The invention discloses a single-degree-of-freedom space deployable grabbing manipulator device and grabbing equipment. The manipulator device comprises a plurality of capturing units, and each capturing unit comprises a capturing connecting rod, a middle supporting rod and two switching connecting rods; the capturing connecting rod comprises two first connecting rods; the switching connecting rod comprises a second connecting rod and a third connecting rod; the two first connecting rods are connected through a first hinge point; the second connecting rods are connected with the first connecting rods through second hinge points, the rotating axes of the rotating pairs formed at the two second hinge points are coplanar, and the rotating axes of the rotating pairs formed at the second hinge points are perpendicular to the rotating axes of the rotating pairs formed at the first hinge points in a non-coplanar mode. The second connecting rod and the third connecting rod are connected through third hinge points, and the rotating axes of the rotating pairs formed at the two third hinge points are coplanar; the third connecting rod is connected with the middle supporting rod through fourth hinge points, and the rotating axes of rotating pairs formed at the two fourth hinge points are parallel to each other. The device has the advantages of being easy to assemble and capable of being folded and unfolded reversely.
本发明公开了一种单自由度空间可展开抓取机械手装置以及抓捕设备。机械手装置包括多个抓捕单元,抓捕单元包括抓捕连杆、中间撑杆和两个转接连杆;抓捕连杆包括两个第一连杆,转接连杆包括第二连杆和第三连杆;两个第一连杆通过第一铰接点连接;第二连杆通过第二铰接点与第一连杆连接,两个第二铰接点处形成转动副的转动轴线共面,第二铰接点处所形成转动副的转动轴线与第一铰接点处形成转动副的转动轴线异面垂直;第二连杆和第三连杆通过第三铰接点连接,两个第三铰接点处形成转动副的转动轴线之间共面;第三连杆通过第四铰接点与中间撑杆连接,两个第四铰接点处所形成转动副的转动轴线互相平行。本发明具有装配简单、可反向折叠和展开的优点。
Single-degree-of-freedom space deployable grabbing manipulator device and grabbing equipment
一种单自由度空间可展开抓取机械手装置以及抓捕设备
2022-12-27
Patent
Electronic Resource
Chinese
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