CN110450988A - A kind of foldable destination adapter suitable for the capture of big tolerance - Google Patents
A kind of foldable destination adapter suitable for the capture of big tolerance Download PDFInfo
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- CN110450988A CN110450988A CN201910653256.5A CN201910653256A CN110450988A CN 110450988 A CN110450988 A CN 110450988A CN 201910653256 A CN201910653256 A CN 201910653256A CN 110450988 A CN110450988 A CN 110450988A
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- capture
- bar
- capture bar
- locking
- destination adapter
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- Aviation & Aerospace Engineering (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
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Abstract
The present invention provides a kind of foldable destination adapter suitable for the capture of big tolerance, can be realized the low impact of space manipulator, big tolerance, high rigidity are captured and docked；And capture rod folding, reduce product envelope.The destination adapter includes: support construction and installation trapping module on the support structure, locating module, locking to connection module and capture bar unfolding mechanism；Trapping module is used for and the cable type capture mechanism cooperation on end effector, capture of the realization to destination adapter；Locating module is for the guiding and positioning in end effector and destination adapter docking operation；Lock the mechanical interlocking after docking for end effector with destination adapter to connection module and electrical docking；Bar unfolding mechanism is captured for capturing foldable locking and the unlock expansion of bar in trapping module；When capture bar is in folded state, capture bar is horizontally set on support construction surface；When capture bar is in unfolded state, capture bar is vertically set on support construction surface.
Description
Technical field
The present invention relates to a kind of adapters, and in particular to a kind of collapsible destination adapter belongs to space equipment technology neck
Domain.
Background technique
Destination adapter is mounted on target object, is used cooperatively with space manipulator end effector, realizes mechanical arm
Crawl and release operation to target object.Specifically: destination adapter is mounted on the target object for needing to be captured by mechanical arm
On, the capture to it is realized by mechanical arm and target object is moved to designated position under the control of mechanical arm.
At present succeeded in sending up using mechanical arm destination adapter have international space station Europe arm ERA destination adapter,
International space station mechanical arm system (SSRMS) destination adapter etc..The structure type of end effector is different, associated mesh
It is also different to mark adapter.Destination adapter, which is mostly used, at present is directly directed to the mode docked after positioning, impact with end effector
Greatly, and it can not achieve big tolerance capture.
Summary of the invention
In view of this, the present invention provides a kind of foldable destination adapter suitable for the capture of big tolerance, sky can be realized
The low impact of room machine arm, big tolerance, high rigidity are captured and are docked；And capture rod folding, reduce product envelope.
The described foldable destination adapter for being suitable for the capture of big tolerance includes: support construction and is mounted on the branch
Trapping module, locating module, locking on support structure is to connection module and capture bar unfolding mechanism；
The trapping module is used to cooperate with the cable type capture mechanism on end effector, realizes to destination adapter
Capture；The trapping module includes: capture bar and bulb, and described capture bar one end is mounted on support by capturing bar unfolding mechanism
In structure, other end connecting ball head；It is provided with steel wire rope groove on the bulb, when the cable type capture on the end effector
Mechanism by wirerope-winding in the steel wire rope groove when, complete to it is described capture bar capture；
The locating module is for the guiding and positioning in end effector and the destination adapter docking operation；
The locking is used for the mechanical interlocking after end effector is docked with destination adapter and electrical docking to connection module；
Foldable locking and unlock expansion of the capture bar unfolding mechanism for the capture bar；When the capture bar is in
When folded state, the capture bar is horizontally set on support construction surface；It is described to catch when the capture bar is in unfolded state
It obtains bar and is vertically set on support construction surface.
The locating module includes: stepped tooth and more than two guide holders, along week on the interface of the support construction
To more than two guide holders are distributed with, the positioning surface of the guide holder is the arcwall face of evagination, the arcwall face and end effector
The circumferentially distributed more than two arc grooves in butt end correspond cooperation, after capturing destination adapter for end effector
Guiding and coarse positioning；
The stepped tooth of two sections or more arc-shaped distributions, two sections of the above are provided on the interface of the support construction
Stepped tooth is located on same circumference, and two sections of stepped tooths described above are used for and two sections or more ladders on the end effector butt end
Shape tooth corresponds engagement.
The locking includes: locking head and floating electrical connector socket to connection module, in the interface of the support construction
Above circumferentially distributed there are two the above locking heads, and the locking head includes two locking claws being oppositely arranged；The locking head
For realizing that end effector is docked with the rigidity of destination adapter with the locking bed butt-joint locking on end effector；
The floating electrical connector socket is fixed on the support structure by angle box, when the locking head and end effector
On locking bed butt-joint locking after, electrical connector plug on the end effector and the floating electrical connector socket are inserted
It connects.
The capture bar unfolding mechanism includes: fold locking mechanisms and unlock unfolding mechanism；
The fold locking mechanisms include: compressor arm, compressor arm disconnecting device and spring B；The unlock unfolding mechanism packet
It includes: capture bar fixing seat, capture bar support base, sleeve and rotation axis；
The end of the capture bar is mounted at the top of capture bar support base by rotation axis, and the axis of the rotation axis is parallel
In the interface of the support construction, the capture bar can be rotated around the axis of rotation axis；It is machined on the capture bar
For installing the radial through-hole of the compressor arm, the bottom of the compressor arm is consolidated after being pierced by the radial through-hole with the support construction
It connects, top is pierced by the radial through-hole and is threadedly coupled with by nut A, and the nut A compresses capture bar；At the top of the compressor arm
The part for stretching out radial through-hole is set with spring B, and one end of the spring B and the capture bar contradict, the other end and compressor arm
The shaft shoulder of end contradicts；When the capture bar is in folded state, the spring B is in compressive state；The compressor arm is cut
Disconnected device is for cutting off the compressor arm, after the compressor arm is cut off, releases the foldable locking to the capture bar；
The capture bar fixing seat is fixed on inside the support construction, and the capture bar firm banking is hollow tubular
Structure, internal coaxial sleeve pass through its bottom shaft shoulder and the capture bar equipped with capture bar support base, the capture bar support base
Firm banking is affixed；The coaxial package sleeve between the capture bar firm banking and the capture bar support base, the sleeve
It is set with spring A outside, the one end the spring A and the capture bar support base bottom shaft shoulder contradict, the other end and the socket end
Portion's shaft shoulder contradicts；The sleeve top side is contacted with capture bar, when the capture bar is in folded state, the spring A
In compressive state, after fold locking mechanisms release the foldable locking to capture bar, the spring A pushes the sleeve along it
Axis moves upwards, and pushes the capture bar to rotate around the axis of the rotation axis by the sleeve；
Position between the capture bar upper rotary shaft and fold locking mechanisms is provided with the shaft shoulder, enables the shaft shoulder and rotation axis
Position between the end of place end is the root for capturing bar, when the capture bar is rotated in place, the root position of the capture bar
In in the capture bar support base, and the shaft shoulder of the capture bar and the upper surface of the sleeve contradict.
The utility model has the advantages that
(1) present invention can be realized space manipulator to target object using capture bar+wirerope-winding fit system
Low impact, big tolerance capture；
(2) by the way of locking claw+floating butt-jointed electric connector, it can be realized the Gao Gang of mechanical arm and target object
Degree is locked and is electrically docked；
(3) it in such a way that coarse positioning, accurate positioning gradually position, realizes the guiding of mechanical arm and target object and determines
Position；
(4) capture bar unfolding mechanism is devised, when being not used, capture bar folding is in a horizontal state, and reduces product envelope；
(5) leadage circuit is devised, electrostatic when mechanical arm is contacted with target object when can be realized operation on orbit is slow
It releases.
Detailed description of the invention
Fig. 1 and Fig. 2 is the overall structure diagram of destination adapter of the invention；
Fig. 3 is the operation principle schematic diagram of trapping module；
Fig. 4 is operation principle schematic diagram of the locking to connection module；
Fig. 5 is the cross-sectional view of the adapter；
Fig. 6 is the enlarged drawing for capturing bar unfolding mechanism.
Wherein: 1- captures bar, 2- bulb, 3- guide holder, 4- stepped tooth, 5- visual indicia, 6- cover board, 7- support ring, 8-
Mounting ring, 9- expansion bolt, 10- locking claw, 11- floating electrical connector socket, the angle 12- box, 13- capture bar unfolding mechanism,
14- captures bar firm banking, 15- captures bar support base, 16- sleeve, 17- spring A, 18- scroll spring, 19- rotation axis, 20-
Anti-escape cap, 21- honeycomb damping piece, 22- compressor arm, 23- spring B, 24- nut A, 25- ball pad, 26- priming system, 27- nut
B, 28- transition pad, 29- cushion, 30- reed, 31- conducting reed, 32- insulation contact, the short switch arm of 33-, 34- long switch
Arm, 35- swivel becket, 36- fixed ring, 37- wirerope A, 38- wirerope B, 39- wirerope C, 40- locking bed, 41- floating are electrically connected
Connect device plug
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present embodiment provides a kind of destination adapter, which can not only realize big tolerance high rigidity capture,
And capture rod folding, to improve the rigidity of product while reducing product envelope；And it can solve in-orbit state mechanical arm
Electrostatic when contacting with destination adapter is instantaneously released problem.
As depicted in figs. 1 and 2, which includes: support construction, trapping module, locating module, locking docking mould
Block, capture bar unfolding mechanism 13.
Support construction is the mounting platform of each component on destination adapter, comprising: support ring 7, cover board 6 and mounting ring 8, branch
Pushing out ring 7 is hollow ring structure, and bottom surface raises upward to form the frustum at middle part；The upper surface of frustum is lower than 7 outer circle of support ring
The upper surface in week；Cover board 6 is the recessed plectane in inversed taper platform in middle part, i.e., 6 center of cover board is back taper face；Cover board 6 is mounted on branch
The small end of the upper surface of 7 excircle of pushing out ring, the small end and 7 middle part frustum of support ring that make 6 middle part inversed taper platform of cover board contradicts.Cover board 6
It is designed as positive and negative frustum form with 7 structure of support ring, can be improved adapter overall stiffness.Support ring 7 by expansion bolt 9 with
Mounting ring 8 is connected, and mounting ring 8 is used to destination adapter being mounted on object, is connected, be can be realized by expansion bolt 9
The fast assembling-disassembling of support ring 7 and mounting ring 8.
Trapping module is used to cooperate with the cable type capture mechanism on end effector (end effector of mechanical arm), real
Existing mechanical arm captures the low impact of object, big tolerance.Trapping module includes: capture bar 1 and bulb 2, and capture 1 one end of bar is logical
It crosses capture bar unfolding mechanism 13 and is mounted on the center of support construction, other end connecting ball head 2 is provided with steel wire rope groove on bulb 2,
In use, cable type capture mechanism on end effector by wirerope-winding on capture bar 1, realize catching to capture bar 1
It obtains；Then wirerope is moved axially along capture bar 1, is caught in the steel wire rope groove on capture 1 end bulb 2 of bar；Thus end is held
Row device can be dragged to dragging of the capture realization of bar 1 to destination adapter by wirerope.
As shown in figure 3, cable type capture mechanism includes: swivel becket 35, fixed ring 36 and three wirerope (respectively steel wires
Restrict A37, wirerope B38 and wirerope C39), for 35 coaxial package of swivel becket outside fixed ring 36, swivel becket 35 can be in outside
Power drive is rotated around its own axis.Three wirerope are circumferentially distributed between swivel becket 35 and fixed ring 36, are
One end and swivel becket 35 are affixed, and the other end and fixed ring 36 are affixed, and the steel wire of three arcs is distributed along the circumference on connecting ball head 2
Rope groove, when capture bar 1 enters within the scope of the envelope of fixed ring 36, driving swivel becket 36 is rotated, and during being somebody's turn to do, is connect with capture bar 1
The wirerope of touching pushes capture bar 1 mobile to the center point of fixed ring 36, until capture bar 1 is located at 36 the center point of fixed ring, this
Shi Sangen wirerope-winding lives to capture bar 1, realizes the capture to capture bar 1；Then wirerope is moved axially along capture bar 1, is made
Three steel wire rope grooves on three wirerope and bulb 2 contradict cooperation completely.Three circumferentially distributed steel wire rope grooves, energy are set
Enough avoid in acquisition procedure wirerope and bulb for line contacts and generates stress and concentrates.Using trapping module can adapt to it is radial ±
The big capture tolerance of 100mm, axial direction ± 80mm.
The guiding and positioning that locating module is followed by near procedure for destination adapter and end effector in capture, positioning
Module includes: three guide holders 3 and stepped tooth 4, and three guide holders 3 are evenly distributed on the back taper face at 6 center of cover board, lead
It is the arcwall face of evagination, three arc grooves that the arcwall face and end effector butt end are evenly distributed to the positioning surface of seat 3
Cooperation, guiding and coarse positioning after realizing end effector capture destination adapter.The circle where three guide holders 3 on cover board 6
The periphery of circumferential surface is provided with the stepped tooth 4 of two sections of arcs, and the stepped tooth 4 of two sections of arcs is oppositely arranged on the same circumference, trapezoidal
Stepped tooth on tooth 4 and end effector butt end cooperates, and realizes the accurate positioning of end effector and destination adapter, positioning
Rotation error is completely eliminated in stepped tooth cooperation on stepped tooth 4 and end effector butt end in module afterwards in place.
Lock the mechanical interlocking after docking for destination adapter with end effector to connection module and electrical docking, packet
It includes: locking claw 10 and floating electrical connector socket 11；Locking claw 10 is arranged in pairs, in the upper surface of 7 excircle of support ring
Circumferentially distributed to have four pairs of locking claws 10, locking claw 10 is by realizing end with the retaining mechanism cooperation on end effector
Actuator is docked with the rigidity of adapter.Electrical connector plug 41 on floating electrical connector socket 11 and end effector is matched
It closes, realizes that end effector is docked with the electrical of destination adapter, floating electrical connector socket 11 is fixed on branch by angle box 12
On pushing out ring 7, floating electrical connector socket 11 corresponds in position with each pair of locking claw 10, and thus, it is possible in butt-joint locking
While realize electrical connector plug 41 docked with the electrical of floating electrical connector socket 11.Floating electrical connector socket 11 can expire
6000 life requirements can be no less than completely by using, and can adapt to inserting when in-orbit end effector is docked with destination adapter
With the temperature difference.
Its principle is as shown in figure 4, each pair of locking claw 10 is oppositely arranged and to form a locking head, the lock on end effector
Tight mechanism 40 includes two and is oppositely arranged openable and closable locking bed, and electrical connector plug 41 is located between two locking beds, initially
When, the folding end closure of two locking beds is able to enter retaining mechanism between two pairs of locking claws 10, then pushes
Electrical connector plug 41 is stretched out from the folding end of two locking beds electrically to be docked with floating electrical connector socket 11, at this time two locks
The folding end of tight seat is opened, and is limited respectively to two locking beds by two locking claws 10, prevents it from locking from two
It falls off in tight claw 10.
Capture bar unfolding mechanism 13 is used to capture foldable locking and the unlock expansion of bar 1；When transport or storage, bar 1 is captured
Folded state is under the action of capturing bar unfolding mechanism 13, i.e., capture bar 1 is horizontally set on 6 surface of cover board and (captures at this time
1 axis of bar is parallel with 6 surface of cover board)；When working condition, capture bar unfolding mechanism 13 is unlocked, and capture bar 1 is expanded in place in vertical
It is vertical with 6 surface of cover board to capture 1 axis of bar at this time for state.
As shown in Figure 5 and Figure 6, capture bar unfolding mechanism 13 includes: fold locking mechanisms and unlock unfolding mechanism, wherein rolling over
Folded locking mechanism includes: compressor arm 22, priming system 26 and spring B 23；Unlock unfolding mechanism includes: capture bar fixing seat 14, catches
Obtain bar support base 15, sleeve 16 and rotation axis 19.
The connection relationship of fold locking mechanisms are as follows: the end of capture bar 1 is mounted on capture bar support base by rotation axis 19
On 15, the axis of rotation axis 19 is parallel to 6 surface of cover board, and capture bar 1 can be rotated around the axis of rotation axis 19.In capture bar 1
Upper to be machined with radial through-hole close to 19 end of rotation axis, compressor arm 22 is mounted in the radial through-hole, and compressor arm 22 is used for capture
The folded state of bar 1 is locked.The bottom of compressor arm 22 is fixed in support ring 7 after being pierced by the radial through-hole by nut B,
And transition pad 28 and cushion 29 are provided between compressor arm 22 and support ring 7.It is logical that the top of compressor arm 22 is pierced by the radial direction
Hole is threadedly coupled with nut A24, and nut A24 compresses capture bar 1 by ball pad 25, and capture bar 1 is avoided to shake.Compressor arm 22 pushes up
The part that radial through-hole is stretched out in portion is set with spring B 23, and one end of spring B 23 and capture bar 1 contradict, the other end and compressor arm 22
The shaft shoulder of end contradicts, and when initial, spring B 23 is in compressive state, after compressor arm 22 is cut off, what compressor arm 22 was cut off
Partially (top half) is popped up from radial through-hole under the action of 23 restoring force of spring B, releases the fold latch to capture bar 1
It is fixed, it can be rotated around rotation axis 19.The outer cover that radial through-hole part is stretched out at the top of compressor arm 22 is equipped with anti-escape cap 20,
Anti-escape cap 20 is fixed on capture bar 1, and anti-escape cap 20 is used to accommodate the part popped up from radial through-hole after compressor arm 22 is cut off,
Honeycomb damping piece 21 is provided on the inner bottom surface of anti-escape cap 2.Priming system 26 for cutting off compressor arm 22 is mounted on cover board 6.
Unlock the connection relationship of unfolding mechanism are as follows: coaxial catch is provided in the centre bore of support ring 7 and cover board 6
Bar firm banking 14 is obtained, capture bar firm banking 14 is hollow tubular construction, and internal coaxial sleeve is equipped with capture bar support base
15, capture bar support base 15 is hollow barrel-type structure, affixed by its bottom shaft shoulder and capture bar firm banking 14, captures bar
1 end is mounted on 15 top of capture bar support base by rotation axis 19.Capture bar firm banking 14 and capture bar support base 15
Between coaxial package sleeve 16, spring A17, the one end spring A17 and the capture 15 bottom shaft shoulder of bar support base are set with outside sleeve 16
It contradicts, the other end and the 16 end shaft shoulder of sleeve contradict.16 top side of sleeve is contacted with capture bar 1, and capture bar 1 is in rugosity
When state, spring A17 is in compressive state, and after fold locking mechanisms release the foldable locking to capture bar 1, spring A17 is pushed
Sleeve 16 is moved upwards along its axis, and then pushes capture bar 1 to rotate around the axis of rotation axis 19 by sleeve 16.Turning simultaneously
The both ends of moving axis 19 are set with scroll spring 18, and one end of scroll spring 18 is fixed on 15 top of capture bar support base, the other end
It is connected with capture bar 1, when capture bar 1 is in folded state, scroll spring 18 compresses, and makes to capture bar 1 with around 19 turns of rotation axis
Dynamic trend, after releasing the foldable locking to capture bar 1, scroll spring 18 drives capture bar 1 to turn around the axis of rotation axis 19
Dynamic, scroll spring 18 pushes capture bar 1 to rotate around the axis of rotation axis 19 for secondary spring A17.
Position between capture 1 upper rotary shaft 19 of bar and fold locking mechanisms is provided with the shaft shoulder, enables the shaft shoulder and rotation axis
Position between 19 places end end is the root for capturing bar 1, when capturing bar 1 and being rotated in place (capture bar state in a vertical shape),
The root for capturing bar 1 is located in capture bar support base 15, and the shaft shoulder of capture bar 1 and 16 upper surface of sleeve contradict, and realize capture
Bar 1 is rotated in place limit.Capture is equipped with reed 30 on 1 rotation axis of bar, 19 place end end face, when capture bar 1 expands in place
When, reed 30 is caught in the corresponding groove of 16 top inner peripheral surface of sleeve, is not loosened after bouncing sleeve 16 in place, realizes capture
Bar 1 be rotated in place after locking.Conducting reed 31 is provided at the top of capture bar support base 15, when capture bar 1 is rotated in place, capture
The shaft shoulder on bar 1 is contacted with capture bar support base 15 by the way that reed 31 is connected, and can be realized capture bar 1 and capture bar support base 15
And conducting between capture bar firm banking 14.
It is internally provided with long switch arm 34 and short switch arm 33 in capture bar support base 15, in capture 1 rotation axis of bar, 19 institute
Insulation contact 32 is installed on the end face of end, when capture bar 1 is in folded state, long switch arm 34 does not connect with short switch arm 33
Touching, when capture bar 1 expands in place, insulation contact 32 depresses long switch arm 34, is allowed to contact conducting with short switch arm 33, exports
Location switch signal.
Capture the working principle of bar unfolding mechanism 13 are as follows: the detonation cutting compressor arm 22 of priming system 26 is released to capture bar 1
Foldable locking；It captures bar 1 to rotate under the collective effect of spring A17 and scroll spring 18 around rotation axis 19, rotation axis 19 rotates
After in place, sleeve 16 will capture bar 1 and capture bar support base 15 is waled, and realize the limit in place of capture bar 1.Sleeve 16 bounces
Behind position, the reed 30 being assemblied on capture bar 1 is caught in groove in sleeve 16, locking bushing 16, drags it not loose；It captures simultaneously
When bar 1 expands in place, the insulation contact 32 of capture 1 end of bar depresses long switch arm 34, is allowed to contact conducting with short switch arm 33,
Export location switch signal.
It captures bar 1 to be connected by conducting reed 31 and capture bar support base 15 and capture bar firm banking 14, captures bar
It is insulated between firm banking 14 and support ring 7 by felt pad 35, to realize capture bar firm banking 14 and destination adapter
It is isolated between support construction, and concatenates bleeder resistance 36 between capture bar firm banking 14 and support ring 7, forms electrostatic leakage
Slow channel, avoid electrostatic instantaneously release caused by damaged products.
The overall work principle of the destination adapter are as follows: destination adapter is mounted on target object, in destination adapter
Capture bar 1 be in expand in place state；When target object will be grabbed by mechanical arm by needing, pass through end first
Vision system on actuator identifies the visual indicia 5 being arranged on cover board 6, to identify destination adapter and obtain mesh
Mark position and the posture of adapter opposing end portions actuator；Then end effector is mobile towards destination adapter position,
The capture bar 1 on destination adapter is captured and dragged by cable type capture mechanism；Then by locating module to end
It holds actuator and destination adapter to carry out guide-localization, makes end effector and destination adapter Dock With Precision Position；After the completion of docking,
Mechanical interlocking is carried out with end effector to destination adapter to connection module by locking and is electrically docked.
To sum up, the above is merely preferred embodiments of the present invention, it is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in protection of the invention
Within the scope of.
Claims (10)
1. a kind of foldable destination adapter suitable for the capture of big tolerance characterized by comprising support construction and installation
Trapping module, locating module, locking in the support construction is to connection module and capture bar unfolding mechanism (13)；
The trapping module is used to catch destination adapter with the cable type capture mechanism cooperation on end effector, realization
It obtains；The trapping module includes: capture bar (1) and bulb (2), and the capture bar (1) one end passes through capture bar unfolding mechanism
(13) it installs on the support structure, other end connecting ball head (2)；It is provided with steel wire rope groove on the bulb (2), when the end
Cable type capture mechanism on actuator by wirerope-winding in the steel wire rope groove when, complete to capture bar (1)
Capture；
The locating module is for the guiding and positioning in end effector and the destination adapter docking operation；
The locking is used for the mechanical interlocking after end effector is docked with destination adapter and electrical docking to connection module；
Foldable locking and unlock expansion of capture bar unfolding mechanism (13) for capture bar (1)；When the capture bar
(1) when being in folded state, the capture bar (1) is horizontally set on support construction surface；When the capture bar (1) is in expansion
When state, the capture bar (1) is vertically set on support construction surface.
2. being suitable for the foldable destination adapter of big tolerance capture as described in claim 1, it is characterised in that: the positioning
Module includes: stepped tooth (4) and more than two guide holder (3), circumferentially distributed on the interface of the support construction to have two
A above guide holder (3), the positioning surface of the guide holder (3) are the arcwall face of evagination, which docks with end effector
Circumferentially distributed more than two arc grooves are held to correspond cooperation, the guiding after destination adapter is captured for end effector
And coarse positioning；
The stepped tooth (4) of two sections or more arc-shaped distributions, two sections of the above are provided on the interface of the support construction
Stepped tooth (4) is located on same circumference, and two sections of stepped tooths (4) described above are used for and two sections on the end effector butt end
The above stepped tooth corresponds engagement.
3. being suitable for the foldable destination adapter of big tolerance capture as described in claim 1, it is characterised in that: the locking
It include: locking head and floating electrical connector socket (11) to connection module, it is circumferentially distributed on the interface of the support construction
There are two the above locking heads, and the locking head includes two locking claws (10) being oppositely arranged；The locking head is used for and end
Locking bed butt-joint locking on the actuator of end realizes that end effector is docked with the rigidity of destination adapter；
The floating electrical connector socket (11) is fixed on the support structure by angle box (12), when the locking head is held with end
Electrical connector plug (41) and the floating electrical connector after locking bed butt-joint locking on row device, on the end effector
Socket (11) grafting.
4. the foldable destination adapter as claimed in claim 1,2 or 3 suitable for the capture of big tolerance, it is characterised in that: institute
Stating capture bar unfolding mechanism (13) includes: fold locking mechanisms and unlock unfolding mechanism；
The fold locking mechanisms include: compressor arm (22), compressor arm disconnecting device and spring B (23)；The unlock unwinder
Structure includes: capture bar fixing seat (14), capture bar support base (15), sleeve (16) and rotation axis (19)；
The end of capture bar (1) is mounted at the top of capture bar support base (15) by rotation axis (19), the rotation axis
(19) axis is parallel to the interface of the support construction, and capture bar (1) can rotate around the axis of rotation axis (19)；
The radial through-hole for installing the compressor arm (22), the bottom of the compressor arm (22) are machined on capture bar (1)
It is pierced by affixed with the support construction after the radial through-hole, top is pierced by the radial through-hole and is threadedly coupled with by nut A (24),
The nut A (24) compresses capture bar (1)；The part that radial through-hole is stretched out at the top of the compressor arm (22) is set with spring B
(23), one end of the spring B (23) and the capture bar (1) contradict, and the shaft shoulder of the other end and compressor arm (22) end contradicts；
When the capture bar (1) is in folded state, the spring B (23) is in compressive state；The compressor arm disconnecting device is used
In cutting off the compressor arm (22), after the compressor arm (22) is cut off, the foldable locking to capture bar (1) is released；
The capture bar fixing seat (14) is fixed on inside the support construction, and the capture bar firm banking (14) is hollow
Tubular construction, internal coaxial sleeve pass through its bottom shaft shoulder equipped with capture bar support base (15), the capture bar support base (15)
It is affixed with the capture bar firm banking (14)；The capture bar firm banking (14) and the capture bar support base (15) it
Between coaxial package sleeve (16), be set with spring A (17) outside the sleeve (16), described (17) one end spring A and the capture
Bar support base (15) the bottom shaft shoulder contradicts, and the other end and the sleeve (16) the end shaft shoulder contradict；One at the top of the sleeve (16)
Side is contacted with capture bar (1), and when the capture bar (1) is in folded state, the spring A (17) is in compressive state, when
After fold locking mechanisms release the foldable locking to capture bar (1), the spring A (17) pushes the sleeve (16) along its axis
It moves upwards, pushes capture bar (1) to rotate around the axis of the rotation axis (19) by the sleeve (16)；
Position between described capture bar (1) upper rotary shaft (19) and fold locking mechanisms is provided with the shaft shoulder, enables the shaft shoulder and turns
Position where moving axis (19) between the end of end is the root for capturing bar (1), described when the capture bar (1) is rotated in place
The root of capture bar (1) is located in the capture bar support base (15), and the shaft shoulder of capture bar (1) and the sleeve (16)
Upper surface contradict.
5. being suitable for the foldable destination adapter of big tolerance capture as claimed in claim 4, it is characterised in that: at described turn
The axial ends of moving axis (19) is set with scroll spring (18), and one end of the scroll spring (18) is fixed on capture bar support base
(15) top, the other end is connected with the capture bar (1), when the capture bar (1) is in folded state, the scroll spring
(18) compressed, after releasing the foldable locking to capture bar (1), the scroll spring (18) drive the capture bar (1) around
The axis of the rotation axis (19) rotates.
6. being suitable for the foldable destination adapter of big tolerance capture as claimed in claim 4, it is characterised in that: caught described
It obtains and is provided with conducting reed (31) at the top of bar support base (15), the conducting reed (31) is used to rotate in the capture bar (1)
After in place, conducting between capture bar (1) and capture bar support base (15) and capture bar firm banking (14)；
It is insulated between the capture bar firm banking (14) and support ring (7) by felt pad (35)；In the capture bar firm banking
(14) it is serially connected between support ring (7) bleeder resistance (36), forms the slow leakage path of electrostatic.
7. being suitable for the foldable destination adapter of big tolerance capture as claimed in claim 4, it is characterised in that: caught described
Reed (30) are installed on the end face at end where obtaining bar (1) upper rotary shaft (19), when the capture bar (1) expands in place, institute
It states (30) to be caught at the top of sleeve (16) in the corresponding groove of inner peripheral surface, expands in place locking for the capture bar (1).
8. being suitable for the foldable destination adapter of big tolerance capture as claimed in claim 4, it is characterised in that: in the set
Cylinder (16) is internally provided with long switch arm (34) and short switch arm (33), at end where capture bar (1) upper rotary shaft (19)
End is equipped with insulation contact (32)；When the capture bar (1) is in folded state, (34) and short switch arm (33) are no
Contact, when the capture bar (1) expands in place, the insulation contact (32) pushes long switch arm (34), makes the long switch
Arm (34) contacts conducting with short switch arm (33), exports location switch signal.
9. being suitable for the foldable destination adapter of big tolerance capture as claimed in claim 4, it is characterised in that: in the pressure
The outer cover that radial through-hole part is stretched out at the top of tight bar (22) is equipped with anti-escape cap (20), and the anti-escape cap (20) is fixed on described catch
It obtains on bar (1), the anti-escape cap (20) is used to accommodate the part popped up from radial through-hole after compressor arm (22) are cut off.
10. the foldable destination adapter as claimed in any one of claims 1-3 suitable for the capture of big tolerance, feature exist
In: the support construction includes: support ring (7), cover board (6) and mounting ring (8), and the support ring (7) is hollow ring structure,
Its bottom surface raises upward to form the frustum at middle part；The upper surface of the frustum is lower than the upper surface of support ring (7) excircle；It is described
Cover board (6) is the recessed plectane in inversed taper platform in middle part；The cover board (6) is mounted on the upper surface of support ring (7) excircle, and institute
The small end of the small end of inversed taper platform and the support ring (7) middle part frustum in the middle part of cover board (6) is stated to contradict；The pushing out ring (7) and cover board
(6) the centre bore being provided centrally with for passing through capture bar unfolding mechanism (13)；The support ring (7) passes through expansion
Bolt (9) is connected with the mounting ring (8), and the mounting ring (8) is used to destination adapter being mounted on object.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910653256.5A CN110450988B (en) | 2019-07-19 | 2019-07-19 | Foldable target adapter suitable for large-tolerance capture |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910653256.5A CN110450988B (en) | 2019-07-19 | 2019-07-19 | Foldable target adapter suitable for large-tolerance capture |
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| CN110450988A true CN110450988A (en) | 2019-11-15 |
| CN110450988B CN110450988B (en) | 2020-11-20 |
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| CN201910653256.5A Active CN110450988B (en) | 2019-07-19 | 2019-07-19 | Foldable target adapter suitable for large-tolerance capture |
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