CN106426145B - A kind of soft capture locking device in space and locking method is captured accordingly - Google Patents
A kind of soft capture locking device in space and locking method is captured accordingly Download PDFInfo
- Publication number
- CN106426145B CN106426145B CN201611117711.2A CN201611117711A CN106426145B CN 106426145 B CN106426145 B CN 106426145B CN 201611117711 A CN201611117711 A CN 201611117711A CN 106426145 B CN106426145 B CN 106426145B
- Authority
- CN
- China
- Prior art keywords
- capture
- adapter
- steel wire
- gear
- wire rope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 42
- 230000007246 mechanism Effects 0.000 claims abstract description 85
- 230000008569 process Effects 0.000 claims abstract description 30
- 238000000926 separation method Methods 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 73
- 239000010959 steel Substances 0.000 claims description 73
- 230000033001 locomotion Effects 0.000 claims description 46
- 239000003638 chemical reducing agent Substances 0.000 claims description 33
- 210000001503 joint Anatomy 0.000 claims description 29
- 238000000429 assembly Methods 0.000 claims description 16
- 230000000712 assembly Effects 0.000 claims description 16
- 238000013459 approach Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000007704 transition Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Locking method is captured the invention discloses a kind of soft capture locking device in space and accordingly, and in particular to the capture of space manipulator end and locking device.The present invention is divided into active capture mechanism and adapter two parts, and the active capture mechanism is made of capture component and pulling assembly.The present invention is divided into capture, locking, release three processes of separation；When capture, the rotating ring of capture component is rotated forward, and wirerope is gradually collapsed by complete open configuration, until complete clamp adapter pull rod；When locking, pulling assembly drives capture component to move up, until adapter is pressed on completely on active capture mechanism end face；When release separation, the rotating ring reversion of capture component, wirerope returns to complete open configuration by rounding state, and space manipulator carries soft capture locking device and separates with adapter realization.The present invention can be used for space manipulator to the soft capture of the small-sized load in space and sealed, achieve the beneficial effect that small, light-weight, small in size, big tolerance is impacted in capture.
Description
Technical Field
The invention relates to the technical field of intelligent spatial capture, in particular to a soft capture locking device of a spatial mechanical arm and a corresponding capture locking method.
Background
Space robots are required to perform a series of space manipulation tasks, where the capture and locking of targets is one of the basic tasks of the robot. At present, the mission planning of a space manipulator comprises on-track assembly, replacement of an ORU (object handling Unit) module, on-track maintenance of a space vehicle and the like, and space load needs to be captured and locked. Along with the construction of space stations and the expansion of on-orbit operation experiments in China, the capture tasks of space loads are continuously increased, and the requirements on capturing and locking tools at the tail ends of space mechanical arms are more and more strong. However, most of the existing on-orbit catching tools are rigid catching, and in the catching process of the mechanical arm, the large impact disturbance is brought to the aircraft containing space load, so that the on-orbit automatic control of the aircraft is not facilitated. Therefore, it is necessary to design a tail end capturing mechanism capable of realizing soft capturing so as to reduce the rigid impact of the mechanical arm in-rail capturing and improve the reliability and safety of the mechanical arm in-rail capturing.
Disclosure of Invention
The invention aims to solve the problem that rigid capture impact load of a capturing mechanism at the tail end of a space manipulator is overlarge in the capturing process at present, and provides a space soft capture locking device and a corresponding capture locking method.
The invention provides a space soft capture locking device, which consists of an adapter on a space small load and an active capture mechanism at the tail end of a space mechanical arm, and is characterized in that: the adapter consists of a positioning base, a pull rod and a plurality of guide flaps; the active capture mechanism consists of a capture assembly and a tensioning assembly; wherein,
the capturing component comprises a movable shell, an inner gear, a gear connector, a rotating ring, a fixed ring, a plurality of steel wire rope components, an angular contact bearing, an outer gear, a driving component support, a planetary reducer, a capturing motor, a capturing brake and a capturing encoder, wherein the capturing brake is connected with the capturing motor, the output end of the capturing motor is connected with the planetary reducer, the planetary reducer is connected with the outer gear, the outer gear is in transmission connection with the inner gear, and the inner gear is connected with the rotating ring through the gear connector; the fixed ring is fixedly connected with the movable shell; the driving component bracket is used for supporting and fixing the planetary reducer and the capture motor; the angular contact bearing is used for bearing the loads of the gear connecting piece and the rotating ring and ensuring the rotation of the internal gear, the gear connecting piece and the rotating ring relative to the moving shell; three sets of steel wire rope assemblies are uniformly distributed on the rotating ring and the fixed ring respectively, and the steel wire rope assembly on each set of rotating ring and the steel wire rope assembly on the adjacent fixed ring share one steel wire rope; the steel wire rope assembly belongs to a hook hinge structure, has two degrees of freedom of pitching and deflecting and is used for realizing the free rotation of the steel wire rope in a required range;
the tensioning assembly comprises a cover plate, a driving assembly seat, a shell, a guide rail, a ball screw, a sliding block, a butt joint end face, a screw shaft end stop block, a floating connection assembly, a tensioning encoder, a tensioning brake, a tensioning motor, a speed reducer, a motor output gear, a screw input gear and a screw support, wherein the tensioning brake is connected with the tensioning motor; the sliding block is fixedly connected to the floating connecting assembly and sleeved on the guide rail; the floating connecting assembly is fixedly connected with the movable shell; the butt joint end face is used for positioning the adapter in the locking process; the floating connecting assembly consists of a screw nut, a moving bracket, a floating cover plate, a floating shaft and a butterfly spring, wherein the screw nut is sleeved outside the ball screw and converts the rotary motion of the ball screw into the axial movement of the floating connecting assembly; the floating shaft is fixedly connected to the lead screw nut, the movable support is fixedly connected with the floating cover plate, the butterfly spring is tightly pressed between the floating shaft and the floating cover plate through the floating cover plate, the butterfly spring provides certain pretightening force, and the pretightening force is transmitted to the sliding block through the movable support.
Three sets of steel wire rope assemblies respectively arranged on a fixed ring or a rotating ring of the space soft capture locking device are respectively and circumferentially and uniformly distributed on the fixed ring or the rotating ring by 120 degrees.
According to the space soft capture locking device, each set of steel wire rope assembly consists of a supporting plate, a deflection roller seat, a deflection roller, a pitching roller seat, a pitching roller and a steel wire rope, the supporting plate is fixedly connected to a rotating ring or a fixed ring, the pitching roller seat is pivotally connected with the supporting plate through the deflection roller, the pitching roller is pivotally connected with the pitching roller seat in a direction perpendicular to and not intersecting with the deflection roller, and the steel wire rope is fixedly arranged on the pitching roller;
three groups of annular groove structures are arranged on the rotating ring, three groups of annular groove structures are arranged on the fixed ring, and each group of grooves on the fixed ring is in transition butt joint with one corresponding group of grooves of the rotating ring and is used for placing a steel wire rope; in the initial state, the steel wire rope is completely unfolded and is folded in the grooves of the rotating ring and the fixing ring due to the limitation of the deflecting roller seat and the pitching roller seat.
According to the space soft capture locking device, the butt joint end face is provided with a plurality of positioning ball grooves and a plurality of end face teeth, and the positioning ball grooves are matched with the guide flaps of the adapter one by one to perform coarse positioning; the adapter the positioning base is provided with a plurality of teeth, and the end face teeth are matched with the teeth on the positioning base one by one to perform fine positioning.
The capture locking method of the space soft capture locking device comprises the following steps:
capturing the adapter by an active capturing mechanism;
a step of tightening and locking the active capture mechanism and the adapter;
and releasing and separating the adapter by the active capture mechanism.
The capturing step of the active capturing mechanism to the adapter is specifically as follows: the space manipulator carries an active capturing mechanism to gradually approach the adapter until a pull rod on the adapter enters a capturing range of the active capturing mechanism; the driver receives the capture instruction, drives the capture motor to rotate forwards, and transmits the rotation motion to the inner gear through the planetary reducer and the outer gear, and the inner gear transmits the rotation motion to the rotating ring through the gear connecting piece; the rotating ring rotates forwards, the adjacent steel wire rope assemblies on the rotating ring and the fixing ring rotate reversely, and the distance between the rotating ring and the fixing ring is longer and longer, so that the steel wire rope which is completely opened in an initial state is separated from the grooves of the rotating ring and the fixing ring and is gradually tightened; in the process, the capture motor keeps rotating forwards until the steel wire ropes are close to a linear state, and at the moment, the pull rod is tightened between the three groups of steel wire ropes, so that the capture of the adapter is realized.
The step of tightening and locking the adapter by the active capture mechanism specifically comprises the following steps: the driver receives a tensioning locking instruction, drives the tensioning motor to rotate forwards, and transmits the rotary motion to the lead screw input gear through the speed reducer and the motor output gear; the screw input gear transmits the rotary motion to the ball screw and converts the rotary motion into upward movement of the floating shaft through the screw nut; the floating shaft and the movable support have the trend of axial relative sliding; the ball screw transfers motion, simultaneously converts torque into axial force and outputs the axial force through the screw nut, the screw nut compresses the butterfly spring through the floating shaft, the pressure of the butterfly spring is simultaneously transferred to the movable support through the floating cover plate, axial upward movement of the movable support is realized, the movable support is fixedly connected with the movable shell, the capturing assembly is driven to move upwards, and tensioning of the adapter is realized; when the active capture mechanism tensions the adapter until the butt joint end surface of the adapter is contacted with the guide flap of the adapter, the ball head of the guide flap slowly slides into the positioning ball groove of the butt joint end surface, and the active capture mechanism realizes the coarse positioning of the adapter; in the process that the adapter is continuously tensioned by the active capturing mechanism, after coarse positioning is finished, the butt joint tolerance range of fine positioning can be reached, and end face teeth of butt joint end faces are matched with end face teeth on the adapter, so that fine positioning of the adapter is realized.
The release and separation steps of the active capture mechanism to the adapter are specifically as follows: the driver receives the release instruction, drives the capture motor to rotate reversely, and transmits the rotary motion to the rotating ring through the planetary reducer, the outer gear and the inner gear, the rotating ring rotates reversely, the adjacent steel wire rope assemblies on the rotating ring and the fixing ring rotate oppositely, the distance between the rotating ring and the fixing ring is closer and closer, the three steel wire ropes are slowly opened to be arc-shaped from a completely tightened state and are furled in the grooves of the rotating ring and the fixing ring, in the process, the three steel wire ropes release the pull rod on the adapter, and the active capture mechanism completes the release and the separation of the adapter.
The invention has the following obvious beneficial effects:
1. the invention adopts the steel wire rope to capture the pull rod of the adapter, realizes the soft capture of the space load and has small capturing impact force;
2. the capture tolerance is large, the capture tolerance of the invention is a radial region of the active capture mechanism, and the capture tolerance is large under the condition that the active capture mechanism has the same size;
3. the invention has small volume and light weight, the volume and the weight of the invention are restricted by the capture tolerance and the locking force, and the beneficial effects of small volume and light weight are achieved under the condition of the same capture tolerance and the locking force.
Drawings
FIG. 1 is a schematic view of an active capture mechanism capture adapter of the present invention;
FIG. 2 is a schematic diagram of the construction of the adapter of the present invention;
FIG. 3 is a schematic diagram of the structure of the active capture mechanism of the present invention;
FIG. 4 is a schematic diagram of the structure of the capture assembly in the active capture mechanism;
FIG. 5 is a schematic structural view of a wire rope assembly in the capture assembly;
FIG. 6 is a schematic diagram of the structure of the take-up assembly in the active capture mechanism;
FIG. 7 is a schematic structural view of a floating link assembly in the take-up assembly;
FIG. 8 is a schematic view of the butt end face in the take-up assembly;
the labels in the figure are:
201. catch assembly, 202 take-up assembly
1. The device comprises an adapter, 2. an active capture mechanism, 3. a positioning base, 4. a pull rod, 5. a guide flap, 6. a movable shell, 7. an internal gear, 8. a gear connecting piece, 9. a rotating ring, 10. a fixed ring, 11. a steel wire rope component, 12. an angular contact bearing, 13. an external gear, 14. a driving component bracket and 15. a planetary reducer; 16. the device comprises a capture motor, 17 capture brakes, 18 capture encoders, 19 support plates, 20 yaw roller seats, 21 yaw rollers, 22 pitch roller seats, 23 pitch rollers, 24 steel wires, 25 cover plates, 26 drive component seats, 27 shells, 28 guide rails, 29 ball screws, 30 sliding blocks, 31 butting end faces, 32 lead screw shaft end stops, 33 floating connection components, 34 tension encoders, 35 tension brakes, 36 tension motors, 37 reducers, 38 motor output gears, 39 lead screw input gears, 40 lead screw supports, 41 lead screw nuts, 42 moving supports, 43 floating cover plates, 44 floating shafts and 45 butterfly springs.
Detailed Description
The invention discloses a space soft capture locking device and a corresponding capture locking method, and particularly relates to a space mechanical arm tail end capture and locking device. The invention is divided into an active capture mechanism and an adapter, wherein the active capture mechanism is arranged at the tail end of a space manipulator, and the adapter is arranged on a space load; the adapter consists of a positioning base, a plurality of guide flaps and a pull rod; the active capture mechanism is comprised of a capture assembly and a tensioning assembly. The invention is divided into three procedures of capture, locking and release separation; during capture, the rotating ring of the capture assembly rotates forwards, and the steel wire rope is gradually furled from a fully opened state until the pull rod of the adapter is completely clamped; when the active capturing mechanism is locked, the tensioning assembly drives the capturing assembly to move upwards, so that the steel wire rope drives the adapter to gradually approach the active capturing mechanism through the pull rod of the tensioning adapter until the adapter is completely pressed on the end face of the active capturing mechanism; when the space mechanical arm is released and separated, the rotating ring of the capturing component rotates reversely, the steel wire rope returns to a fully opened state from a folded state, and the space mechanical arm carries the soft capturing locking device to be separated from the adapter. The invention can be used for soft capture and locking of the space mechanical arm to the space small load, and has the advantages of small capture impact, light weight, small volume and large tolerance.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Examples
FIG. 1 is a schematic view of an active capture mechanism [2] capture adapter [1] of the present invention. As shown in figure 1, the present invention consists of an adapter [1] and an active capture mechanism [2], the active capture mechanism [2] is mounted at the end of a space manipulator (not shown).
Referring to fig. 1 and fig. 2 in combination, the space manipulator carries an active capture mechanism [2] to gradually approach the adapter [1] until a pull rod [4] on the adapter [1] enters a capture range of the active capture mechanism [2], and the active capture mechanism [2] captures the adapter [1 ]; after the capture is finished, the active capture mechanism [2] pulls the adapter [1] to gradually approach the active capture mechanism [2] until the end faces of the adapter and the active capture mechanism are attached to each other, at the moment, the active capture mechanism [2] brakes to ensure a certain locking force, and therefore the locking action is finished; when the separation is released, the active capture mechanism [2] rotates reversely, the adapter [1] is gradually loosened to complete the release action, and then the active capture mechanism [2] is carried by the space mechanical arm to be retracted, so that the separation from the adapter [1] is realized.
FIG. 2 is a schematic diagram of the structure of the adapter [1] of the present invention. As shown in figure 2, the adapter [1] consists of a positioning base [3], a pull rod [4] and three guide flaps [5], and six end face teeth are uniformly distributed on the positioning base [3 ].
FIG. 3 is a schematic structural view of the active capture mechanism [2] of the present invention. As shown in FIG. 3, the active capture mechanism [2] is comprised of a capture assembly [201] and a take-up assembly [202 ]. The capture assembly [201] is used for capturing and releasing the adapter [1], and the tensioning assembly [202] is used for tensioning and locking the adapter [1 ]. In the capture process, when the pull rod [4] of the adapter [1] enters the tolerance range of the active capture mechanism [2], the inner core of the capture component [201] rotates positively to capture the adapter [1 ]; in the tensioning process, the tensioning assembly [202] drags the pull rod [4] to enable the adapter [1] to gradually approach the active capturing mechanism [2], when the active capturing mechanism [2] tensions the adapter [1] until the end face of the adapter [1] is in contact with the guide flap [5] of the adapter [1], the ball head of the guide flap [5] slowly slides into the positioning ball groove (please refer to fig. 8) of the active capturing mechanism [2], and the active capturing mechanism [2] realizes coarse positioning of the adapter [1 ]; after the rough positioning is finished, the butt joint tolerance range of the fine positioning can be reached, and in the process that the adapter [1] is continuously tensioned by the active capturing mechanism [2], the end face teeth (please refer to fig. 8) of the active capturing mechanism [2] are matched with the end face teeth (please refer to fig. 2) on the base [3] of the adapter [1] to realize the fine positioning of the adapter [1], so that the locking of the active capturing mechanism [2] to the adapter [1] is realized; in the releasing process, the inner core of the capturing component [201] is reversed, and the pull rod [4] on the adapter [1] is released, so that the releasing function is realized.
FIG. 4 is a schematic diagram of the structure of a capture assembly [201] in the active capture mechanism [2 ]. The capturing component [201] consists of a movable shell [6], an internal gear [7], a gear connector [8], a rotating ring [9], a fixed ring [10], a steel wire rope component [11], an angular contact bearing [12], an external gear [13], a driving component bracket [14], a planetary reducer [15], a capturing motor [16], a capturing brake [17] and a capturing encoder [18 ]. The capture component [201] is used for capturing and releasing the adapter [1 ]. The catching brake [17] is connected with a catching motor [16], the output end of the catching motor [16] is connected with a planetary reducer [15], the output end of the planetary reducer [15] is connected with an external gear [13], the external gear [13] is in meshing transmission with an internal gear [7], the internal gear [7] is connected with a rotating ring [9] through a gear connecting piece [8], a fixed ring [10] is fixedly connected with a movable shell [6], and six sets of steel wire rope components [11] are arranged, three sets of rotating rings (9) and three sets of fixed rings (10) are respectively arranged, angular contact bearings (12) are arranged between the gear connecting piece (8), the rotating rings (9) and the movable shell (6), for bearing loads and ensuring the ability of the gear connection [8] and the rotating ring [9] to rotate relative to the movable housing [6], and a drive assembly support [14] for supporting the planetary reducer [15] and the catch motor [16 ]. The capture encoder [18] is used to monitor speed, position, etc. information.
FIG. 5 is a schematic view of a set of wire rope assemblies [11] in the capture assembly [201 ]. As shown in fig. 5, the wire rope assembly [11] is composed of a supporting plate [19], a deflecting roller seat [20], a deflecting roller [21], a pitching roller seat [22], a pitching roller [23] and a wire rope [24], the supporting plate [19] is fixedly connected to a rotating ring [9] or a fixed ring [10], the pitching roller seat [22] is pivotally connected to the supporting plate [19] through the deflecting roller [21], the pitching roller [23] is pivotally connected to the pitching roller seat [22] along a direction perpendicular to and not intersecting with the deflecting roller [21], and the wire rope [24] is fixedly arranged on the pitching roller [23 ]. The steel wire rope component [11] belongs to a Hooke hinge structure, has two degrees of freedom of pitching and deflecting, and can realize the free rotation of the steel wire rope [24] in a required range. Three sets of steel wire rope assemblies [11] are uniformly distributed on the rotating ring [9] and the fixed ring [10], and the steel wire rope assembly [11] on each rotating ring [9] and the steel wire rope assembly [11] on the adjacent fixed ring [10] share one steel wire rope. Referring to fig. 4, three sets of annular groove structures are arranged on the rotating ring [9], and each set of annular groove structures is used for placing one end of each steel wire rope [24 ]; three groups of annular groove structures are arranged on the fixed ring [10], each group of grooves is in transition butt joint with the corresponding grooves of the rotating ring [9], and each group of annular groove structures is used for placing the other end of each steel wire rope [24 ].
In the initial state, the wire rope [24] is completely unfolded, and the wire rope [24] is folded in the grooves of the rotating ring [9] and the fixed ring [10] due to the limitation of the deflecting roller seat [20] and the pitching roller seat [22 ]. In the capture process, the space manipulator carries an active capture mechanism [2] to gradually approach the adapter [1] until a pull rod [4] on the adapter [1] enters the capture range of the active capture mechanism [2 ]; the driver receives the capture instruction, drives the capture motor [16] to rotate positively, and transmits the rotary motion to the internal gear [7] through the planetary reducer [15] and the external gear [13], and the internal gear [7] transmits the rotary motion to the rotary ring [9 ]; the rotating ring [9] rotates positively, the adjacent steel wire rope assemblies [11] rotate reversely, and the distance between the two is longer and longer, so that the steel wire rope [24] is separated from the groove and gradually tightened; in the process, the capture motor [16] maintains forward rotation until the steel wire ropes [24] approach to a linear state, and at the moment, the pull rod [4] is tightened between the three groups of steel wire ropes [24], so that the capture of the adapter [1] is realized. After the capture is completed, the capture brake [17] is activated to maintain the pull rod [4] in the capture state.
In addition, the capture component [201] in the active capture mechanism [2] is also used for releasing and separating the adapter [1] by the active capture mechanism. In the releasing process, a driver receives a releasing instruction and drives the capture motor [16] to rotate reversely, the rotating motion is transmitted to the rotating ring [9] through the planetary reducer [15], the outer gear [13] and the inner gear [7], the rotating ring [9] rotates reversely, the adjacent steel wire rope assemblies [11] on the fixed ring [10] and the rotating ring [9] rotate oppositely, the distance between the steel wire rope assemblies and the rotating ring [9] is closer and closer, the steel wire rope [24] is slowly opened to be arc-shaped from a completely tightened state and is folded in the grooves of the rotating ring [9] and the fixed ring [10], in the process, the steel wire rope [24] releases a pull rod [4] of the adapter [1], and the active capture mechanism [2] completes the release and the separation of the adapter [.
FIG. 6 is a schematic view of the structure of the tensioning assembly [202] in the active capture mechanism [2 ]. As shown in FIG. 6, the tensioning assembly [202] is composed of a cover plate [25], a driving assembly seat [26], a shell [27], a guide rail [28], a ball screw [29], a slide block [30], a butt joint end surface [31], a screw shaft end stop [32], a floating connection assembly [33], a tensioning encoder [34], a tensioning brake [35], a tensioning motor [36], a speed reducer [37], a motor output gear [38], a screw input gear [39] and a screw support [40], wherein the tensioning brake [35] is connected with the tensioning motor [36], the output end of the tensioning motor [36] is connected with the speed reducer [37], the speed reducer [37] is connected with the motor output gear [38], the motor output gear [38] is connected with the screw input gear [39], the screw input gear [39] is connected with the ball screw [29], and the end of the ball screw [29] passes through the screw input gear [39] and is fixed on the screw support [40], the output end of the ball screw [29] is connected with the floating connecting assembly [33], and a screw shaft end stop block [32] is arranged at the other end of the ball screw [29 ]; the sliding block [30] is fixedly connected to the floating connecting assembly [33], and the sliding block [30] is sleeved on the guide rail [28 ]; the floating connecting assembly [33] is fixedly connected with the movable shell [6 ]; the butt joint end face [31] is used for positioning the adapter [1] in the locking process. The tensioning assembly [202] achieves tensioning and locking of the adapter [1 ]. In the tensioning and locking process, a driver receives a tensioning and locking command, drives the tensioning motor [36] to rotate forwards, and transmits the rotary motion to the lead screw input gear [39] through the speed reducer [37] and the motor output gear [38 ]; the screw input gear [39] is connected with the ball screw [29] through a pin, transmits the rotary motion to the ball screw [29], and converts the rotary motion into upward movement of the floating connecting component [33] along the axial direction through the floating connecting component [33 ]; the ball screw [29] transfers motion, simultaneously converts torque into axial force and outputs the axial force through the floating connecting assembly [33], the floating connecting assembly [33] is fixedly connected with the movable shell [6] through bolts to drive the capturing assembly [201] to move upwards, tensioning of the adapter [1] is achieved, and locking of the adapter [1] is achieved until the butt joint end face [31] of the active capturing mechanism [2] is tightly attached to the end face of the adapter [1 ].
FIG. 7 is a schematic view of the floating linkage assembly [33] in the tensioning assembly [202 ]. As shown in fig. 7, the floating connection assembly [33] is composed of a screw nut [41], a moving bracket [42], a floating cover plate [43], a floating shaft [44] and a butterfly spring [45], wherein the screw nut [41] is sleeved outside the ball screw [29], and the screw nut [41] converts the rotation motion of the ball screw [29] into the axial movement of the floating connection assembly [33 ]; the floating shaft [44] is fixedly connected to the lead screw nut [41], the movable support [42] is fixedly connected with the floating cover plate [43], the butterfly spring [45] is tightly pressed between the floating shaft [44] and the floating cover plate [43] by the floating cover plate [43], and the butterfly spring [45] provides certain pretightening force which is transmitted to the sliding block [30] through the movable support [42 ]. The floating connecting assembly [33] converts the rotation motion of the ball screw [29] into linear motion, and simultaneously converts the torque transmitted by the ball screw [29] into axial tension to be output. The specific process is as follows: the rotary motion on the ball screw [29] is converted into the axial upward movement of the floating shaft [44] through a screw nut [41 ]; the floating shaft [44] is connected with the movable support [42] through a key, and the floating shaft and the movable support have axial relative sliding tendency; the floating cover plate [43] is fixedly connected with the movable support [42] through bolts, and the floating cover plate [43] is tightly pressed on the butterfly spring [45] to ensure that the butterfly spring [45] has certain initial pretightening force; the ball screw [29] converts the torque into axial force to be output through a screw nut [41] while transmitting the motion, the screw nut [41] compresses a butterfly spring [45] through a floating shaft [44], the pressure of the butterfly spring [45] is transmitted to a movable support [42] through a floating cover plate [43] simultaneously, the axial upward movement of the movable support [42] is realized, the movable support [42] is fixedly connected with a movable shell [6] through bolts, and therefore a capture assembly [201] is driven to move upwards, and the tensioning of the adapter [1] is realized. Meanwhile, the sliding block [30] is sleeved on the guide rail [28], and meanwhile, the sliding block [30] is fixedly connected to the movable support [42] of the floating assembly [33], so that the movable support [42] and the movable shell [6] can be limited to move upwards along a track limited by the guide rail [28 ].
FIG. 8 is a schematic view of the abutting end face [31] of the take-up assembly [202 ]. As shown in fig. 8, the butt end surface [31] is provided with a plurality of positioning ball grooves and a plurality of end surface teeth, and the positioning ball grooves are matched with the guide flaps [5] of the adapter [1] one by one for coarse positioning; a plurality of teeth are arranged on the positioning base [3] of the adapter [1], and the end face teeth are matched with the teeth on the positioning base [3] one by one to perform fine positioning. The butt joint end surface [31] is a surface of the active capture mechanism [2] which is in butt joint with the adapter [1] and is used for coarse positioning and fine positioning in the locking process of the two. In the process that the adapter [1] is close to the active capture mechanism [2], the ball head of the guide flap [5] on the adapter [1] slowly slides into the positioning ball groove on the butt joint end surface [31], so as to realize coarse positioning; the positioning error of the rough positioning is the initial tolerance of the fine positioning, after the rough positioning is finished, the adapter [1] continues to approach the active capturing mechanism [2], and the fine positioning of the adapter [1] is realized by matching end face teeth on the butt joint end face [31] with end face teeth on a positioning base [3] of the adapter [1 ].
The capture, lock and release operation of the present invention is further described below.
In the capture process, the space manipulator carries an active capture mechanism [2] to gradually approach the adapter [1] until a pull rod [4] on the adapter [1] enters the capture range of the active capture mechanism [2 ]; the driver receives the capture instruction, drives the capture motor [16] to rotate positively, and transmits the rotation motion to the inner gear [7] through the planetary reducer [15] and the outer gear [13], and the inner gear [7] transmits the rotation motion to the rotating ring [9] through the gear connecting piece [8 ]; the rotating ring (9) rotates positively, and the fixed ring (10) keeps stationary, so that the adjacent steel wire rope assemblies (11) rotate reversely, the distance between the two is longer and longer, and the steel wire rope (24) is separated from the groove and gradually tightened; in the process, the capture motor [16] maintains forward rotation until the steel wire ropes [24] approach to a linear state, and at the moment, the pull rod [4] is tightened between the three groups of steel wire ropes [24], so that the capture of the adapter [1] is realized. After the capture is completed, the capture brake [17] brakes to keep the pull rod [4] in the captured state.
In the tensioning and locking process, a driver receives a tensioning and locking command, drives the tensioning motor [36] to rotate forwards, and transmits the rotary motion to the lead screw input gear [39] through the speed reducer [37] and the motor output gear [38 ]; the screw input gear [39] is connected with the ball screw [29] through a pin, transmits the rotary motion to the ball screw [29], and converts the rotary motion into the upward movement of the floating shaft [44] through a screw nut [41 ]; the floating shaft [44] is connected with the movable support [42] through a key, and the floating shaft and the movable support have the tendency of axial relative sliding; the floating cover plate [43] is fixedly connected with the movable support [42] through bolts, and the floating cover plate [43] is tightly pressed on the butterfly spring [45] to ensure that the butterfly spring [45] has certain initial pretightening force; the ball screw [29] converts the torque into axial force to be output through a screw nut [41] while transmitting motion, the screw nut [41] compresses a butterfly spring [45] through a floating shaft [44], the pressure of the butterfly spring [45] is transmitted to a movable support [42] through a floating cover plate [43] simultaneously, the movable support [42] moves upwards, the movable support [42] is fixedly connected with a movable shell [6] through bolts, a capture assembly [201] is driven to move upwards, meanwhile, a slide block [30] and a guide rail [28] limit the moving track of the movable support [42] and the movable shell [6], and tensioning of the adapter [1] is realized; when the active capture mechanism [2] tensions the adapter [1] until the butt joint end surface [31] of the adapter [1] is in contact with the guide flap [5], the ball head of the guide flap [5] slowly slides into the positioning ball groove of the butt joint end surface [31], and the active capture mechanism [2] realizes the coarse positioning of the adapter [1 ]; when the rough positioning is finished, the butt joint tolerance range of the fine positioning can be reached, and in the process that the active capturing mechanism [2] continues to tighten the adapter [1], the end face teeth of the butt joint end face [31] are matched with the end face teeth on the adapter [1], so that the fine positioning of the adapter [1] is realized. After the fine positioning is finished, the tightening brake [35] works to keep the adapter [1] at the fine positioning position.
In the releasing and separating process, a driver receives a releasing instruction and drives the capture motor [16] to rotate reversely, the rotating motion is transmitted to the rotating ring [9] through the planetary reducer [15], the outer gear [13], the inner gear [7] and the gear connecting piece [8], the rotating ring [9] rotates reversely, the adjacent steel wire rope assemblies [11] rotate oppositely, the distance between the steel wire rope assemblies and the rotating ring [9] is closer and closer, the steel wire rope [24] is slowly opened to an arc shape from a completely tightened state and is folded in the grooves of the rotating ring [9] and the fixing ring [10], in the process, the steel wire rope [24] releases a pull rod [4] of the adapter [1], and the active capture mechanism [2] completes the releasing and separating of the adapter [1 ].
The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.
Claims (7)
1. The utility model provides a locking device is caught in space softly, comprises adapter (1) on the small-size load in space and the terminal initiative capture mechanism (2) of space arm, its characterized in that: the adapter (1) consists of a positioning base (3), a pull rod (4) and a plurality of guide flaps (5); the active capture mechanism (2) is composed of a capture assembly (201) and a tensioning assembly (202); wherein,
the capturing component (201) comprises a movable shell (6), an internal gear (7), a gear connector (8), a rotating ring (9), a fixed ring (10), a plurality of steel wire rope components (11), an angular contact bearing (12), an external gear (13), a driving component support (14), a planetary reducer (15), a capturing motor (16), a capturing brake (17) and a capturing encoder (18), wherein the capturing brake (17) is connected with the capturing motor (16), the output end of the capturing motor (16) is connected with the planetary reducer (15), the planetary reducer (15) is connected with the external gear (13), the external gear (13) is in transmission connection with the internal gear (7), and the internal gear (7) is connected with the rotating ring (9) through the gear connector (8); the fixed ring (10) is fixedly connected with the movable shell (6); the driving assembly bracket (14) is used for supporting and fixing the planetary reducer (15) and the capture motor (16); the angular contact bearing (12) is used for bearing the loads of the gear connecting piece (8) and the rotating ring (9) and ensuring the rotation of the internal gear (7), the gear connecting piece (8) and the rotating ring (9) relative to the moving shell (6); three sets of steel wire rope assemblies (11) are uniformly distributed on the rotating ring (9) and the fixing ring (10), and the steel wire rope assembly (11) on each set of rotating ring (9) and the steel wire rope assembly (11) on the adjacent fixing ring (10) share one steel wire rope; the steel wire rope component (11) belongs to a Hooke hinge structure, has two degrees of freedom of pitching and deflecting and is used for realizing the free rotation of the steel wire rope in a required range; each set of steel wire rope component (11) consists of a supporting plate (19), a deflection roller shaft seat (20), a deflection roller shaft (21), a pitching roller shaft seat (22), a pitching roller shaft (23) and a steel wire rope (24), wherein the supporting plate (19) is fixedly connected to a rotating ring (9) or a fixing ring (10), the pitching roller shaft seat (22) is pivotally connected with the supporting plate (19) through the deflection roller shaft (21), the pitching roller shaft (23) is pivotally connected with the pitching roller shaft seat (22) along the direction which is vertical to and does not intersect with the deflection roller shaft (21), and the steel wire rope (24) is fixedly arranged on the pitching roller shaft (23);
three groups of annular groove structures are arranged on the rotating ring (9), three groups of annular groove structures are arranged on the fixing ring (10), and each group of grooves on the fixing ring (10) is in transition butt joint with a corresponding group of grooves on the rotating ring (9) and is used for placing a steel wire rope (24); in the initial state, the steel wire rope (24) is completely unfolded, and the steel wire rope (24) is folded in the grooves of the rotating ring (9) and the fixed ring (10) due to the limitation of the deflecting roller seat (20) and the pitching roller seat (22);
the tensioning assembly (202) consists of a cover plate (25), a driving assembly seat (26), a shell (27), a guide rail (28), a ball screw (29), a sliding block (30), a butt joint end face (31), a screw shaft end stop block (32), a floating connection assembly (33), a tensioning encoder (34), a tensioning brake (35), a tensioning motor (36), a speed reducer (37), a motor output gear (38), a screw input gear (39) and a screw support (40), wherein the tensioning motor (36) is connected with the tensioning brake (35), the output end of the tensioning motor (36) is connected with the speed reducer (37), the speed reducer (37) is connected with the motor output gear (38), the motor output gear (38) is connected with the screw input gear (39), the screw input gear (39) is connected with the ball screw (29), and the end part of the ball screw (29) passes through the screw input gear (39) and is fixed on the screw support (40), the output end of the ball screw (29) is connected with a floating connecting assembly (33), and a screw shaft end stop block (32) is arranged at the other end of the ball screw (29); the sliding block (30) is fixedly connected to the floating connecting assembly (33), and the sliding block (30) is sleeved on the guide rail (28); the floating connecting assembly (33) is fixedly connected with the movable shell (6); the butt joint end face (31) is used for positioning the adapter (1) in the locking process; the floating connection assembly (33) consists of a screw nut (41), a moving support (42), a floating cover plate (43), a floating shaft (44) and a butterfly spring (45), wherein the screw nut (41) is sleeved on the outer side of the ball screw (29), and the screw nut (41) converts the rotary motion of the ball screw (29) into the axial movement of the floating connection assembly (33); the floating shaft (44) is fixedly connected to the lead screw nut (41), the movable support (42) is fixedly connected with the floating cover plate (43), the butterfly spring (45) is pressed between the floating shaft (44) and the floating cover plate (43) through the floating cover plate (43), and the butterfly spring (45) provides certain pretightening force which is transmitted to the sliding block (30) through the movable support (42).
2. A spatial soft capture locking device according to claim 1 wherein: three sets of steel wire rope assemblies (11) respectively arranged on the fixed ring (10) or the rotating ring (9) are respectively and circumferentially and uniformly distributed on the fixed ring (10) or the rotating ring (9) at 120 degrees.
3. A spatial soft capture locking device according to claim 1 wherein: the butt joint end face (31) is provided with a plurality of positioning ball grooves and a plurality of end face teeth, and the positioning ball grooves are matched with the guide flaps (5) of the adapter (1) one by one to perform coarse positioning; adapter (1) be equipped with a plurality of teeth on location base (3), the terminal surface tooth with tooth one-to-one cooperation on the location base (3) carries out the essence location.
4. A method of capturing and locking a spatial soft capture locking device as claimed in any one of claims 1 to 3, comprising the steps of:
a step of capturing the adapter (1) by the active capturing mechanism (2);
a step of tightening and locking the active capture mechanism (2) and the adapter (1);
and releasing and separating the adapter (1) by the active capture mechanism (2).
5. The capture locking method of the space soft capture locking device according to claim 4, wherein the capture step of the active capture mechanism (2) to the adapter (1) is specifically as follows: the space manipulator carries the active capture mechanism (2) to gradually approach the adapter (1) until a pull rod (4) on the adapter (1) enters the capture range of the active capture mechanism (2); the driver receives the capture instruction, drives the capture motor (16) to rotate forwards, and transmits the rotation motion to the inner gear (7) through the planetary reducer (15) and the outer gear (13), and the inner gear (7) transmits the rotation motion to the rotating ring (9) through the gear connector (8); the rotating ring (9) rotates forwards, the adjacent steel wire rope assemblies (11) on the rotating ring (9) and the fixing ring (10) rotate reversely, and the distance between the rotating ring (9) and the fixing ring (10) is further and further away, so that the steel wire rope (24) which is completely opened in the initial state is separated from the grooves of the rotating ring (9) and the fixing ring (10) and is gradually tightened; in the process, the capture motor (16) keeps rotating forwards until the steel wire ropes (24) are close to a linear state, and at the moment, the pull rod (4) is tightened between the three groups of steel wire ropes (24), so that the adapter (1) is captured.
6. The captive locking method of a space soft captive locking system according to claim 4 or 5, wherein the tightening and locking steps of the active captive mechanism (2) to the adapter (1) are: the driver receives a tensioning locking command, drives the tensioning motor (36) to rotate forwards, and transmits the rotating motion to the lead screw input gear (39) through the speed reducer (37) and the motor output gear (38); the spindle input gear (39) transmits the rotational movement to the ball screw (29) and converts the rotational movement into an upward movement of the floating shaft (44) by means of the screw nut (41); the floating shaft (44) and the moving bracket (42) have the tendency of axial relative sliding; the ball screw (29) transfers motion, simultaneously converts torque into axial force and outputs the axial force through a screw nut (41), the screw nut (41) compresses a butterfly spring (45) through a floating shaft (44), the pressure of the butterfly spring (45) is transferred to a movable support (42) through a floating cover plate (43) simultaneously, the axial upward movement of the movable support (42) is realized, the movable support (42) is fixedly connected with a movable shell (6), a capture assembly (201) is driven to move upwards, and the tensioning of the adapter (1) is realized; when the active capture mechanism (2) tensions the adapter (1) until the butt joint end surface (31) of the adapter (1) is in contact with the guide flap (5) of the adapter (1), the ball head of the guide flap (5) slowly slides into the positioning ball groove of the butt joint end surface (31), and the active capture mechanism (2) realizes coarse positioning of the adapter (1); in the process that the adapter (1) is continuously tensioned by the active capturing mechanism (2), after coarse positioning is completed, the butt joint tolerance range of fine positioning can be reached, and end face teeth of the butt joint end face (31) are matched with end face teeth on the adapter (1) to realize fine positioning of the adapter (1).
7. The method for capturing and locking a spatial soft capture locking device according to claim 4, wherein the step of releasing and separating the adapter (1) by the active capture mechanism (2) is specifically as follows: the driver receives a release instruction, drives the capture motor (16) to rotate reversely, the rotary motion is transmitted to the rotary ring (9) through the planetary reducer (15), the outer gear (13) and the inner gear (7), the rotary ring (9) rotates reversely, the adjacent steel wire rope assemblies (11) on the rotary ring (9) and the fixed ring (10) rotate oppositely, the distance between the rotary ring (9) and the fixed ring (10) is closer and closer, the three steel wire ropes (24) are slowly opened to be arc-shaped from a completely tightened state and are collected in grooves of the rotary ring (9) and the fixed ring (10), in the process, the three steel wire ropes (24) release the pull rod (4) on the adapter (1), and the active capture mechanism (2) completes the release and separation of the adapter (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426145A CN106426145A (en) | 2017-02-22 |
| CN106426145B true CN106426145B (en) | 2019-08-23 |
Family
ID=58217677
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611117711.2A Active CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426145B (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109264034A (en) * | 2018-08-14 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft electromagnetism cross convolution butt-joint locking device |
| CN109129451A (en) * | 2018-09-14 | 2019-01-04 | 华中科技大学 | Shoulder locking and wrist capture device and its application of the self-positioning mechanical arm in space |
| CN110450988B (en) * | 2019-07-19 | 2020-11-20 | 北京空间飞行器总体设计部 | A Collapsible Target Adapter for Large Tolerance Capture |
| CN110216716B (en) * | 2019-07-25 | 2023-09-19 | 湖南宗福科技有限公司 | Butt joint test device for capturing locking mechanism |
| CN110549358B (en) * | 2019-09-26 | 2021-03-30 | 清华大学 | End effector |
| CN111086028B (en) * | 2019-12-14 | 2021-01-19 | 西安交通大学 | A kind of industrial robot terminal motion sensing device and identification method |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
| CN113401371B (en) * | 2021-06-11 | 2022-11-11 | 上海宇航系统工程研究所 | Ultra-light multifunctional space module connecting mechanism and application method |
| CN113842218B (en) * | 2021-10-13 | 2023-06-27 | 中南大学 | Operation robot initial adjusting mechanical arm braking system |
| CN114918973B (en) * | 2022-05-30 | 2023-11-10 | 天津航天机电设备研究所 | On-orbit service device applied to space manipulator end effector |
| CN114986544B (en) * | 2022-06-15 | 2025-01-28 | 北京空间飞行器总体设计部 | A space robot arm end grasping mechanism and grasping method |
| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | A dynamic docking recovery device for an attitude self-correcting underwater vehicle |
| CN118419290B (en) * | 2024-05-31 | 2025-05-27 | 哈尔滨工业大学 | Lightweight high-strength space capturing mechanism for imitated blade |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN101722509A (en) * | 2009-11-30 | 2010-06-09 | 哈尔滨工业大学 | Electrical connection integrated mechanism for locking space |
| CN105659762B (en) * | 2009-09-30 | 2013-06-19 | 北京空间飞行器总体设计部 | A kind of destination adapter |
| CN103341863A (en) * | 2013-07-10 | 2013-10-09 | 哈尔滨工业大学 | End effector capable of achieving space manipulator self crawling and load operation |
| CN105150226A (en) * | 2015-08-19 | 2015-12-16 | 北京空间飞行器总体设计部 | Space small mechanical arm tail end executing device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103863582B (en) * | 2014-03-19 | 2018-12-28 | 上海宇航系统工程研究所 | Space capture locking integrated apparatus |
-
2016
- 2016-12-07 CN CN201611117711.2A patent/CN106426145B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN105659762B (en) * | 2009-09-30 | 2013-06-19 | 北京空间飞行器总体设计部 | A kind of destination adapter |
| CN101722509A (en) * | 2009-11-30 | 2010-06-09 | 哈尔滨工业大学 | Electrical connection integrated mechanism for locking space |
| CN103341863A (en) * | 2013-07-10 | 2013-10-09 | 哈尔滨工业大学 | End effector capable of achieving space manipulator self crawling and load operation |
| CN105150226A (en) * | 2015-08-19 | 2015-12-16 | 北京空间飞行器总体设计部 | Space small mechanical arm tail end executing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426145A (en) | 2017-02-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106426145B (en) | A kind of soft capture locking device in space and locking method is captured accordingly | |
| CN110315511B (en) | Cable-driven parallel sorting robot tensioned by passive springs | |
| CN103341863B (en) | A kind of implementation space mechanical arm is from creeping and the end effector of load operation | |
| CN103183111B (en) | A kind of underwater robot recovery traction apparatus | |
| CN104647367B (en) | The robot palletizer in parallel of the compound driving of a kind of rope bar | |
| CN101602209B (en) | Reconfigurable cable-driven parallel robot and its driving device | |
| CN109015738B (en) | A Gripper Functional Cell for Grasping of Stringers | |
| CN101066590A (en) | Scara robot structure and corresponding robot | |
| CN102689311A (en) | Robot arm stretching and swinging driving mechanism assembly | |
| CN113560839A (en) | A multi-DOF maintenance device based on UAV system | |
| CN202668554U (en) | Driving mechanism assembly for stretching and swinging of arm of robot | |
| CN114102568A (en) | A kind of mechanical finger knuckle, manipulator, equipment and switching method of knuckle | |
| CN113373790B (en) | Control device for power system of boat bridge | |
| CN107363821B (en) | Unloading type series-parallel multi-degree-of-freedom posture adjusting platform | |
| CN111361768B (en) | Star arrow butts ring latch mechanism | |
| CN106363664B (en) | A kind of power plant of mechanical arm | |
| CN202291327U (en) | Swing-type casting blank baffle | |
| CN119238606A (en) | A space flexible manipulator rope cluster active-passive hybrid drive module and method | |
| CN213262973U (en) | Robot astronaut capable of being fixed and moved inside and outside space capsule | |
| CN102069489A (en) | Rod climbing robot system | |
| CN212553871U (en) | A rod holder | |
| CN110549358B (en) | End effector | |
| CN111747077B (en) | A yarn ball automatic turning machine and operation method | |
| CN103170982A (en) | End effector of mechanical arm | |
| CN112124628A (en) | Robot astronaut capable of being fixed and moved inside and outside space capsule |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |