CN1759994A - Space robot paw - Google Patents
Space robot paw Download PDFInfo
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- CN1759994A CN1759994A CN 200510010535 CN200510010535A CN1759994A CN 1759994 A CN1759994 A CN 1759994A CN 200510010535 CN200510010535 CN 200510010535 CN 200510010535 A CN200510010535 A CN 200510010535A CN 1759994 A CN1759994 A CN 1759994A
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Abstract
A grip of space robot is disclosed, which features wide capture range and high locating precision. The motor position sensor is fixed to motor driver connected to supporting sleeve fixed to harmonic speed reducer installed to mainshaft of motor and connected with drive flange. Said drive flange is fixed to shaft-end flange connected with finger position sensors. The gear drive unit on drive flange is connected respectively with the single-finger and dual-finger 4-connection-rod units. The contact sensor is arranged in V-shaped slot on shell.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of space robot paw.
Background technology
Along with the development of Robotics, robot is used in the more particular surroundings.Robot must have suitable terminal robot hand to match with it and finish corresponding task in order to finish particular task.So far, domestic, the world existing many achievements in research in this field are the operation type executing agencies of multiple sensing functions such as Ji Lijue, sense of touch, sliding feel, approaching feel as the domestic Hefei intelligence institute " microsensor and specialized robot " that has; Harbin Institute of Technology's robot research has been developed " the integrated paw of multisensor system ", and this paw has two parallel fingers, and motor drives quadric chain by ball-screw and carries out grasping; The ROTEX robot that Germany is abroad arranged, mechanism adopts feed screw nut and quadric chain to have quick replacement device; The ETS-VII humanoid robot hand of Japan adopts the folding finger and aligning guide is arranged; The space paw of installing on Canada's space arm then adopts the lack of driven structure, and three fingers are finished the space grasping.But these robot hands of more than enumerating all exist the not unique problem definite, easy lose objects in the grasping process of little, the final grip locations of paw capture range to some extent.
Summary of the invention
The objective of the invention is in use to have the not unique a kind of space robot paw definite, that easy lose objects problem provides in the grasping process of little, the final grip locations of paw capture range for solving existing specialized robot paw.It comprises shell 1, motor driver; It comprises that also motor position sensor, harmonic speed reducer parts, gear drive, one hand refer to that quadric chain, both hands refer to quadric chain, finger position sensor, support set 9, drive flange 10, boss 11, end face cover plate 12, V-arrangement locating slot 13, feeler; Magnet ring 3-1-1 in the motor position sensor is installed on the machine shaft 2-1 in the motor driver, motor housing 2-2 in the motor driver is fixedlyed connected with support set 9, support set 9 is fixedlyed connected with the firm 4-1 of wheel in the harmonic speed reducer parts, wave producer 4-2 in the harmonic speed reducer parts is installed on the machine shaft 2-1, flexbile gear ring 4-3 in the harmonic speed reducer parts is fixedlyed connected with driving flange 10, driving flange 10 fixedlys connected with boss 11, boss 11 is fixedlyed connected with the brush ring 8-1 in the finger position sensor, drive the differential bevel wheel 5-1 that fixedly is equipped with on the flange 10 in the gear drive, driven one hand in the gear drive refers to bevel gear 5-2 and singlehanded refers to that one hand in the quadric chain refers to that the end of drive rod 6-1 fixedlys connected, driven both hands in the gear drive refer to that bevel gear 5-3 and both hands refer to that both hands in the quadric chain refer to that the end of drive rod 7-1 fixedlys connected, one hand refers to that quadric chain and both hands refer to the relative V-arrangement locating slot 13 symmetry placements of quadric chain, V-arrangement locating slot 13 is positioned at the top of finger position sensor, V-arrangement locating slot 13 is fixedlyed connected with shell 1, feeler fixedly is housed in the V-arrangement locating slot 13, boss 11 is connected with end face cover plate 12 by bearing 15, and end face cover plate 12 is fixedlyed connected with shell 1; Described one hand refers to that the one hand in the quadric chain refers to that 6-2 and singlehanded finger tip 6-12 and both hands refer to that the both hands in the quadric chain refer to that 7-2 and both hands finger tip 7-12 all adopt the inclined wedge-shaped structure, described one hand refers to that 6-2 and one hand finger tip 6-12 constitute hook-shaped finger shape, and described both hands refer to that 7-2 and both hands finger tip 7-12 constitute hook-shaped finger shape.
The present invention has following beneficial effect: one, the process of space robot paw imitation people grasped object of the present invention, the grasping finger adopts the opposite opened quadric chain, hook-shaped finger shape helps carrying out envelope in a big way when grasping, prevent that being grabbed object escape and restriction is grabbed the position deviation of object, utilizing the inclined wedge-shaped structure of singlehanded finger tip and both hands finger tip and joint shaft will be in the envelope scope quilt of optional position then grabs object and imports in the V-arrangement locating slot, thereby the six-freedom degree of object is grabbed in restriction, realizes being grabbed the locking of object.Two, in order to realize envelope on a large scale and to prevent motion stuck phenomenon in the grasping process, adopt quadric chain to drive the grasping finger, have that speed is fast, the envelope scope is big and gyration advantage flexibly.Three, one hand refers to and one hand finger tip and both hands refer to and the both hands finger tip all adopts the inclined wedge-shaped structure as spigot surface, can progressively insert and be grabbed the object rear side, thereby limit the translation of being grabbed object.Four, adopt the V-arrangement locating slot can limit floating four frees degree of being grabbed object.Five, in order to realize that one hand refers to that quadric chain and both hands refer to the relative motion of quadric chain, adopt the harmonic speed reducer component slows down and drive driven one hand and refer to that bevel gear and driven both hands refer to the bevel gear rotation by differential bevel wheel, and refer to that by driven one hand bevel gear and driven both hands refer to that bevel gear is divided into two two motions that the constant speed direction is opposite, refer to that quadric chain and both hands refer to the quadric chain rotation thereby drive one hand.Six, the present invention have the envelope scope big, allow to be grabbed object have, motion unique than large deviation, locking attitude fast, paw position closed loop control and have the advantage of grasping perceptional function.
Description of drawings
Fig. 1 is main TV structure figure of the present invention, Fig. 2 is the A-A cutaway view of Fig. 1, Fig. 3 is the E-E cutaway view of Fig. 1, Fig. 4 is the D-D cutaway view of Fig. 1, Fig. 5 is an external structure vertical view of the present invention, Fig. 6 is the F-F cutaway view of Fig. 1, Fig. 7 is that the B of Fig. 1 is to view, Fig. 8 is the profile of feeler, Fig. 9 is the structural representation that brush 8-2-1 and magnet steel 8-3-1 are housed on the brush ring 8-1, and Figure 10 is the structural representation that end face cover plate 12, circuit board 8-4, Hall element 8-3-2 and resistance 8-2-2 fit together.
The specific embodiment
The specific embodiment one: in conjunction with Fig. 1, Fig. 2, Fig. 5, Fig. 7 present embodiment is described, present embodiment by shell 1, motor driver, motor position sensor, harmonic speed reducer parts, gear drive, one hand refer to that quadric chain, both hands refer to quadric chain, finger position sensor, support set 9, drive flange 10, boss 11, end face cover plate 12, V-arrangement locating slot 13, feeler form; Magnet ring 3-1-1 in the motor position sensor is installed on the machine shaft 2-1 in the motor driver, motor housing 2-2 in the motor driver is fixedlyed connected with support set 9, support set 9 is fixedlyed connected with the firm 4-1 of wheel in the harmonic speed reducer parts, wave producer 4-2 in the harmonic speed reducer parts is installed on the machine shaft 2-1, flexbile gear ring 4-3 in the harmonic speed reducer parts is fixedlyed connected with driving flange 10, driving flange 10 fixedlys connected with boss 11, boss 11 is fixedlyed connected with the brush ring 8-1 in the finger position sensor, drive the differential bevel wheel 5-1 that fixedly is equipped with on the flange 10 in the gear drive, driven one hand in the gear drive refers to bevel gear 5-2 and singlehanded refers to that one hand in the quadric chain refers to that the end of drive rod 6-1 fixedlys connected, driven both hands in the gear drive refer to that bevel gear 5-3 and both hands refer to that both hands in the quadric chain refer to that the end of drive rod 7-1 fixedlys connected, one hand refers to that quadric chain and both hands refer to the relative V-arrangement locating slot 13 symmetry placements of quadric chain, V-arrangement locating slot 13 is positioned at the top of finger position sensor, V-arrangement locating slot 13 is fixedlyed connected with shell 1, feeler fixedly is housed in the V-arrangement locating slot 13, boss 11 is connected with end face cover plate 12 by bearing 15, and end face cover plate 12 is fixedlyed connected with shell 1; Described one hand refers to that the one hand in the quadric chain refers to that 6-2 and singlehanded finger tip 6-12 and both hands refer to that the both hands in the quadric chain refer to that 7-2 and both hands finger tip 7-12 all adopt the inclined wedge-shaped structure, described one hand refers to that 6-2 and one hand finger tip 6-12 constitute hook-shaped finger shape, and described both hands refer to that 7-2 and both hands finger tip 7-12 constitute hook-shaped finger shape.
Harmonic speed reducer parts in the present embodiment adopt the HFUS-14-50-2A-GR type speed reducer of German Harmonic Drive company.
The specific embodiment two: in conjunction with Fig. 1, Fig. 2 present embodiment is described, the motor position sensor of present embodiment is made up of magnetic coder and the intrinsic digital Hall element of motor itself; Magnetic coder is made up of magnet ring 3-1-1, magnet ring testing circuit 3-1-2; Magnet ring 3-1-1 is installed on the excircle end face of machine shaft 2-1, and the magnet ring testing circuit 3-1-2 of fixedlying connected with motor housing 2-2 is equipped with in the outside of magnet ring 3-1-1.Adopt motor position sensor, constitute the motor position detection system by magnetic coder and the intrinsic digital Hall element of motor itself, magnet ring testing circuit 3-1-2 is installed on the motor housing 2-2, in order to the turned position of record motor.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: in conjunction with Fig. 1, Fig. 2 present embodiment is described, the motor driver of present embodiment is a dc brushless motor; Described dc brushless motor is made up of machine shaft 2-1, motor housing 2-2, motor stator 2-3, the first motor bearings 2-4, bearing cap 2-5, the second motor bearings 2-6; Motor stator 2-3 is fixedlyed connected with motor housing 2-2, machine shaft 2-1 is housed in the motor stator 2-3, the first motor bearings 2-4 is housed between machine shaft 2-1 and the motor housing 2-2, the first motor bearings 2-4 is by bearing cap 2-5 location, bearing cap 2-5 is fixedlyed connected with motor housing 2-2, the second motor bearings 2-6 is housed between machine shaft 2-1 and the motor housing 2-2, and motor housing 2-2 is fixedlyed connected with support set 9.Adopt dc brushless motor, be convenient to its control.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: in conjunction with Fig. 1, Fig. 2, Fig. 3 present embodiment is described, the gear drive of present embodiment refers to that by differential bevel wheel 5-1, driven one hand bevel gear 5-2, driven both hands refer to that bevel gear 5-3, driven one hand refer to that bevel gear shaft 5-4, driven both hands refer to that bevel gear shaft 5-5, driven one hand refer to that bevel gear bearing 5-6, driven both hands refer to that bevel gear bearing 5-7 forms; Differential bevel wheel 5-1 is installed on the excircle end face that drives flange 10, differential bevel wheel 5-1 refers to that with driven one hand bevel gear 5-2 and driven both hands refer to bevel gear 5-3 engagement respectively, driven one hand refers to that bevel gear 5-2 is contained in driven one hand and refers on the bevel gear shaft 5-4, driven one hand refers to that bevel gear 5-2 and driven one hand refer to be equipped with between the bevel gear shaft 5-4 driven one hand and refer to bevel gear bearing 5-6, driven one hand refers to that the end of bevel gear shaft 5-4 fixedlys connected with shell 1, driven both hands refer to that bevel gear 5-3 is contained in driven both hands and refers on the bevel gear shaft 5-5, driven both hands refer to that bevel gear 5-3 and driven both hands refer to be equipped with between the bevel gear shaft 5-5 driven both hands and refer to bevel gear bearing 5-7, and driven both hands refer to that the end of bevel gear shaft 5-5 fixedlys connected with shell 1.Adopt the gear drive of said structure power to be referred to that through driven one hand bevel gear 5-2 and driven both hands refer to that bevel gear 5-3 passes to one hand and refers to that quadric chain and both hands refer to quadric chain respectively, refer to that 6-2 and both hands refer to that 7-2 carries out envelope movement thereby drive one hand by differential bevel wheel 5-1.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment five: in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4 present embodiment is described, the one hand of present embodiment refers to that quadric chain refers to that by one hand drive rod 6-1, one hand refer to that 6-2, one hand refer to that connecting rod 6-3, clutch shaft bearing 6-4, first 6-5, the first end cap 6-6, the first shaft-cup 6-7, singlehanded articulations digitorum manus axle 6-8, the second bearing 6-9, the 3rd bearing 6-10, one hand refer to that pitman shaft 6-11, one hand finger tip 6-12 form; One hand refers to that the end of drive rod 6-1 is installed on driven one hand and refers on the connecting axle of bevel gear 5-2, one hand refers to that the other end of drive rod 6-1 is contained in first 6-5 by clutch shaft bearing 6-4 and upward and by first 6-5 refers to that with singlehanded the tail end of 6-2 is connected, one hand refers to that the head end of 6-2 is connected with one hand finger tip 6-12, fixedly connected with the first shaft-cup 6-7 with the first end cap 6-6 respectively in the two ends of first 6-5, refer to that with one hand the singlehanded articulations digitorum manus axle 6-8 that 6-2 is fixedlyed connected refers to that with singlehanded the end of connecting rod 6-3 is hinged by the second bearing 6-9, one hand refers to that the other end of connecting rod 6-3 refers to that by the 3rd bearing 6-10 and one hand pitman shaft 6-11 is hinged, and one hand refers to that pitman shaft 6-11 fixedlys connected with shell 1.Adopt the one hand of said structure to refer to quadric chain, but bonding finger 6-2 motion nimbly and freely.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment six: in conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 6 present embodiment is described, the both hands of present embodiment refer to that quadric chain refers to that by both hands drive rod 7-1, both hands refer to that 7-2, both hands refer to that connecting rod 7-3, the 4th bearing 7-4, second 7-5, the second end cap 7-6, the second shaft-cup 7-7, both hands articulations digitorum manus axle 7-8, the 5th bearing 7-9, the 6th bearing 7-10, both hands refer to that pitman shaft 7-11, both hands refer to that finger tip 7-12 forms; Both hands refer to that the end of drive rod 7-1 is installed on driven both hands and refers on the connecting axle of bevel gear 5-3, both hands refer to that the other end of drive rod 7-1 is contained in second 7-5 by the 4th bearing 7-4 and upward and by second 7-5 refers to that with both hands the tail end of 7-2 is connected, both hands refer to that the head end of 7-2 is connected with both hands finger tip 7-12, fixedly connected with the second shaft-cup 7-7 with the second end cap 7-6 respectively in the two ends of second 7-5, refer to that with both hands the both hands articulations digitorum manus axle 7-8 that 7-2 is fixedlyed connected refers to that by the 5th bearing 7-9 and both hands the end of connecting rod 7-3 is hinged, both hands refer to that the other end of connecting rod 7-3 refers to that by the 6th bearing 7-10 and both hands pitman shaft 7-11 is hinged, and both hands refer to that pitman shaft 7-11 fixedlys connected with shell 1.Adopt the both hands of said structure to refer to quadric chain, can guarantee that both hands refer to the 7-2 motion nimbly and freely.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment seven: in conjunction with Fig. 9, Figure 10 present embodiment is described, the finger position sensor of present embodiment is made up of brush ring 8-1, potentiometer, Hall limit switch, circuit board 8-4; Described potentiometer is made up of brush 8-2-1 and resistance 8-2-2; Described Hall limit switch is made up of magnet steel 8-3-1 and Hall element 8-3-2; On the excircle end face of brush ring 8-1 brush 8-2-1 is housed, brush ring 8-1 is fixedlyed connected with driving flange 10 by boss 11, on the excircle end face of brush 8-2-1 end face cover plate 12 is housed, circuit board 8-4 is housed on the end face cover plate 12, circuit board 8-4 goes up resistance 8-2-2 and Hall element 8-3-2 fixedly is housed, and magnet steel 8-3-1 is contained on the brush ring 8-1.Adopt the finger position sensor of this structure, when driving flange 10 rotations, brush ring 8-1 and brush 8-2-1 rotate thereupon, and brush 8-2-1 slips over potentiometer and produces corresponding angle signal.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment eight: in conjunction with Fig. 1, Fig. 2, Fig. 8 present embodiment is described, the feeler of present embodiment is made up of sensor 14-1 and foil gauge 14-2; Sensor 14-1 and V-type locating slot 13 post foil gauge 14-2 on the adjacent surface.Adopt the feeler of said structure, after one hand refers to that 6-2 and both hands refer to that 7-2 finishes the locking motion, feeler is subjected to being grabbed the extruding of object, foil gauge 14-2 distortion, when being locked against the precalculated position, object can be produced corresponding pressure and foil gauge 14-2 output voltage when grabbing, this voltage is that a threshold signal is sent in the main control computer, and the locking motion is finished in expression, is grabbed object accurately to be located.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment nine: in conjunction with Fig. 1, Fig. 2 present embodiment is described, the shell 1 of present embodiment, one hand refer to that 6-2 and one hand finger tip 6-12, both hands refer to that 7-2 and both hands finger tip 7-12, V-arrangement locating slot 13 and feeler all adopt aluminum alloy materials to make.Above-mentioned member adopts this material to make, and when it has certain intensity and rigidity in assurance, also can alleviate overall weight.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment ten: in conjunction with Fig. 1, Fig. 2, Fig. 3 present embodiment is described, the motor driver of present embodiment, motor position sensor, finger position sensor, flexbile gear ring 4-3, support set 9, driving flange 10, boss 11, end face cover plate 12, one hand refer to that drive rod 6-1, one hand refer to that connecting rod 6-3, both hands refer to that drive rod 7-1 and both hands refer to that connecting rod 7-3 all adopts titanium alloy material to make.Above-mentioned member adopts titanium alloy material to make, and when reducing overall structure weight, also can improve bulk strength, makes this robot hand to temperature higher adaptive capacity be arranged.
Claims (10)
1, a kind of space robot paw, it comprises aluminum alloy casing (1), motor driver; It is characterized in that it comprises that also motor position sensor, harmonic speed reducer parts, gear drive, one hand refer to that quadric chain, both hands refer to quadric chain, finger position sensor, support set (9), drive flange (10), boss (11), end face cover plate (12), V-arrangement locating slot (13), feeler; Magnet ring in the motor position sensor (3-1-1) is installed on the machine shaft (2-1) in the motor driver, motor housing in the motor driver (2-2) is fixedlyed connected with support set (9), support set (9) is fixedlyed connected with the firm wheel (4-1) in the harmonic speed reducer parts, wave producer in the harmonic speed reducer parts (4-2) is installed on the machine shaft (2-1), flexbile gear ring (4-3) in the harmonic speed reducer parts is fixedlyed connected with driving flange (10), driving flange (10) fixedlys connected with boss (11), boss (11) is fixedlyed connected with the brush ring (8-1) in the finger position sensor, drive flange (10) and go up the differential bevel wheel (5-1) that fixedly is equipped with in the gear drive, driven one hand in the gear drive refers to bevel gear (5-2) and singlehanded refers to that one hand in the quadric chain refers to that an end of drive rod (6-1) fixedlys connected, driven both hands in the gear drive refer to that bevel gear (5-3) and both hands refer to that both hands in the quadric chain refer to that an end of drive rod (7-1) fixedlys connected, one hand refers to that quadric chain and both hands refer to the placement of the relative V-arrangement locating slot of quadric chain (13) symmetry, V-arrangement locating slot (13) is positioned at the top of finger position sensor, V-arrangement locating slot (13) is fixedlyed connected with shell (1), feeler fixedly is housed in the V-arrangement locating slot (13), boss (11) is connected with end face cover plate (12) by bearing (15), and end face cover plate (12) is fixedlyed connected with shell (1); Described one hand refers to that the one hand in the quadric chain refers to that (6-2) and one hand finger tip (6-12) and both hands refer to that the both hands in the quadric chain refer to that (7-2) and both hands finger tip (7-12) all adopt the inclined wedge-shaped structure, described one hand refers to that (6-2) and one hand finger tip (6-12) constitute hook-shaped finger shape, and described both hands refer to that (7-2) and both hands finger tip (7-12) constitute hook-shaped finger shape.
2, space robot paw according to claim 1 is characterized in that motor position sensor is made up of magnetic coder and the intrinsic digital Hall element of motor itself; Magnetic coder is made up of magnet ring (3-1-1), magnet ring testing circuit (3-1-2); Magnet ring (3-1-1) is installed on the excircle end face of machine shaft (2-1), and the magnet ring testing circuit (3-1-2) of fixedlying connected with motor housing (2-2) is equipped with in the outside of magnet ring (3-1-1).
3, space robot paw according to claim 1 is characterized in that motor driver is a dc brushless motor; Described dc brushless motor is made up of machine shaft (2-1), motor housing (2-2), motor stator (2-3), first motor bearings (2-4), bearing cap (2-5), second motor bearings (2-6); Motor stator (2-3) is fixedlyed connected with motor housing (2-2), machine shaft (2-1) is housed in the motor stator (2-3), between machine shaft (2-1) and the motor housing (2-2) first motor bearings (2-4) is housed, first motor bearings (2-4) is by bearing cap (2-5) location, bearing cap (2-5) is fixedlyed connected with motor housing (2-2), between machine shaft (2-1) and the motor housing (2-2) second motor bearings (2-6) is housed, motor housing (2-2) is fixedlyed connected with support set (9).
4, space robot paw according to claim 1 is characterized in that gear drive refers to that by differential bevel wheel (5-1), driven one hand bevel gear (5-2), driven both hands refer to that bevel gear (5-3), driven one hand refer to that bevel gear shaft (5-4), driven both hands refer to that bevel gear shaft (5-5), driven one hand refer to that bevel gear bearing (5-6), driven both hands refer to that bevel gear bearing (5-7) forms; Differential bevel wheel (5-1) is installed on the excircle end face that drives flange (10), differential bevel wheel (5-1) refers to that with driven one hand bevel gear (5-2) and driven both hands refer to bevel gear (5-3) engagement respectively, driven one hand refers to that bevel gear (5-2) is contained in driven one hand and refers on the bevel gear shaft (5-4), driven one hand refers to that bevel gear (5-2) and driven one hand refer to be equipped with between the bevel gear shaft (5-4) driven one hand and refer to bevel gear bearing (5-6), driven one hand refers to that an end of bevel gear shaft (5-4) fixedlys connected with shell (1), driven both hands refer to that bevel gear (5-3) is contained in driven both hands and refers on the bevel gear shaft (5-5), driven both hands refer to that bevel gear (5-3) and driven both hands refer to be equipped with between the bevel gear shaft (5-5) driven both hands and refer to bevel gear bearing (5-7), and driven both hands refer to that an end of bevel gear shaft (5-5) fixedlys connected with shell (1).
5, space robot paw according to claim 1 is characterized in that one hand refers to that quadric chain refers to that by one hand drive rod (6-1), one hand refer to that (6-2), one hand refer to that connecting rod (6-3), clutch shaft bearing (6-4), first (6-5), first end cap (6-6), first shaft-cup (6-7), singlehanded articulations digitorum manus axle (6-8), second bearing (6-9), the 3rd bearing (6-10), one hand refer to that pitman shaft (6-11), one hand finger tip (6-12) form; One hand refers to that an end of drive rod (6-1) is installed on driven one hand and refers on the connecting axle of bevel gear (5-2), one hand refers to that the other end of drive rod (6-1) is contained in first (6-5) by clutch shaft bearing (6-4) and upward and by first (6-5) refers to that with one hand the tail end of (6-2) is connected, one hand refers to that the head end of (6-2) is connected with one hand finger tip (6-12), fixedly connected with first shaft-cup (6-7) with first end cap (6-6) respectively in the two ends of first (6-5), refer to that with one hand the singlehanded articulations digitorum manus axle (6-8) that (6-2) fixedlys connected refers to that by second bearing (6-9) and one hand an end of connecting rod (6-3) is hinged, the other end that one hand refers to connecting rod (6-3) refers to that by the 3rd bearing (6-10) and one hand pitman shaft (6-11) is hinged, and one hand refers to that pitman shaft (6-11) fixedlys connected with shell (1).
6, space robot paw according to claim 1 is characterized in that both hands refer to that quadric chain refers to that by both hands drive rod (7-1), both hands refer to that (7-2), both hands refer to that connecting rod (7-3), the 4th bearing (7-4), second (7-5), second end cap (7-6), second shaft-cup (7-7), both hands articulations digitorum manus axle (7-8), the 5th bearing (7-9), the 6th bearing (7-10), both hands refer to that pitman shaft (7-11), both hands finger tip (7-12) form; Both hands refer to that an end of drive rod (7-1) is installed on driven both hands and refers on the connecting axle of bevel gear (5-3), both hands refer to that the other end of drive rod (7-1) is contained in second (7-5) by the 4th bearing (7-4) and upward and by second (7-5) refers to that with both hands the tail end of (7-2) is connected, both hands refer to that the head end of (7-2) is connected with both hands finger tip (7-12), fixedly connected with second shaft-cup (7-7) with second end cap (7-6) respectively in the two ends of second (7-5), refer to that with both hands the both hands articulations digitorum manus axle (7-8) that (7-2) fixedlys connected refers to that by the 5th bearing (7-9) and both hands an end of connecting rod (7-3) is hinged, the other end that both hands refer to connecting rod (7-3) refers to that by the 6th bearing (7-10) and both hands pitman shaft (7-11) is hinged, and both hands refer to that pitman shaft (7-11) fixedlys connected with shell (1).
7, robot hand according to claim 1 is characterized in that the finger position sensor is made up of brush ring (8-1), potentiometer, Hall limit switch, circuit board (8-4); Described potentiometer is made up of brush (8-2-1) and resistance (8-2-2); Described Hall limit switch is made up of magnet steel (8-3-1) and Hall element (8-3-2); Brush (8-2-1) is housed on the excircle end face of brush ring (8-1), brush ring (8-1) is fixedlyed connected with driving flange (10) by boss (11), end face cover plate (12) is housed on the excircle end face of brush (8-2-1), circuit board (8-4) is housed on the end face cover plate (12), circuit board (8-4) is gone up resistance (8-2-2) and Hall element (8-3-2) fixedly is housed, and magnet steel (8-3-1) is contained on the brush ring (8-1).
8, space robot paw according to claim 1 is characterized in that feeler is made up of sensor (14-1) and foil gauge (14-2); Sensor (14-1) posts foil gauge (14-2) on the surface adjacent with V-type locating slot (13).
9, space robot paw according to claim 1 is characterized in that described shell (1), one hand refer to that (6-2) and one hand finger tip (6-12), both hands refer to that (7-2) and both hands finger tip (7-12), V-arrangement locating slot (13) and feeler all adopt aluminum alloy materials to make.
10, space robot paw according to claim 1 is characterized in that described motor driver, motor position sensor, finger position sensor, flexbile gear ring (4-3), support set (9), driving flange (10), boss (11), end face cover plate (12), one hand refer to that drive rod (6-1), one hand refer to that connecting rod (6-3), both hands refer to that drive rod (7-1) and both hands refer to that connecting rod (7-3) all adopts titanium alloy material to make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100105358A CN100340379C (en) | 2005-11-14 | 2005-11-14 | Space robot paw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100105358A CN100340379C (en) | 2005-11-14 | 2005-11-14 | Space robot paw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1759994A true CN1759994A (en) | 2006-04-19 |
| CN100340379C CN100340379C (en) | 2007-10-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100105358A Expired - Fee Related CN100340379C (en) | 2005-11-14 | 2005-11-14 | Space robot paw |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100340379C (en) |
Cited By (19)
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| CN101875196A (en) * | 2010-03-15 | 2010-11-03 | 中国原子能科学研究院 | Remote guide rail centering operation manipulator |
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| CN1047243A (en) * | 1989-05-18 | 1990-11-28 | 清华大学 | The industrial robot terminal handle that measuring-clawing fetch contact point is controlled |
| JPH10277983A (en) * | 1997-04-08 | 1998-10-20 | Canon Inc | Robot hand |
| CN2444729Y (en) * | 2000-10-25 | 2001-08-29 | 中国科学院合肥智能机械研究所 | robot paw |
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| JP2005230999A (en) * | 2004-02-20 | 2005-09-02 | Japan Servo Co Ltd | Grip device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100559137C (en) * | 2008-01-28 | 2009-11-11 | 哈尔滨工业大学 | Exterior compartment space suit glove joint mechanical property testing system platform |
| CN101722509B (en) * | 2009-11-30 | 2011-01-26 | 哈尔滨工业大学 | Electrical connection integrated mechanism for locking space |
| CN101875196A (en) * | 2010-03-15 | 2010-11-03 | 中国原子能科学研究院 | Remote guide rail centering operation manipulator |
| CN101875196B (en) * | 2010-03-15 | 2011-11-02 | 中国原子能科学研究院 | Remote guide rail centering operation manipulator |
| CN102069502A (en) * | 2011-01-24 | 2011-05-25 | 北京邮电大学 | Space robot gripper mechanism |
| CN102514015A (en) * | 2011-12-23 | 2012-06-27 | 哈尔滨工业大学 | Three-finger capture positioning mechanism |
| CN102991730A (en) * | 2012-12-13 | 2013-03-27 | 上海航天测控通信研究所 | Self-balancing spacecraft capturing mechanism |
| CN102991730B (en) * | 2012-12-13 | 2015-09-09 | 上海航天测控通信研究所 | A kind of spacecraft self-balancing capture mechanism |
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| CN103072142B (en) * | 2012-12-26 | 2014-09-10 | 西北工业大学 | Space rope catching and locking device |
| CN103231384A (en) * | 2013-04-22 | 2013-08-07 | 安徽大学 | Rotatable machine gripper |
| CN103507078A (en) * | 2013-10-10 | 2014-01-15 | 哈尔滨工业大学 | Mechanical gripper with three-finger structure |
| CN103722561A (en) * | 2013-12-24 | 2014-04-16 | 北京工业大学 | Flexibly rotatable mechanical claw |
| CN104385301A (en) * | 2014-09-05 | 2015-03-04 | 河北联合大学 | Zero-gap double-transmission chain joint |
| CN104385301B (en) * | 2014-09-05 | 2016-05-11 | 河北联合大学 | Dual-driving chain joint, zero clearance |
| CN105291128A (en) * | 2015-11-28 | 2016-02-03 | 浙江众仙电子科技有限公司 | Electric grab hand for industrial machinery arms |
| CN105643648A (en) * | 2016-04-12 | 2016-06-08 | 美塞斯（珠海保税区）工业自动化设备有限公司 | Cutter grabbing manipulator for rapidly and automatically positioning slitting system |
| CN105835051A (en) * | 2016-04-26 | 2016-08-10 | 江南大学 | Dual-motor drive cooperatively-controlled under-actuated manipulator |
| CN109152614A (en) * | 2016-05-26 | 2019-01-04 | 柯惠Lp公司 | Instrument driving unit |
| CN106628270A (en) * | 2016-11-08 | 2017-05-10 | 上海宇航***工程研究所 | Air vehicle capturing, connecting and separating device |
| CN106628270B (en) * | 2016-11-08 | 2019-01-08 | 上海宇航***工程研究所 | A kind of aircraft capture connection and separator |
| CN108207332A (en) * | 2018-03-27 | 2018-06-29 | 郑州大学 | The full-automatic strawberry picking spider vehicle of this device for picking of flexible strawberry device for picking and application |
| CN108207332B (en) * | 2018-03-27 | 2024-01-26 | 郑州大学 | Flexible strawberry picker and full-automatic strawberry picking spider car applying same |
| CN110744577A (en) * | 2019-10-29 | 2020-02-04 | 浙江大学 | Manipulator for controlling clamping deformation |
| CN111081426A (en) * | 2019-12-30 | 2020-04-28 | 季华实验室 | Wiring device |
| CN111081426B (en) * | 2019-12-30 | 2021-10-29 | 季华实验室 | Wiring device |
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