The invention relates to an end effector and an engine throat capturing and releasing device and method. The end effector comprises an end effector shell; the capturing head is arranged outside the end effector shell; the flexible assembly is connected between the end effector shell and the capturing head; a plurality of flexible parts of the flexible assembly are arranged in a circle in the circumferential direction. One part of the rotating mechanism is rotationally connected with the end effector shell, and the other part of the rotating mechanism penetrates through the flexible assembly to be connected with the capturing head; the limiting piece is arranged at the position, close to the capturing head, in the flexible assembly and connected with the capturing head; the outer diameter of the capturing head and the outer diameter of the limiting piece are smaller than the inner diameter of the channel. When the flexible assembly is in a natural state, the diameter of the middle position of the flexible assembly is larger than the diameter of the channel, and the diameters of the two ends of the flexible assembly are smaller than the diameter of the channel. The mechanical damage of the capturing head and the flexible assembly to the channel and the inner wall of the throat pipe is avoided; the manufacturing cost is low; the reliability is high.
发明涉及一种末端执行器、发动机喉管捕获与释放装置及方法,包括:末端执行器壳体;捕获头,设置在末端执行器壳体之外;柔性组件,连接在末端执行器壳体与捕获头之间;柔性组件的多个柔性件沿周向设置一圈;旋转机构,一部分与末端执行器壳体转动连接、另一部分穿过柔性组件与捕获头连接;限位件,设置在柔性组件中靠近捕获头的位置处且与捕获头连接;其中,所述捕获头以及所述限位件的外径小于通道的内径;所述柔性组件处于自然状态下:所述柔性组件中间位置处的直径大于所述通道的直径,所述柔性组件两端位置处的直径小于所述直径小于通道的直径。发明避免捕获头以及柔性组件对通道以及喉管内壁造成机械损伤;制造成本低;可靠性高。
End effector and engine throat pipe capturing and releasing device and method
一种末端执行器、发动机喉管捕获与释放装置及方法
2023-08-11
Patent
Electronic Resource
Chinese
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