公开(公告)号：US4929011A

公开(公告)日：1990-05-29

申请号：US338156

申请日：1989-04-14

申请人： Ron Vandersluis ,  Erik Quittner

发明人： Ron Vandersluis ,  Erik Quittner

IPC分类号： B25J15/02 ,  B64G1/64

CPC分类号： B25J15/0206 ,  B64G1/646

摘要： The grapple fixture, with improved docking and engaging capabilities, is provided for use with, for example, a relocatable space station remote manipulator system. The grapple fixture is for use with an end effector having grappling capabilities and latching capabilities and which may include a force moment sensor which can cooperate with the arm in order to align the end effector with the grapple fixture without the aid of a grappling mechanism. The grapple fixture comprises a base, having a flange and a cylinder with an end effector abutment face, a plurality of end effector latching trunnions extending radially from the cylinder, a cone-shaped, grapple fixture aligning body with a cylindrical, end effector locating base portion attached to the abutment face, and a plurality of laterally extending, grapple fixture recess engaging, rounded shoulders spaced around the cylindrical base.

摘要翻译： 提供了具有改进的对接和接合能力的抓斗夹具，用于例如可重新定位的空间站远程操纵器系统。 抓斗夹具用于具有抓握能力和闩锁能力的末端执行器，并且其可以包括力矩传感器，该力矩传感器可以与臂配合，以便在没有抓斗机构的帮助下将末端执行器与抓斗夹具对准。 抓斗夹具包括底座，具有凸缘和具有端部执行器接合面的圆柱体，从圆柱体径向延伸的多个端部执行器闩锁耳轴，锥形的抓斗固定器本体，其具有圆柱形的末端执行器定位基座 附接到邻接面的部分，以及多个横向延伸的抓斗固定凹部，其接合围绕圆柱形基座间隔开的圆形肩部。

公开(公告)号：US4929009A

公开(公告)日：1990-05-29

申请号：US338155

申请日：1989-04-14

申请人： Ron Vandersluis ,  Erik Quittner

发明人： Ron Vandersluis ,  Erik Quittner

IPC分类号： B25J15/02 ,  B64G4/00

CPC分类号： B64G4/00 ,  B25J15/02 ,  Y10S294/907

摘要： The end effector forms part of the relocatable space station remote manipulator system. The end effector has grappling capabilities and latching capabilities and may include a force moment sensor which can cooperate with the arm in order to align the end effector with a grapple fixture without the aid of a grappling mechanism. The function of the end effector, when two are installed, one on each end of a symmetrical manipulator arm is to provide the capability to interchange the wrist and shoulder functions of the arm, thus enabling the manipulator to be self relocatable. The end effector combines the snare and rigidizing features of existing end effectors with new latching and umbilical electrical power and signal transfer features.

摘要翻译： 末端执行器构成可重定位空间站远程操纵器系统的一部分。 末端执行器具有抓握能力和锁定能力，并且可以包括力矩传感器，该力矩传感器可以与臂配合，以便在没有抓斗机构的帮助下将末端执行器与抓斗夹具对准。 末端执行器的功能，当两个安装在对称的操纵臂的每一端上时，其功能是提供臂的腕部和肩部功能的交换能力，从而使操纵器能够自我重新定位。 末端执行器结合了现有末端执行器的圈套和刚性特征，具有新的锁定和脐带电力和信号传递功能。