The invention belongs to the field of capturing manipulators, and particularly relates to a rope-driven truss type foldable capturing manipulator which comprises a base and mechanical fingers, the mechanical fingers are arranged on the side face of the base through a bottom plate, a lead screw motor is used for driving a lead screw to rotate forwards and backwards to drive a shear fork strip to be forked and retracted, and folding, retracting and stretching of the mechanical fingers are achieved. A motor is used for driving a rope winding shaft to rotate to tighten and loosen a rope, a rotating hinged support is automatically reset under the action of a coil spring, stretching and bending of the mechanical fingers are achieved, and therefore a target object is grabbed and released, meanwhile, the mechanical fingers can expand the number of extensible units according to requirements, and the enveloping area of the grabbing face is adjusted; the robot has the advantages of being small in driving amount, high in expandability, high in self-adaptive capacity, capable of being folded, convenient to transport and the like, and can be applied to satellites, space stations and space detectors.
本发明属于捕获机械手领域,具体涉及一种绳驱桁架式可折展捕获机械手,其包括基座和机械手指,机械手指通过底板设置在基座的侧面,利用丝杠电机驱动丝杠正反转带动剪叉条叉开与收回,实现机械手指的折叠收拢与伸展,利用电机驱动卷绳轴转动收紧和松开绳索以及旋转铰座在盘簧的作用下自动归位,实现机械手指的伸展与弯曲,从而完成对目标物体的抓取和释放,同时机械手指可根据需求进行拓展可展单元的数量,调整抓取面的包络面积,提高抓取可靠性,具有驱动少、可扩展性高、自适应能力强以及可折叠便于运输等特点,可应用于卫星、空间站和空间探测器上。
Rope-driven truss type foldable capturing manipulator
绳驱桁架式可折展捕获机械手
2024-09-17
Patent
Electronic Resource
Chinese
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