Three, to have the scope of arresting big in the present invention, the advantage that proofread and correct, guidance capability is strong, simple and reliable for structure.Four, the present invention not only is used for special robot for space field, also can it be generalized to the other machines people field of industrial and agricultural production simultaneously.

Description of drawings

Fig. 1 is overall structure master's cutaway view of the present invention; Fig. 2 is the left view of Fig. 1; Fig. 3 is an overall structure stereogram of the present invention, and Fig. 4 is the structural perspective of catching interface arrangement 9, and Fig. 5 is the main cutaway view of overall structure of the present invention (remove and catch interface arrangement 9); Fig. 6 is the vertical view of Fig. 5, and Fig. 7 is the left view of Fig. 5.

The specific embodiment

The specific embodiment one: combine Fig. 1～Fig. 7 that this embodiment is described; This embodiment comprises that housing 1, motor 2, worm shaft 3, two worm gears 4, two worm-wheel shafts 5, one hands refer to 6, both hands refer to 7, fixed head 8 and catch interface arrangement 9; Worm shaft 3 is installed in the housing 1 through bearing, and the input of worm shaft 3 is connected with the output shaft of motor 2, and two worm gears 4 are symmetricly set on the both sides of worm shaft 3; And two worm gears 4 all with worm shaft 3 on the tooth engagement; Worm gear 4 is installed on the worm-wheel shaft 5, and the two ends of worm-wheel shaft 5 are installed on the housing 1 through bearing, and one hand refers to 6 by singly referring to linking arm 6-1, singly referring to catch a 6-2, two and refer to that singly curved boom 6-3 and two refer to that singly connector 6-4 forms; Singly refer to catch a 6-2 and be arranged on the upper end that singly refers to linking arm 6-1; Two refer to that singly curved boom 6-3 is symmetricly set on the both sides that singly refer to linking arm 6-1 with the center line M-M that singly refers to linking arm 6-1, and each refers to that singly the end of curved boom 6-3 is connected with singly referring to linking arm 6-1, and each refers to that singly the other end of curved boom 6-3 refers to singly that with one connector 6-4 is connected; Singly refer to linking arm 6-1, singly refer to catch a 6-2, two and refer to that singly curved boom 6-3 and two refer to that singly connector 6-4 processes one; Both hands refer to that 7 refer to catch a 7-2, two two curved boom 7-3 of finger and two two connector 7-4 that refer to and form by two finger linking arm 7-1, two are two, and two two refers to that catching a 7-2 laterally arranges, and two two refers to catch the upper ends that a 7-2 all is arranged on two finger linking arm 7-1; Two two curved boom 7-3 that refer to are symmetricly set on two both sides that refer to linking arm 7-1 with the center line N-N of two finger linking arm 7-1; And each two end of curved boom 7-3 that refer to is connected with two linking arm 7-1 that refer to, each pair refers to that other ends of curved boom 7-3 are connected with two connector 7-4 that refer to, two finger linking arm 7-1, two two fingers are caught a 7-2, two two curved boom 7-3 of finger and two two connector 7-4 that refer to and processed one; One hand refer to 6 with both hands refer to that 7 axis with worm shaft 3 are symmetrical set; And two refer to that singly connector 6-4 is installed on the worm-wheel shaft 5, and two two connector 7-4 that refer to are installed on another worm-wheel shaft 5, and the center line M-M that singly refers to linking arm 6-1 and two center line N-N that refer to linking arm 7-1 are in same plane; Fixed head 8 is provided with V-shaped groove 8-1; Fixed head 8 is fixedly connected with housing 10, and V-shaped groove 8-1 one hand refer to 6 and both hands refer between 7 the center line P-P of V-shaped groove 8-1 and the dead in line of worm shaft 3; Catching interface arrangement 9 is made up of handle 9-1, two support 9-2 and two hemisphere 9-3; Two support 9-2 are symmetricly set on the two ends of handle 9-1, and each support 9-2 is connected with handle 9-1 through a hemisphere 9-3, catch before catching on the interface arrangement 9 two support 9-2 with catch target and be connected; Handle 9-1 after catching is arranged among the V-shaped groove 8-1, and handle 9-1 is provided with the V-arrangement face 9-1-1 that matches with V-shaped groove 8-1.The surface of two support 9-2 and two hemisphere 9-3 should be smooth, is convenient to referring to that with one hand 6 refer to that with both hands 7 can slip among the V-shaped groove 8-1 after contacting smoothly.

The specific embodiment two: combine Fig. 1 and Fig. 5 that this embodiment is described; This embodiment and the specific embodiment one are different is that it also increases single specific bit post 10 and two specific bit posts 11 are arranged; Single specific bit post 10 laterally arranges with V-shaped groove 8-1; And single specific bit post 10 is installed in and singly refers on the linking arm 6-1, and two specific bit posts 11 laterally arrange with V-shaped groove 8-1, and two specific bit post 11 is installed in two the finger on the linking arm 7-1.Through single specific bit post 10 and two specific bit posts 11 handle 9-1 is compressed.Other composition and annexation are identical with the specific embodiment one.

The specific embodiment three: combine Fig. 1 and Fig. 5 that this embodiment is described, two specific bit posts 11 of this embodiment are symmetrical set with the center line P-P of single specific bit post 10 with respect to V-shaped groove 8-1.Other composition and annexation are identical with the specific embodiment two.

Operation principle of the present invention: during use, housing 1 is installed on the end effector of robot, with catch on the interface arrangement 9 two support 9-2 with catch target and be connected; Motor 2 drives worm shaft 3 and rotates; Two worm gears 4 rotate thereupon; Two worm gears 4 drive through the worm-wheel shaft on it 5 respectively and refer to that singly connector 6-4 and two connector 7-4 that refer to turn round; Refer to singly to catch that a 6-2 and two are two refers to catch the handle 9-1 envelope that a 7-2 will catch on the interface arrangement 9 and return, fall into V-shaped groove 8-1 through singly referring to linking arm 6-1 and two finger linking arm 7-1 channeling conduct until handle 9-1, realize that catching interface arrangement 9 accurate in locating decides appearance.

Claims

1. a finger-type is arrested detent mechanism; Said detent mechanism comprises housing (1), motor (2), worm shaft (3), two worm gears (4) and two worm-wheel shafts (5); Worm shaft (3) is installed in the housing (1) through bearing, and the input of worm shaft (3) is connected with the output shaft of motor (2), and two worm gears (4) are symmetricly set on the both sides of worm shaft (3); And two worm gears (4) all with worm shaft (3) on tooth engagement; Worm gear (4) is installed on the worm-wheel shaft (5), and the two ends of worm-wheel shaft (5) are installed on the housing (1) through bearing, it is characterized in that: said detent mechanism comprises that also one hand refers to that (6), both hands refer to (7), fixed head (8) and catch interface arrangement (9); One hand refers to that (6) are by singly referring to linking arm (6-1), singly referring to catch head (6-2), two and refer to that singly curved boom (6-3) and two refer to that singly connector (6-4) forms; Singly refer to catch head (6-2) and be arranged on the upper end that singly refers to linking arm (6-1), two refer to that singly curved boom (6-3) is symmetricly set on the both sides that singly refer to linking arm (6-1) with the center line (M-M) that singly refers to linking arm (6-1), and each refers to that singly an end of curved boom (6-3) is connected with singly referring to linking arm (6-1); Each refers to that singly the other end of curved boom (6-3) refers to singly that with one connector (6-4) is connected; Singly refer to linking arm (6-1), singly refer to catch head (6-2), two and refer to that singly curved boom (6-3) refers to singly that with two connector (6-4) processes one, both hands refer to (7) by two finger linking arms (7-1), two twoly refer to catch head (7-2), two two curved booms (7-3) and two two connectors (7-4) that refer to of referring to are formed, two pairs of fingers are caught (7-2) and are laterally arranged; Two two fingers are caught head (7-2) and all are arranged on two upper ends that refer to linking arms (7-1); Two two curved booms (7-3) that refer to are symmetricly set on two both sides that refer to linking arms (7-1) with the center line (N-N) of two finger linking arms (7-1), and each two end of curved booms (7-3) that refer to is connected with two linking arms (7-1) that refer to, each two other end of curved booms (7-3) that refer to is connected with one pair of finger connectors (7-4); Two finger linking arms (7-1), two are two to refer to catch head (7-2), two two curved booms (7-3) and two two finger connectors (7-4) of referring to are processed one; One hand refers to that (6) and both hands refer to that (7) are symmetrical set with the axis of worm shaft (3), and two refer to that singly connector (6-4) is installed on the worm-wheel shaft (5), and two two connectors (7-4) that refer to are installed on another worm-wheel shaft (5); The center line (M-M) that singly refers to linking arm (6-1) and two center lines (N-N) that refer to linking arms (7-1) are in same plane; Fixed head (8) is provided with V-shaped groove (8-1), and fixed head (8) is fixedly connected with housing (10), and V-shaped groove (8-1) is positioned at one hand and refers to that (6) and both hands refer between (7); The center line (P-P) of V-shaped groove (8-1) and the dead in line of worm shaft (3); Catch interface arrangement (9) and be made up of handle (9-1), two supports (9-2) and two hemisphere (9-3), two supports (9-2) are symmetricly set on the two ends of handle (9-1), and each support (9-2) is connected with handle (9-1) through a hemisphere (9-3); Handle after catching (9-1) is arranged in the V-shaped groove (8-1), and handle (9-1) is provided with the V-arrangement face (9-1-1) that matches with V-shaped groove (8-1).

2. arrest detent mechanism according to said three finger-types of claim 1; It is characterized in that: said detent mechanism also comprises single specific bit post (10) and two specific bit post (11); Single specific bit post (10) laterally arranges with V-shaped groove (8-1); And single specific bit post (10) is installed in and singly refers on the linking arm (6-1), and two specific bit posts (11) laterally arrange with V-shaped groove (8-1), and two specific bit post (11) is installed in two the finger on the linking arm (7-1).

3. arrest detent mechanism according to said three finger-types of claim 2, it is characterized in that: said pair of specific bit post (11) is symmetrical set with the center line (P-P) of said single specific bit post (10) with respect to V-shaped groove (8-1).