CN101829999A - Reachable domain detection device for astronaut spatial activities - Google Patents

Reachable domain detection device for astronaut spatial activities Download PDF

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Publication number
CN101829999A
CN101829999A CN 201010160745 CN201010160745A CN101829999A CN 101829999 A CN101829999 A CN 101829999A CN 201010160745 CN201010160745 CN 201010160745 CN 201010160745 A CN201010160745 A CN 201010160745A CN 101829999 A CN101829999 A CN 101829999A
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China
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boom
composition
arm
joint
shaft
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CN 201010160745
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Chinese (zh)
Inventor
吕宠
周明连
张春
张玉堃
文剑
王彦超
赵鑫
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北京交通大学
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Priority to CN 201010160745 priority Critical patent/CN101829999A/en
Publication of CN101829999A publication Critical patent/CN101829999A/en

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Abstract

The invention discloses a reachable domain detection device for astronaut spatial activities, belonging to the field of aerospace detection. Fixed arm base plates of the detection device are connected with sliding blocks arranged on sliding guide rails on two sides in a servo lifting mechanism; a drive nut in a fixed arm assembly is connected to a ball screw in a servo lifting mechanism assembly; the fixed arm, a first moving arm, a second moving arm and a third moving arm form a rotating pair by using joint shafts; and a rotating angle is detected by a rotating angle sensor; and when an armrest handle at the end part of the third moving arm is pulled by an astronaut, the first moving arm, the second moving arm and the third moving arm can rotate around respective joint shafts and the rotating angles can be detected by respective rotating angle sensors. A computer calculates plane coordinates of the armrest handle according to the detected angle signals and vertical coordinates according to a signal of a servo motor, thereby drawing a spatial area which can be reached by two hands of the astronaut and providing the basis for arranging operating parts for constructing a space station.

Description

一种宇航员空间活动可达域检测装置 One kind of activity up astronaut space domain detection means

技术领域 FIELD

[0001] 本发明属于航天领域,具体来说涉及一种检测宇航员双手可以达到的区域的装置。 [0001] The present invention belongs to the field of aerospace, particularly relates to apparatus for detecting a region of crew can be achieved with both hands.

背景技术 Background technique

[0002] 宇航员太空行走的目的是完成太空作业,比如修复载人航天器或其它航天器上的受损部件。 [0002] The object of the walk is complete astronauts space operations, such as repair damaged members on the manned spacecraft or other spacecraft. 空间站的建设更是需要航天员进行多次出舱活动,才能在轨组装建成。 Construction of the space station astronauts need is multiple extravehicular activities in order to build in-orbit assembly. 登月活动更是体现了航天员在太空行走和太空作业的巨大作用,为人类进入外层空间和其它星球打下了良好的基础。 Moon activities but also reflects the significant role astronauts to walk in space and space operations for human into outer space and other planets has laid a good foundation. 宇航员身穿舱外服后对人体的操作能力不可避免地产生一些限制。 After wearing astronaut extravehicular suits inevitably produce some restrictions on the operational capability of the human body. 穿着舱外服的宇航员双手可以达到的范围,可以完成一定操作的范围以及眼睛可以观察的范围都应该经过详细的检测,以便为需在太空完成组装以及维修的操作件的设计提供数据。 Wearing clothes extravehicular astronauts can reach the hands of range, you can complete certain operating range and the range of the eye can be observed through detailed testing should, in order to complete the assembly and maintenance of the operating element designed to provide data required in space.

[0003] 200810063923. 6 “舱外航天服手套关节力学性能测试系统平台”发明了一种舱外航天服手套关节力学性能测试平台。 [0003] 200,810,063,923.6 "extravehicular spacesuit gloves joint mechanical testing platform" invented a spacesuit gloves joint mechanical test platform. 航天服手套加压支撑装置和立板设置在底座上,手套腕部固定装置、手掌位置调整装置、电气测控系统、拇指位置调整装置、拇指测量装置与立板固接,食指测量装置和中指测量装置与手掌位置调整装置连接,指尖真空吸附装置与拇指、食指、中指测量装置连接,气体控制系统与指尖真空吸附装置连通。 Gloves pressurizing space support means and the upright plate disposed on the base, the wrist fixture glove palm position adjusting means, electrical control system, the thumb position adjusting means, measuring means thumb vertical plate fixed, the index finger and middle finger measurement device measuring position adjusting means connected with the palm, and means thumb, index finger, middle finger measurement device connected to a vacuum suction, gas control system, vacuum means in communication with the fingertip.

[0004] 200510013035. 8 “坐标测量机”设计了一种坐标测量机,用于测定被测物体表面上许多点的坐标,包括支承梁,其将测量头支承在支承着坐标待测的测试物体的支撑台的表面上,该坐标测量机由分别制造的单元组成,所述单元包括至少一个支承梁、一个测量车和一个测量头,并且在支承梁支承测量车的地方被设置成使得它可以沿支承梁移动,该测量车继而支承着测量头。 [0004] 200510013035.8 "CMM" A coordinate measuring machine is designed for determining the coordinates of a number of points on the object surface, comprising a support beam, which measuring head supported on the support of the coordinates of the test object to be tested on the surface of the support table, the coordinate measuring machine manufactured by the composition unit respectively, the unit comprising at least one support beam, a measurement trolley and a measuring head, and is supported by the support beam provided where measured vehicle such that it can movement along the support beam, which measurement trolley in turn supports the measurement head. 机械连接点被设计成使得当所述单元连接到一起时不发生几何变形,并使得单独制造的单元可以简单地连接到坐标测量机上。 Mechanical connection points are designed so that when the unit is connected to a geometrical distortion does not occur together, and so that the unit can be simply manufactured separately connected to the coordinate measuring machine.

[0005] 200710064929. 0 “一种主被动关节臂式测量机器人”,设计了一种主被动关节臂式测量机器人,它包括依次连接的I轴组件、II轴组件、III轴组件、IV轴组件和V轴组件;其特征在于:各轴组件分别设置有电机带动的传动装置和主被动切换装置,测量各轴输出转角的编码器分别直接连接各轴组件的输出轴,或通过相应的几何关系间接连接各轴组件的输出轴。 [0005] 200710064929.0 "an active and passive joints of the robot arm measurement", a kind of active and passive measurements articulated arm robot, which in turn comprises a shaft assembly connected to the I, II shaft assembly, III shaft assembly, IV shaft assembly and the V-axis component; wherein: each of the shaft assembly are respectively provided with a motor drive and the main drive of the passive switching means, measuring each axis output angle encoder are connected directly to the output shaft of each axle assembly, or by a corresponding geometric relationships an output shaft indirectly connected to the respective shaft assembly. 该发明结合传统三坐标测量机和现有被动关节臂式测量机两者的优势,同时弥补了传统工业机器人的精度问题和被动式关节臂式测量臂只能被动采集数据的不足,既具有较高的测量精度,同时还可以主动进行轨迹规划。 The invention combines the advantages of both traditional and conventional passive CMM articulated arm measuring machines, while addressing the problem of accuracy and passive articulated arm measuring arm conventional industrial robot can only passively collected enough data, both having high measurement accuracy, but also you can take the initiative trajectory planning. 编码器可以采集到各关节轴的最后运动转角,而避免了步进电机丢步和谐波减速器各部件之间的机械误差。 The encoder can be collected last movement angle of each joint axis, to avoid losing the mechanical error between the steps and the respective harmonic reducer member stepper motor.

发明内容 SUMMARY

[0006] 本发明是一种检测宇航员双手可以达到的区域的装置。 [0006] The present invention is an apparatus for detecting a region of astronauts hands can be achieved.

[0007] 本发明是这样实现的: [0007] The present invention is implemented as follows:

[0008] 一种宇航员空间活动可达域检测装置,该检测装置包括:伺服升降机构组成、固定臂组成、第一动臂组成、第二动臂组成和第三动臂组成、关节轴组成、第一、第二和第三动臂转角传感器组成。 [0008] A domain astronaut space activity up detecting means, the detecting device comprising: a lifting mechanism composed of a servo, the composition of the fixed arm, a first arm composed of the composition of the second boom and the third boom composition, the composition joint axis the first, second, and third boom angle sensor.

[0009] 固定臂组成中的固定臂底板通过螺钉连接在伺服升降机构组成中的两侧的滑动导轨上安装的两个滑块上,固定臂组成中的驱动螺母连接在伺服升降机构组成中的滚珠丝杠上。 [0009] The two sliders mounted on slide rails on both sides of the fixing plate fixed arm connected to the arm in the composition of elevating servo mechanism is composed by a screw, consisting in fixing arm connected to the servo drive nut lifting mechanism consisting of ball screw.

[0010] 关节轴组成中的关节轴穿过固定臂组成中的固定臂方管上的通孔,支撑于关节轴组成中的关节轴锥轴承和关节轴球轴承中,通过螺钉和关节轴组成中的关节轴底板将关节轴组成固定在固定臂组成中的固定臂方管上,形成固定臂组成和第一动臂组成间的转动副。 [0010] The composition of the joint shaft joint shaft passes through the through hole in the stationary arm in the composition of the fixed arm pipe, supported by the joint shaft consisting of a cone bearing and the shaft joint ball bearing joint shaft, the joint shaft and by screws composition the joint axis of the joint shaft consisting of the base plate in a fixed arm on a fixed arm consisting of pipe, is formed between the fixed arm and a swivel joint consisting of a first boom composition.

[0011] 第一动臂转角传感器组成中的第一动臂转角传感器通过双头螺纹轴与关节轴组成中的关节轴连接,第一动臂转角传感器组成中的U形架通过螺钉将第一动臂转角传感器组成固定在第一动臂组成的关节轴轴承套的法兰上。 [0011] a first boom angle sensor a first boom angle sensor by the composition of the screw shaft and the joint shaft double joint shaft connected composition, the first boom angle sensor consisting of a U-shaped first frame by a screw boom angle sensors on the flanged joint shaft bearing sleeve fixed to the first movable arm thereof.

[0012] 第一动臂组成和第二动臂组成之间的连接,第二动臂组成和第三动臂组成之间的连接与固定臂组成和第一动臂组成之间的连接相同,并形成转动副。 [0012] The same connection between the connection between the first arm and the second boom composition composed of the fixed connection between the second arm and the third boom boom composition composition composition and the composition of the first boom, and forming a swivel joint.

[0013] 当第三动臂组成端部的扶手把被宇航员拉动时,第一动臂组成、第二动臂组成、第三动臂组成都能绕其关节轴组成中的关节轴旋转,所旋转的角度被各自的转角传感器检测。 [0013] When the composition of the third arm to the armrest end portion is pulled astronaut, a first arm composed of the composition of the second boom, the third boom composition can about its joint axis of rotation of the joint shaft composition, the rotation angle of the respective angle sensor to be detected.

[0014] 本发明的有益效果: [0014] Advantageous effects of the invention:

[0015] 本发明提供了一种宇航员空间活动双手可以达到的区域的检测装置,可以用于检测宇航员的可操作范围,为太空站建设的操作件布置提供依据,可以提高太空站建设时宇航员在太空进行安装操作的成功率。 When [0015] The present invention provides a detecting device region astronaut space activity can be achieved with both hands, may be used to detect the operable range astronauts, provide the basis for the operation member is disposed in the construction space station, space station can be improved construction astronauts successfully installed the operating rate in space.

附图说明 BRIEF DESCRIPTION

[0016] 图1宇航员双手可达域检测装置的结构示意图。 Schematic [0016] FIG 1 with both hands up to the astronauts domain structure detection apparatus.

[0017] 图2三轴检测臂结构示意图。 [0017] Fig 2 a schematic view of the arm structure triaxial detection.

[0018] 图3关节轴、动臂、转角传感器连接局部放大图。 [0018] FIG 3 the joint axis, a boom, an enlarged view of the rotation angle sensor is connected.

[0019] 图4固定臂正视图。 [0019] FIG 4 a front view of the fixed arm.

[0020] 图5固定臂剖视图。 [0020] Figure 5 a sectional view of the fixed arm.

[0021] 图6关节轴底板示意图。 [0021] FIG. 6 is a schematic bottom joint axis.

[0022] 图7关节轴示意图。 [0022] Figure 7 a schematic view of the joint axis.

[0023] 图8关节轴侧视图。 [0023] Figure 8 a side view of the joint axis.

[0024] 图9宇航员双手可达域检测装置电控系统示意图。 [0024] Figure 9 a schematic view of an astronaut hands up electronic control system field detection means.

[0025] 附图中:伺服电机1,联轴器2,滚珠丝杠3,滑动导轨4,固定底板5,螺栓6,上轴承座7,扶手把8,下轴承座9,膨胀螺栓10,宇航员11,固定臂底板12,螺钉13,螺钉14,关节轴底板15,关节轴锥轴承16,关节轴轴承套17,固定臂方管18,筋板19,关节轴20,螺钉21,关节轴球轴承22,螺母23,U形架24,第一动臂转角传感器25,螺钉26,第一动臂27,第二动臂转角传感器28,第二动臂29,第三动臂转角传感器30,第三动臂31,方端头32,螺钉33,双头螺纹轴34,紧定螺钉35,垫片36,滑块37,螺钉38,驱动螺母39,螺钉40,轴承45, 固定臂组成50,第一动臂组成60,第二动臂组成70,第三动臂组成80。 [0025] In the drawings: servo motor 1, coupling 2, the ball screw 3, the slide rails 4, 5 fixed to the bottom plate, the bolt 6, the bearing housing 7, 8 the armrest, the bearing holder 9, expansion bolts 10, astronauts 11, the fixed arm plate 12, screws 13, screws 14, the bottom plate 15 joint shaft, the joint shaft bearing cones 16, the bearing sleeve joint shaft 17, fixing arms square tube 18, ribs 19, the joint shaft 20, a screw 21, joint shaft ball bearing 22, nut 23, U-shaped frame 24, a first boom angle sensor 25, a screw 26, the first arm 27, a second boom angle sensor 28, a second boom 29, a third boom angle sensor 30, a third boom 31, square ends 32, 33 screw, double screw shaft 34, set screws 35, the spacer 36, the slider 37, the screw 38, the drive nut 39, screw 40, bearing 45, the fixed arm composition 50, the composition of the first movable arm 60, second arm 70 composition, the composition of the third boom 80. 具体实施方式 Detailed ways

[0026] 下面结合附图和实施例对本发明进一步详细说明。 Drawings and embodiments of the present invention is described in more detail [0026] below in conjunction.

[0027] 图1为一种宇航员空间活动可达域检测装置,见图1、2。 [0027] FIG. 1 as a domain astronaut space activity up detecting means, see FIGS. 该检测装置包括:伺服升降机构组成、固定臂组成50、第一动臂组成60、第二动臂组成70和第三动臂组成80、关节轴组成、第一、第二和第三动臂转角传感器组成。 The detecting device comprising: a lifting mechanism composed of a servo, the composition of the fixed arm 50, composed of a first movable arm 60, the second boom and the third boom 70 composition composition 80, the composition of the joint axis, the first, second, and third boom angle sensors.

[0028] 首先介绍本发明的各个组成部分: [0028] First introduced to the various components of the present invention:

[0029] 一、伺服升降机构组成包括:伺服电机1、联轴器2、滚珠丝杠3、滑动导轨4、固定底板5、上轴承座7、下轴承座9、滑块37、轴承45。 [0029] First, the elevator servo mechanism consists of: a servo motor 1, coupling 2, ball 3, 4 slide rails, the fixing base 5, the bearing housing 7, the bearing holder 9, slider 37, bearing 45.

[0030] 所述零件的连接为: [0030] The connection part is:

[0031] 固定底板5为一块矩形钢板,其四角设置四个通孔,并通过该通孔用膨胀螺栓10 将固定底板5竖直安装在墙面上。 [0031] The base plate 5 is fixed to a rectangular plate, four corners of which four through holes, and mounted on a wall through which the through hole 10 with the expansion bolt fixing base 5 vertically.

[0032] 在固定底板5的中心竖直方向上端通过螺栓6安装上轴承座7,下端安装下轴承座9,滚珠丝杠3安装在上轴承座7和下轴承座9各自的轴承45中,在上轴承座7的上端面开有止口和通孔,伺服电机1安装在该止口中,并用螺栓固定。 [0032] The bolt 6 is mounted on the bearing housing 7, the lower end of the bearing holder 9 is mounted, the ball screw 3 is mounted on the bearing housing 7 and the bearing 9 of each of the lower bearing seat 45 at the upper end of the fixing base 5 by a central vertical direction, the upper end face of the bearing housing 7 is opened and the through-hole rabbet, a servo motor mounted in the mouth stopper and secured with bolts. 伺服电机的驱动轴和滚珠丝杠3的上端轴用联轴器2连接。 Servo motor and a ball screw drive shaft coupling the upper end 3 of the second connection. 在滚珠丝杠3的两侧,对称、平行地用螺栓安装滑动导轨4,每侧的滑动导轨4上安装两个滑块37,两侧共四个滑块37用于通过螺钉38和固定臂底板12 连接。 3 both sides of the ball screw, symmetrical, parallel to the slide rail 4 mounted with bolts, two sliders 37 mounted on each side of the slide rails 4, both sides of the slider 37 for a total of four screws 38 and the fixed arm floor 12.

[0033] 二、固定臂组成50见图4、5,它包括:固定臂底板12、固定臂方管18,筋板19、驱动螺母39。 [0033] Second, the composition of the fixed arm 50 shown in Figure 4 and 5, which comprises: a fixed arm base plate 12, fixing arms square tube 18, ribs 19, the drive nut 39.

[0034] 见图5,在固定臂方管18的端头附近上下平面上同轴开有通孔b,并在下平面上沿通孔的四周对称开设4个螺孔,孔距和关节轴底板15的四周的通孔相同,用于其间的连接。 [0034] Figure 5, has a through hole coaxially in the vicinity of the vertical plane b tip side arm tube 18 is fixed, and symmetric defines four tapped holes in the next four weeks through holes on a plane, and the pitch joint axis base the same around the through hole 15 for connection therebetween.

[0035] 所述零件的连接为:固定臂底板12断面为L形,固定臂方管18的无孔端焊接在固定臂底板12的L形的长边中心,四面焊接筋板19加强,驱动螺母39安装于固定臂底板12 的L形短边中心开的通孔a中,并通过四个螺钉40将驱动螺母39的法兰固定在固定臂底板12的短边上。 [0035] The connecting part of: a fixed arm base plate 12 is L-shaped cross section, welded to the arm end nonporous square tube 18 in the longitudinal center of the L-shaped arm fixed to the base plate 12, four welding reinforcing ribs 19, the driving nut 39 is attached to the short sides of the L-shaped arm fixed to the base plate center opening 12 in a through hole, and four screws 40 through the drive flange nut 39 is fixed to the bottom plate 12 of the short sides of the fixed arm.

[0036] 这样当伺服电机1转动时,通过联轴器2驱动滚珠丝杠3旋转,滚珠丝杠3上的驱动螺母39带动固定臂底板12移动,从而实现固定臂底板12的上下移动,所移动的距离由伺服电机1中的旋转编码器测量。 [0036] Thus, when the servomotor 1 is rotated, the ball screw 2 driven via a coupling 3 is rotated, the ball screw drive nut 339 on the bottom plate drive arm 12 is fixed is moved up and down movement in order to achieve the fixed arm 12 of the base plate, the measuring the distance moved by the servo motor 1 in the rotary encoder.

[0037] 三、第一动臂组成60,见图2、3,它包括:关节轴锥轴承16、关节轴轴承套17、关节轴球轴承22、第一动臂27。 [0037] Third, the composition of the first boom 60, shown in Figure 3, comprising: a bearing cone joint shaft 16, the bearing sleeve joint shaft 17, ball bearing joint shaft 22, the first movable arm 27.

[0038] 第一动臂27由方管制成,在其一端设一安装关节轴轴承套17的通孔,其另一端设用于安装关节轴20的通孔,见图3。 [0038] The first movable arm 27 by square tubing, which is provided at one end of a joint shaft bearing mounting sleeve through hole 17, the other end of the joint axis is provided for mounting through-hole 20, shown in Figure 3.

[0039] 关节轴轴承套17设一阶梯内孔,其一阶梯内孔和关节轴锥轴承16的外圈相配合, 另一阶梯内孔和关节轴球轴承22的外圈相配合。 [0039] The joint shaft bearing sleeve 17 disposed within a stepped bore, one of the stepped bore and the joint shaft 16 the outer bearing ring cooperating tapered, stepped inner bore and another joint shaft ball bearing outer ring 22 mates.

[0040] 所述零件的连接为:关节轴轴承套17安装在第一动臂27—端的通孔中,其法兰焊接在第一动臂27上,在关节轴轴承套17两端的阶梯孔中分别安装关节轴锥轴承16和关节轴球轴承22。 [0040] The connection part is: a joint shaft bearing sleeve 17 is mounted in the through hole 27- end of the first boom, which is welded to the flange on the first movable arm 27, both ends of the joint shaft in the stepped bore 17 of the bearing sleeve They are mounted in the joint shaft 16 and the bearing cone joint shaft ball bearing 22.

[0041] 第二动臂组成70中仅第二动臂29和第一动臂27长度不同外,其它结构和尺寸与第一动臂组成60相同。 [0041] The second movable arm 70 of a different composition only the second movable arm 29 and the length of the first arm 27, the other structure and dimensions of the first movable arm 60 of the same composition. [0042] 四、关节轴组成包括:关节轴底板15、关节轴20,见图6、7、8。 [0042] Fourth, the joint shaft composition comprising: a base plate 15 joint shaft, the joint shaft 20, see FIG 6,7,8.

[0043] 关节轴20是一阶梯轴,关节轴锥轴承16安装在其轴肩上;关节轴20的一个端面的中心设一螺孔d,另一端面上均布4个螺纹孔c,见图7。 [0043] The joint shaft 20 is a stepped shaft, joint shaft bearing 16 mounted on its tapered shaft shoulder; one end surface of the center joint shaft 20 is provided a screw hole d, the other end face of threaded holes 4 Uniform C, see 7.

[0044] 关节轴底板15为四角有通孔的平板,在其中部圆周均布四个通孔,这五个通孔的位置和图7所示的关节轴20底部孔相对应。 [0044] The joint shaft bottom plate 15 has a quadrangular through holes, the portion in which four through holes uniformly distributed circumferentially, the shaft joint hole 20 as shown in the bottom of the five through holes 7 and the position corresponding to FIG. 四个通孔用于关节轴组成与 Four through holes for the composition joint axis

[0045] 所述零件的连接为:通过四个螺钉13与关节轴20 —端的均布的螺纹孔连接将关节轴20与关节轴底板15固定在一起。 The connection [0045] part of: the joint shaft 13 by four screws 20 - 20 are connected to the joint shaft and the joint shaft 15 is fixed to the base plate with threaded holes are cloth end.

[0046] 五、第三动臂组成80包括:扶手把8、、第三动臂31、方端头32。 [0046] Fifth, the composition of the third boom 80 comprises: handrail 8 ,, the third arm 31, tip 32 side.

[0047] 所述零件的连接为:第三动臂31的无孔端焊接正四方体的方端头32的一个面上, 与其面垂直的四个面上各安装一个扶手把8,便于宇航员11握住。 [0047] The connection part is: nonporous weld end 31 of the third boom member being a square end face 32 of the square, its four surfaces perpendicular to the plane of the installation of a handrail to 8, to facilitate aerospace 11 members hold.

[0048] 在第三动臂31的另一端和第二动臂29的左端结构、尺寸及连接相同。 Left structure [0048] In a third arm 31 and the other end of the second movable arm 29, and the connection of the same size.

[0049] 六、第一动臂转角传感器组成包括:倒放的U形架24、第一动臂转角传感器25、双头螺纹轴34、紧定螺钉35、垫片36、螺母23,见图3。 [0049] Sixth, the first boom angle sensors comprising: a U-shaped frame 24 upside down, the first boom angle sensor 25, the double threaded shaft 34, a set screw 35, washer 36, nut 23, see FIG. 3.

[0050] 双头螺纹轴34的一端的中心设一沉孔,其侧面设置螺纹孔,沉孔用于安装第一动臂转角传感器25的轴,螺纹孔用于用紧定螺钉35固定第一动臂转角传感器25的轴。 [0050] One end of the center axis of the threaded stud provided counterbore 34, a threaded hole is provided on its side, for the shaft counterbore, the threaded hole of the first boom angle sensor 25 with a set screw 35 for fixing the first a boom angle sensor shaft 25.

[0051] 所述构成第一动臂转角传感器组成零件的连接为:第一动臂转角传感器25的壳体和倒放的U形架24用螺钉26连接,U形架24的法兰和关节轴轴承套17的螺孔通过螺钉21连接。 [0051] The rotational angle sensor connected to the component parts constituting the first boom is: a first boom angle sensor and the housing 25 upside down U-shaped frame 24 by screws 26, flanged U-shaped frame 24 and the joint screw shaft 17 is connected to the bearing sleeve 21 by screws. 双头螺纹轴34的无孔端拧入关节轴20的轴端螺孔中,通过垫片36和螺母23压紧关节轴球轴承22的内圈;双头螺纹轴34的轴端孔和第一动臂转角传感器25的轴配合, 并用紧定螺钉35固定。 Nonporous double threaded shaft end 34 of the screw shaft is screwed into the joint shaft 20, the bearing inner ring 22 by a washer 36 and a nut 23 pressing the ball joint axis; double shaft screw shaft 34 and the hole a shaft with a boom rotational angle sensor 25, and secured with a set screw 35.

[0052] 第二、三动臂转角传感器(28、30)型号与第一动臂转角传感器25相同。 [0052] The second and third boom angle sensor (28, 30) of the same type as the first boom angle sensor 25. 由其构成的第二、三动臂转角传感器组成与第一动臂转角传感器组成也相同。 By the second and third boom angle sensor is constituted with the same as those of the first boom angle sensor.

[0053] 这样当第一动臂27被外力推动相对于关节轴20旋转时,所转的角度可以被第一动臂转角传感器25检测。 [0053] Thus when the angle of the first movable arm 27 is pushed when the shaft 20 is rotated with respect to the joint, the external force may be transferred first boom angle sensor 25 detects.

[0054] 第二和第三动臂转角传感器组成和第一动臂转角传感器组成相同。 [0054] The second and third boom angle sensor consisting of a first boom angle sensor and the same composition.

[0055] 本发明各组成的装配方式: [0055] The various components of the assembly embodiment of the present invention:

[0056] 一种宇航员空间活动可达域检测装置,该检测装置包括:伺服升降机构组成、固定臂组成50、第一动臂组成60、第二动臂组成70和第三动臂组成80、关节轴组成、第一、第二和第三动臂转角传感器组成。 [0056] A domain astronaut space activity up detecting means, the detecting device comprising: a lifting mechanism composed of a servo, the composition of the fixed arm 50, composed of a first movable arm 60, the second boom and the third boom 70 Composition 80 Composition , the composition of the joint axis, the first, second, and third boom angle sensor.

[0057] 固定臂组成50中的固定臂底板12通过螺钉连接在伺服升降机构组成中的两侧的滑动导轨4上安装的两个滑块37上,固定臂组成中的驱动螺母39连接在伺服升降机构组成中的滚珠丝杠3上。 [0057] The fixed arm composed of the two base fixed arm mounted on the slider 412 by means of a screw connection on both sides of the servo lifting mechanism consisting of a slide rail 37 in 50, consisting of the fixed arm drive nut 39 connected to the servo the elevating mechanism consisting of a ball screw 3.

[0058] 关节轴组成中的关节轴20穿过固定臂组成50中的固定臂方管18上的通孔,支撑于关节轴组成中的关节轴锥轴承16和关节轴球轴承22中,通过螺钉14和关节轴组成中的关节轴底板15将关节轴组成固定在固定臂组成中的固定臂方管18上,形成固定臂组成50 和第一动臂组成60间的转动副。 [0058] The joint axis of the joint shaft 20 through the fixing composition consisting arm through hole 50 in the square tube 18 fixed to the arm, supported by the joint shaft consisting of a cone joint shaft bearing 16 and ball bearing joint shaft 22, by the joint shaft 14 and the bottom screw joint shaft 15 in the composition of the composition of the joint shaft in a fixed arm in the composition of the pipe fixing arms 18, 50 form a fixed arm and a composition composed of a first rotational arm 60 of the sub.

[0059] 第一动臂转角传感器组成中的第一动臂转角传感器25通过双头螺纹轴34与关节轴组成中的关节轴20连接,第一动臂转角传感器组成中的U形架24通过螺钉将第一动臂转角传感器组成固定在第一动臂组成的关节轴轴承套17的法兰上。 [0059] a first boom angle sensor consisting of a first boom angle sensor 25 are connected by a threaded shaft double joint shaft and the joint shaft 34 of the composition 20, a first boom angle sensor consisting of a U-shaped frame 24 by a first flange on the screw boom angle sensors fixed to the first boom component 17 of the joint axis of the bearing sleeve. [0060] 第一动臂组成60和第二动臂组成70之间的连接,第二动臂组成70和第三动臂组成80之间的连接与固定臂组成50和第一动臂组成60之间的连接相同,并形成转动副。 [0060] The first arm 60 and a second composition consisting of the connection between the boom 70, the composition of the third boom 70 and second boom connected to the fixed arm between the composition 80 and composition 50 composed of a first movable arm 60 the connection between the same, and form the sub-rotated.

[0061] 当第三动臂组成80端部的扶手把8被宇航员11拉动时,第一动臂组成60、第二动臂组成70、第三动臂组成80都能绕关节轴组成中的关节轴20旋转,所旋转角度被各自的转角传感器检测。 [0061] When the composition of the third boom armrest 80 to the end portion 8 is pulled astronauts 11, 60 composed of a first boom, a second boom composition 70, the third boom 80 can be composed of the composition of about joint shafts joint shaft 20 is rotated, the rotation angle detected by the respective rotation angle sensor.

[0062] 本发明作用介绍如下: [0062] The effects of the present invention is described as follows:

[0063] 当宇航员11握住扶手把8,并沿手臂的极限位置转动时,第三动臂31、第二动臂29和第一动臂27都绕各自的关节轴转动,所转动的角度由各自的转角传感器检测,通过数据卡实时传送给计算机。 [0063] When the astronauts 11 holding the handrail 8, and rotated in the limit position of the arm, a third arm 31, second arm 29 and the first movable arm 27 are rotated about respective joint shafts, the rotation angle detected by the respective rotation angle sensor, transferred to the computer in real time via the data card. 计算机的软件计算出所有各点位置的坐标值,由计算机保存,并实时显示在计算机屏幕上。 The computer software calculates the coordinate values ​​of the positions of all the points, stored by a computer, and displayed in real time on the computer screen.

[0064] 由计算机的软件发出让机械臂上升一定的距离的指令,通过数据卡传输给电机控制器,电机控制器发出信号驱动伺服电机1,伺服电机1转动,驱动滚珠丝杠3转动,驱动固定臂底板12以及整个与之相连的三轴检测臂一起向上移动一定的距离。 [0064] issued so that the robot arm rises a certain distance by a computer software instructions, to the motor controller, the motor controller drives the servomotor signals transmitted through a data card, a rotation servomotor drives the ball screw 3 rotates, the drive moving a certain distance upwardly along the fixed arm 12 and the whole bottom plate connected thereto triaxial detection arm. 在该高度上宇航员11握住扶手把8,并沿手臂的极限位置转动,则能检测出该高度上的宇航员手的可达区域。 Astronauts in the height of the armrest 11 grip 8, and the arm along the rotation limit position, the region can be detected up to the crew on the height of the hand. 在多个高度上检测到可达域,再由计算机软件计算出空间的域,此空间域即为宇航员的手的可达域。 Detected on a plurality of height up to the domain, the domain space is then calculated by a computer software, the spatial domain is the domain of the hand up to the astronauts.

Claims (7)

  1. 一种宇航员空间活动可达域检测装置,其特征在于:该检测装置包括:伺服升降机构组成、固定臂组成(50)、第一动臂组成(60)、第二动臂组成(70)和第三动臂组成(80)、关节轴组成、第一、第二和第三动臂转角传感器组成;固定臂组成(50)中的固定臂底板(12)通过螺钉连接在伺服升降机构组成中的两侧的滑动导轨(4)上安装的两个滑块(37)上,固定臂组成中的驱动螺母(39)连接在伺服升降机构组成中的滚珠丝杠(3)上;关节轴组成中的关节轴(20)穿过固定臂组成(50)中的固定臂方管(18)上的通孔,支撑于关节轴组成中的关节轴锥轴承(16)和关节轴球轴承(22)中,通过螺钉(14)和关节轴组成中的关节轴底板(15)将关节轴组成固定在固定臂组成中的固定臂方管(18)上,形成固定臂组成(50)和第一动臂组成(60)间的转动副;第一动臂转角传感器组成中的第一动臂转角传感器(25)通过双 One kind of activity up astronaut space domain detection means, wherein: the detecting device comprising: a lifting mechanism composed of a servo, the composition of the fixed arm (50), consisting of a first boom (60), consisting of a second boom (70) composition and a third boom (80), the composition of the joint axis, the first, second, and third boom angle sensors; fixed arm composed of the fixed arm base (12) (50) is connected to the lifting mechanism composed of a servo by screws the sides of the slide rail (4) on two sliders (37) mounted on the drive nut (39) consisting of a fixed arm is connected in the servo lifting mechanism consisting of a ball screw (3); joint axis composition of the joint shaft (20) through the fixed arm composition (50) of the fixed arm square tube (18) through holes in the support to the articulated joint shaft consisting of a cone bearing shaft (16) and a ball bearing joint shaft ( 22), the joint shaft bottom plate (15) by screws (14) and the joint shaft in the composition of the joint shaft consisting in a fixed arm in the composition of the fixed arm square tube (18), forming a fixed arm composition (50) and consisting of a rotatable arm between the sub (60); a first boom angle sensor (25) a first boom angle sensor by the composition of bis 头螺纹轴(34)与关节轴组成中的关节轴(20)连接,第一动臂转角传感器组成中的U形架(24)通过螺钉将第一动臂转角传感器组成固定在第一动臂组成的关节轴轴承套(17)的法兰上;第一动臂组成(60)和第二动臂组成(70)之间的连接,第二动臂组成(70)和第三动臂组成(80)之间的连接和固定臂组成(50)与第一动臂组成(60)之间的连接相同,并形成转动副;当第三动臂组成(80)端部的扶手把(8)被宇航员(11)拉动时,第一动臂组成(60)、第二动臂组成(70)、第三动臂组成(80)都能绕其关节轴组成中的关节轴(20)旋转,所旋转的角度被各自的转角传感器检测。 First threaded shaft (34) connected to the joint shaft consisting of a joint shaft (20), a first boom angle sensor consisting of a U-shaped frame (24) by a screw consisting of a first boom angle sensor is fixed to the first movable arm the joint shaft bearing sleeve (17) consisting of a flange; the composition of a first boom (60) and a second composition is connected between the boom (70), consisting of a second boom (70) and a third arm composed of and connected between the fixed arm (80) composition (50) is connected between the same composition (60) and the first boom, and forming the swivel joint; end when the armrest portion of the third boom composition (80) to (8 ) is pulled astronauts (11), consisting of a first boom (60), consisting of a second boom (70), consisting of the third boom (80) can rotate about its axis of articulation joint axis (20 composition) rotation, the rotation angle and the rotation angle sensor is detected each.
  2. 2.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:伺服升降机构组成包括:伺服电机(1)、联轴器(2)、滚珠丝杠(3)、滑动导轨(4)、固定底板(5)、上轴承座(7)、下轴承座(9)、滑块(37)、轴承(41);所述零件的连接为:四个滑块(37)分别安装在左、右滑动导轨(4)上,滑动导轨(4)固定在固定底板(5)上;滚珠丝杠(3)支撑在安装在上下轴承座(7)、(9)中各自的轴承中。 2. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: the lifting servo mechanism consists of: a servo motor (1), the coupling (2), a ball screw (3) , the slide rail (4), fixed to the base plate (5), the bearing block (7), the bearing block (9), the slide (37), bearing (41); the connection part is: four carriages ( 37) are mounted on the left and right sliding rails (4), the slide rail (4) is fixed to the fixing base (5); a ball screw (3) supported in the bearing housing is mounted in the vertical (7), (9) each bearing.
  3. 3.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:第一动臂组成(60)包括:第一关节轴锥轴承(16)、第一关节轴轴承套(17)、第一关节轴球轴承(22)、第一动臂(27);所述零件的连接为:第一关节轴轴承套(17)安装在第一动臂(27) —端的通孔中,其法兰焊接在第一动臂(27)上,在第一关节轴轴承套(17)两端的阶梯孔中分别安装第一关节轴锥轴承(16)和第一关节轴球轴承(22);第二动臂组成(70)中仅第二动臂(29)和第一动臂(27)长度不同外,其它结构尺寸与第一动臂组成(60)相同。 3. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: a first boom composition (60) comprising: a first joint shaft bearing cone (16), a first joint shaft bearing sleeve (17), a first joint shaft ball bearing (22), a first arm (27); the connection part is: a first joint shaft bearing sleeve (17) is mounted (27) of the first movable arm - end through hole, a flange which is welded to the first boom (27), a first joint shaft in the stepped bore of the bearing sleeve (17) are mounted across the first joint shaft bearing cone (16) and a first ball joint shaft a bearing (22); a second composition boom (70) only the same as the second boom (29) and a first arm (27) of different lengths, the size and other structures composed of the first movable arm (60).
  4. 4.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:第三动臂组成(80)包括:扶手把(8)、第三动臂转角传感器(30)、第三动臂(31)、方端头(32);所述零件的连接为:第三动臂(31)的无孔端焊接正四方体的方端头(32)的一个面上, 与其面垂直的四个面上各安装一个扶手把(8);在第三动臂(31)另一端和第二动臂(29)的左端结构、尺寸及连接相同。 4. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: the composition of the third boom (80) comprising: the armrest (8), the third boom angle sensor (30) the third boom (31), square tip (32); the connection part is: nonporous weld end of the third arm (31) being square tip (32) of a tetragonal plane, four surface mounted thereto a respective plane perpendicular to the handrail (8); a third arm (31) and the other end of the second arm (29) of the left end of the structure, size and the same connection.
  5. 5.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:固定臂组成(50)包括:固定臂底板(12)、固定臂方管(18),筋板(19)、驱动螺母(39);所述零件的连接为:固定臂方管(18)的无孔端焊接在固定臂底板(12)的L形的长边中心,四面焊接筋板(19)加强,驱动螺母(39)安装于固定臂底板(12)的L形短边中心开的通孔(a)中,并通过螺钉(40)将驱动螺母(39)的法兰固定在固定臂底板(12)的短边上。 5. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: the composition of the fixed arm (50) comprising: a fixed arm base (12), the fixed arm square tube (18), ribs (19), drive nut (39); the connection part is: nonporous square tube end is fixed by welding arm (18) of the longitudinal center L-shaped, four ribs welded (fixed arm 19 in the bottom plate (12) ) enhanced drive nut (39) mounted on the fixed arm base (12) of the short sides of the L-shaped center opening of the through hole in (a), and by a screw (40) the drive nut (39) fixed to the fixed flange arms bottom plate (12) of the short sides.
  6. 6.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:关节轴组成包括:关节轴底板(15)、关节轴(20);所述零件的连接为:通过螺钉(13)与关节轴(20) —端的均布的螺纹孔连接将关节轴(20)与关节轴底板(15)固定在一起。 6. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: the joint axes composition comprising: a base joint axis (15), the joint shaft (20); the connection part is: by means of screws (13) and the joint axis (20) - threaded holes equispaced end connection joint axis (20) and the joint shaft base plate (15) secured together.
  7. 7.根据权利要求1所述的一种宇航员空间活动可达域检测装置,其特征在于:第一动臂转角传感器组成包括:倒放的U形架(24)、第一动臂转角传感器(25)、双头螺纹轴(34)、 紧定螺钉(35)、垫片(36)、螺母(23);所述零件的连接为:第一动臂转角传感器(25)的壳体和倒放的U形架(24)用螺钉(26)连接,U形架(24)的外端法兰和关节轴轴承套(17)的螺孔通过螺钉(21)连接;双头螺纹轴(34)的无孔端拧入关节轴(20)的轴端螺孔中,通过垫片(36)和螺母(23)压紧关节轴球轴承(22)的内圈;双头螺纹轴(34)的轴端孔和第一动臂转角传感器(25)的轴配合, 并用紧定螺钉(35)固定。 7. According to an astronaut space activity according to claim 1 domain up detecting means, wherein: a first boom angle sensor consists of: (24), a first boom angle sensor upside down U-shaped frame (25), double threaded shaft (34), a set screw (35), the spacer (36), the nut (23); the connection parts: a first boom angle sensor (25) and the housing upside down U-shaped frame (24) by screws (26), U-shaped frame (24) and the outer end of the flange joint shaft bearing sleeve (17) is connected by a screw threaded hole (21); and a stud screw shaft ( 34) screwed into the end of the non-porous joint axis (20) of the screw shaft, the pressing ball bearing joint axis (22) of the inner race via a washer (36) and a nut (23); and a stud screw shaft (34 ) of the shaft hole and the first boom angle sensor (25) with a shaft, and (35) is fixed with a set screw. 第二和第三动臂转角传感器组成和第一动臂转角传感器组成相同。 The second and third boom angle sensor consisting of a first boom angle sensor and the same composition.
CN 201010160745 2010-04-26 2010-04-26 Reachable domain detection device for astronaut spatial activities CN101829999A (en)

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Cited By (5)

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CN103692439A (en) * 2014-01-02 2014-04-02 莱州华龙包装有限公司 Mechanical arm
CN104493822A (en) * 2015-01-06 2015-04-08 常州先进制造技术研究所 Chuck gripper device of stacking robot for complex surface
CN105150194A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Lifting mechanism of material taking mechanical arm
CN106002220A (en) * 2016-07-07 2016-10-12 浙江鼎盛汽车紧固件有限公司 Automatic manipulator assembly device of vehicle fastening pieces
CN106113093A (en) * 2016-08-26 2016-11-16 重庆华数机器人有限公司 A kind of robot belt tension measures aid

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103692439A (en) * 2014-01-02 2014-04-02 莱州华龙包装有限公司 Mechanical arm
CN104493822A (en) * 2015-01-06 2015-04-08 常州先进制造技术研究所 Chuck gripper device of stacking robot for complex surface
CN105150194A (en) * 2015-10-01 2015-12-16 合肥金海康五金机械制造有限公司 Lifting mechanism of material taking mechanical arm
CN106002220A (en) * 2016-07-07 2016-10-12 浙江鼎盛汽车紧固件有限公司 Automatic manipulator assembly device of vehicle fastening pieces
CN106113093A (en) * 2016-08-26 2016-11-16 重庆华数机器人有限公司 A kind of robot belt tension measures aid

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