CN109571517B - Omnidirectional active friction end effector for space target control - Google Patents
Omnidirectional active friction end effector for space target control Download PDFInfo
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- CN109571517B CN109571517B CN201811457901.8A CN201811457901A CN109571517B CN 109571517 B CN109571517 B CN 109571517B CN 201811457901 A CN201811457901 A CN 201811457901A CN 109571517 B CN109571517 B CN 109571517B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0004—Gripping heads and other end effectors with provision for adjusting the gripped object in the hand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/009—Gripping heads and other end effectors with pins for accurately positioning the object on the gripping head
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
- B25J15/103—Gripping heads and other end effectors having finger members with three or more finger members for gripping the object in three contact points
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Abstract
The invention discloses an omnidirectional active friction end effector for space target control, which comprises a friction ball, a friction ball power device, a friction ball restraint device and a linear module clutch device. The friction ball power device is used for providing friction ball omnidirectional rolling power; the friction ball constraint device is used for providing omnidirectional constraint for the friction balls in the free space, is fixedly connected to the tail end of the space target control mechanism and moves along with the friction balls under the drive of the space target control mechanism, and the linear module clutch device is used for controlling the friction ball power device to be separated from the friction balls when the friction balls are not in contact with a captured object so as to enable the friction balls to be in contact with the surface of the captured object to passively follow and rotate; when the friction ball is completely contacted with the surface of the capture object, controlling the friction ball power device to be contacted with the friction ball, and enabling the friction ball to move under the action of omnidirectional rolling power; and the friction ball realizes the motion control of the contact object through the friction force generated on the contact surface by contacting with the capture object.
Description
Technical Field
The invention discloses a spacecraft space grabbing end effector based on a full-freedom active friction principle of an omnidirectional wheel, and belongs to the technical field of mechanical design.
Background
Space-operated spacecraft require various on-orbit services. The spacecraft with the failure and the over-age need to clean out the operation orbit in time. The grabbing stability and grabbing efficiency of the executing mechanism in the on-orbit service and cleaning process determine the success or failure of the whole task.
With the development of aerospace technology, space docking is developed from cooperative target docking to non-cooperative target docking. The non-cooperative target docking technology is utilized to realize docking between any aircrafts in space, and the space activity range is expanded, so that space activities such as space garbage cleaning, satellite recovery, fuel supply, part replacement, system upgrading and the like are realized.
Since the end of the last century, the research on the space non-cooperative target docking technology started at home and abroad, and mainly takes a space robot arm system as a means. In the non-cooperative target docking technology, capturing a space target is an important link for a space manipulator system to execute tasks, and the link cannot avoid collision. Collisions may cause equipment damage and even failure of the capture task. Therefore, measures must be taken to suppress the collision during the capture of the target. The invention utilizes the active friction technology to control the collision force in the process of capturing the target within a bearable range, thereby realizing the safe and stable capturing of the non-cooperative target.
Since the nineties of the last century, space manipulators began to be applied to spacecraft, and related research thereof has also been greatly developed. Among them, the research level of countries such as the united states, japan, and canada is higher than that of other countries. The successful launch of ETS-VII satellites in japan in 1997 is the first space manipulator system in the world, as shown in fig. 1-1. The space manipulator system consists of a spacecraft platform as a system base and at least one space manipulator. According to the difference of the base position and posture control conditions, the space mechanical arm system can be divided into four modes: a base pose maneuvering mode, a base pose fixing mode, a free flight mode and a free floating mode; the base position and the base posture of the space mechanical arm system in the free floating mode are not controlled, the base of the system moves freely under the reaction of the mechanical arm, and when the system has no external force or external moment, the momentum is conserved; the free floating mode not only saves fuel and prolongs the working time of the system, but also can realize the aim of smoothing the tail end movement of the robot.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the defects of the prior art are overcome, the omnidirectional active friction end effector for space target control is provided, and the problem of spin motion passive despun capture of a non-cooperative target is solved.
The technical solution of the invention is as follows: an omnidirectional active friction end effector for space target manipulation comprises a friction ball, a friction ball power device, a friction ball restraining device and a linear module clutch device; wherein:
the friction ball power device is used for providing friction ball omnidirectional rolling power;
the friction ball restraint device provides omnidirectional restraint for the friction ball in the free space, and limits the friction ball to rotate within a certain space range; the friction ball is fixedly connected to the tail end of the space target control mechanism and moves with the space target control mechanism;
the linear module clutch device is used for controlling the relative position of the friction ball power device and the friction ball, and controlling the friction ball power device to be separated from the friction ball when the friction ball is not in contact with the capture object, so that the friction ball is in contact with the surface of the capture object and passively follows to rotate; when the friction ball is completely contacted with the surface of the capture object, controlling the friction ball power device to be contacted with the friction ball, and enabling the friction ball to move under the action of omnidirectional rolling power;
and the friction ball realizes the motion control of the contact object through the friction force generated on the contact surface by contacting with the capture object.
The friction ball restraint device comprises a driven suspension and a plurality of one-way elastic devices, the driven suspension is fixedly connected to the tail end of the space target control mechanism, the one-way elastic devices are evenly distributed, one end of each one-way elastic device is arranged at the edge of the driven suspension, the other end of each one-way elastic device is suspended, a plurality of centripetal grippers are formed downwards and used for encircling the friction ball, the suspension end of each one-way elastic device is provided with an omnidirectional ball bearing, and the omnidirectional ball bearing is in contact with the friction ball to apply radial pre-tightening force of the friction.
And the top center of the driven suspension is provided with a ball bearing downwards, and the ball bearing is used for limiting the upward movement of the friction ball while ensuring the rotation movement of the friction ball.
Linear module clutch includes clutch motor, the screw rod, the nut, the screw rod is located friction ball restraint device directly over, when friction ball is arranged in the friction ball restraint device statically, the centre of sphere of friction ball is crossed to the extension line of screw rod, the nut is fixed at friction ball power device center, friction ball power device is spacing along nut direction of rotation, the screw rod passes through the bearing and is connected with friction ball restraint device, the nut of taking friction ball power device constitutes the ball screw structure with the screw rod cooperation, the motor drive screw rod is rotatory, the nut drives friction ball power device and is rectilinear movement along the screw rod.
And limiting devices are arranged at two ends of the screw rod, so that the nut driving the friction ball power device can only do linear movement within a certain range.
The friction ball power device comprises a driving suspension, three ohm wheel sets, three servo motors and three speed reducers;
the active suspension comprises a flat plate structure with a through hole in the center, the center of the flat plate structure penetrates through a nut of the linear module clutch device and is fixedly connected with the nut, three flanges are uniformly distributed on the periphery of the flat plate structure, the mounting surfaces of the flanges are upwards tilted and form the same included angle with the flat plate structure, three servo motors are respectively and fixedly connected onto the mounting surfaces of the three flanges through servo motor flanges, the servo motors are connected with a speed reducer in series, each group of ohm wheels is fixedly connected with a support rod perpendicular to the wheel surface, meanwhile, the support rod is mounted on the servo motor flanges through a bearing, the servo motors drive the speed reducer to rotate, and the speed reducer drives the ohm wheel group to rotate through the support rod; the total length of the supporting rod, the speed reducer and the servo motor, the radius of the ohm wheel and the included angle between the flange mounting surface and the flat plate structure are proper, so that when the edge of the ohm wheel is tangent to the friction ball, the center rotating plane of the three ohm wheel sets passes through the ball center of the friction ball.
The ohm wheel set comprises two or more ohm wheels with the same diameter, and the ohm wheels are installed in parallel and are perpendicular to the supporting rod.
Driven wheels of two adjacent ohmic wheels are installed in a staggered mode, the edges of the ohmic wheel sets are guaranteed, and when the ohmic wheel sets are in contact with friction balls, each ohmic wheel set is always in contact with a driven wheel and a spherical surface.
The omnidirectional active friction end effector also comprises a measuring sensor, wherein the measuring sensor and the omnidirectional bearing are both arranged at the tail end of the one-way elastic device of the friction ball restraining device and are used for measuring the movement direction and speed of the surface of the friction ball relative to each ball bearing.
The surface of the friction ball is covered with a rubber coating.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention breaks through the traditional claw type or clamping piece type executing mechanism mode at the tail end of the capturing mechanical arm. A brand-new friction wheel is adopted as a contact control mode, the problem of passive despun capture of the spinning motion of a non-cooperative target is effectively solved, the capture efficiency is higher, and the capture scheme is more intelligent;
(2) the linear module clutch device is arranged between the friction ball power device and the friction ball restraint device, is contacted with the friction ball when power is required to be supplied, and is separated from the friction ball when power is not required to be supplied, so that the friction ball can be contacted with the surface of a capture object to be passively followed and rotated, and passive despinning is completed;
(3) the omnidirectional contact bearing is arranged on the unidirectional elastic device, and the elastic device applies the radial pretightening force of the friction ball in real time;
(4) the ball bearing is arranged at the top center of the driven suspension frame downwards, and is used for limiting the upward movement of the friction ball while ensuring the rotation movement of the friction ball.
Drawings
Fig. 1 is a block diagram of the overall structure of an omnidirectional active friction end effector for spatial target steering according to an embodiment of the present invention;
FIG. 2 is a top view of an omnidirectional active friction end effector for spatial target manipulation in accordance with an embodiment of the present invention;
FIG. 3 is a bottom view of an omnidirectional active friction end effector for spatial target manipulation in accordance with an embodiment of the present invention;
FIG. 4 is a structural diagram of an ohmic wheel of the friction ball power device contacting with a friction ball according to the embodiment of the invention.
1, a mechanical arm conversion interface; 2 driving a controller; 3, an upper platform; 4, a servo motor; 5, a speed reducer; 6, a lower platform; 7 ohm nylon wheel; 8, a one-way elastic device; 9. a friction ball; 10 reinforcing ribs; 11, an omnidirectional ball bearing; 12 reinforcing ribs; 13 servo motor flange.
Detailed Description
The invention is described in detail below with reference to the accompanying drawings and specific embodiments.
The invention provides an omnidirectional active friction end effector for space target control, which is used as an end actuating mechanism of a space capture mechanical arm and can effectively solve the problem of passive despun capture of spinning motion of a non-cooperative target.
As shown in fig. 1, the omnidirectional active friction end effector comprises a friction ball 9, a friction ball power device, a friction ball restraining device and a linear module clutch device; wherein:
the friction ball power device is used for providing the omnidirectional rolling power of the friction ball 9;
the friction ball restraint device provides omnidirectional restraint for the friction ball 9 in the free space, and limits the friction ball 9 to rotate within a certain space range; the mechanical arm conversion interface 1 is fixedly connected to the tail end of the space target control mechanism and is driven by the space target control mechanism to move with the friction ball;
the linear module clutch device is used for controlling the relative position of the friction ball power device and the friction ball, and controlling the friction ball power device to be separated from the friction ball when the friction ball is not in contact with the capture object, so that the friction ball is in contact with the surface of the capture object and passively follows to rotate; when the friction ball is completely contacted with the surface of the capture object, controlling the friction ball power device to be contacted with the friction ball, and enabling the friction ball to move under the action of omnidirectional rolling power;
and the friction ball realizes the motion control of the contact object through the friction force generated on the contact surface by contacting with the capture object.
As shown in fig. 2 and 3, the friction ball restraint device includes a driven suspension and a plurality of unidirectional elastic devices, the driven suspension is fixedly connected to the end of the space target control mechanism, the plurality of unidirectional elastic devices are uniformly distributed, one end of each unidirectional elastic device is arranged at the edge of the driven suspension, the other end of each unidirectional elastic device is suspended, a plurality of centripetal grippers are formed downwards and used for encircling the friction ball, an omnidirectional ball bearing 11 is arranged at the suspended end of each unidirectional elastic device 8, the omnidirectional ball bearing 11 is in contact with the friction ball at an angular position of 45 degrees below the horizontal plane of the friction ball, and radial pre-tightening force of the friction ball is. And a reinforcing rib 10 is fixedly arranged between two adjacent unidirectional elastic devices 8 to prevent the unidirectional elastic devices from deforming. The three omnidirectional contact bearings are fixed on the passive suspension and keep real-time contact with the friction ball through the elastic device, so that omnidirectional restraint on the friction ball is realized.
And the top center of the driven suspension is provided with a ball bearing downwards, and the ball bearing is used for limiting the upward movement of the friction ball while ensuring the rotation movement of the friction ball.
Linear module clutch includes clutch motor, the screw rod, the nut, the screw rod is located friction ball restraint device directly over, when friction ball is arranged in the friction ball restraint device statically, the centre of sphere of friction ball is crossed to the extension line of screw rod, the nut is fixed at friction ball power device center, friction ball power device is spacing along nut direction of rotation, the screw rod passes through the bearing and is connected with friction ball restraint device, the nut of taking friction ball power device constitutes the ball screw structure with the screw rod cooperation, the motor drive screw rod is rotatory, the nut drives friction ball power device and is rectilinear movement along the screw rod.
And limiting devices are arranged at two ends of the screw rod, so that a nut driving the friction ball power device can only do linear movement within a certain range between the upper platform 3 and the lower platform 6.
As shown in fig. 4, the friction ball power device includes a driving suspension, three ohm-wheel sets, three servo motors 4 and three reducers 5.
Initiative suspension includes that the center is equipped with the slab structure of through-hole, linear module clutch's nut is passed at this slab structure center, with nut fixed connection, the three flange of slab structure periphery equipartition, the mounting face of flange upwards sticks up, be 45 contained angles with the slab structure, servo motor 4 passes through servo motor flange 13 fixed connection on the installation face of flange, servo motor 4 and 5 series connection of reduction gear, the branch fixed connection of every group ohm buddhist nun wheel and perpendicular to wheel face, and simultaneously, branch passes through the bearing and installs on servo motor flange 13, servo motor 4 drive reduction gear is rotatory, reduction gear 5 drives ohm buddhist nun wheel group rotation through branch. The total length of the supporting rod, the speed reducer and the servo motor, the radius of the ohm wheel and the included angle between the flange mounting surface and the flat plate structure are proper, so that when the edge of the ohm wheel is tangent to the friction ball, the center rotating plane of the three ohm wheel sets passes through the ball center of the friction ball. The three coupled ohmic wheels are driven by three servo motors and are in close contact with the friction ball, six-degree-of-freedom omnidirectional control of the friction ball is achieved, the friction ball is restrained by the omnidirectional ball bearing to be in contact with a capture object, and control over the contact object is achieved through friction force generated by contact.
From the above, three coupled ohmmeters are fixed to the active suspension, which is driven by the linear module clutch. When the end effector is not in contact with the capture object, the active suspension is separated from the friction ball, and the friction ball is in contact with the surface of the capture object and passively rotates along with the surface of the capture object; when the friction ball is completely contacted with the surface of the captured object, the friction ball power device is involved, and the linear module clutch device drives the three coupled ohmic wheels to be contacted with the friction ball to provide power and realize the control of the captured object. That is, three coupled ohmic wheels are fixed to the active suspension that contact the friction ball when power is required and disengage the friction ball when power is not required.
The ohm wheel set comprises two or more ohm wheels 7 with the same diameter, and the ohm wheels 7 are installed in parallel and are perpendicular to the supporting rod.
Driven wheels of two adjacent ohm wheels 7 are installed in a staggered mode, the edges of the ohm wheel sets are guaranteed, and when the ohm wheel sets are in contact with friction balls, driven wheels and spherical surfaces of each ohm wheel set are in contact all the time.
The friction ball is contacted with the capture object, and the friction force between the ball body and the capture object determines the capture effect. A friction material rubber coating method is adopted to coat a layer of viscous high-friction coating on the surface of the friction ball, so that a good friction effect can be ensured during capturing. The friction material is composed of a high molecular binder, reinforcing fibers and synthetic rubber.
The end effector is contacted with the surface of the object to be caught through a friction ball capable of being controlled in all directions, the end effector, the measuring sensor and the driving controller 2 form an end effector terminal together, and the object to be caught is caught and controlled through cooperative control of a plurality of mechanical arms.
Three laser measuring sensors are coupled and distributed on the passive suspension by adopting a non-contact distributed coupling measuring method and are used for detecting the movement direction and speed of at least three ball bearings; on one hand, the drive controller decouples the three-direction motion of the friction ball detected by the non-contact distributed coupling measurement sensor into the motion of three ohm nylon wheel driving directions; on the other hand, the driving controller decouples the motion of the friction ball, which needs to be in contact with the surface of the capture object, into the motion of three coupling driving directions; thereby realizing the closed-loop control of the motion of the friction ball.
The invention is beneficial to breaking through key technologies such as passive racemization of spinning motion of space debris, space active approach, adaptive control of an aircraft and the like based on a high-pressure fluid transmission principle, promoting the development of principle prototypes of novel capturing mechanisms aiming at large-mass and large-size space debris and the improvement of ground test technology, and breaking through the technology of space debris active approach and the novel capturing mechanism aiming at large-mass and large-size space debris.
Parts of the specification which are not described in detail are within the common general knowledge of a person skilled in the art.
Claims (10)
1. An omnidirectional active friction end effector for space target manipulation is characterized by comprising a friction ball, a friction ball power device, a friction ball restraining device and a linear module clutch device; wherein:
the friction ball power device is used for providing friction ball omnidirectional rolling power;
the friction ball restraint device provides omnidirectional restraint for the friction ball in the free space, and limits the friction ball to rotate within a certain space range; the friction ball is fixedly connected to the tail end of the space target control mechanism and moves with the space target control mechanism;
the linear module clutch device is used for controlling the relative position of the friction ball power device and the friction ball, and controlling the friction ball power device to be separated from the friction ball when the friction ball is not in contact with the capture object, so that the friction ball is in contact with the surface of the capture object and passively follows to rotate; when the friction ball is completely contacted with the surface of the capture object, controlling the friction ball power device to be contacted with the friction ball, and enabling the friction ball to move under the action of omnidirectional rolling power;
and the friction ball realizes the motion control of the contact object through the friction force generated on the contact surface by contacting with the capture object.
2. The omnidirectional active friction end effector for spatial target manipulation according to claim 1, wherein the friction ball constraining device comprises a driven suspension and a plurality of unidirectional elastic devices, the driven suspension is fixedly connected to the end of the spatial target manipulation mechanism, the plurality of unidirectional elastic devices are uniformly distributed, one end of each unidirectional elastic device is arranged at the edge of the driven suspension, the other end of each unidirectional elastic device is suspended, a plurality of centripetal grippers are formed downwards and used for encircling the friction ball, the suspended end of each unidirectional elastic device is provided with an omnidirectional ball bearing, and the omnidirectional ball bearing is in contact with the friction ball to apply radial pre-tightening force to the friction ball in real time.
3. The omnidirectional active friction end effector for spatial target steering according to claim 2, wherein the driven suspension is provided with a ball bearing at the top center thereof facing downward for limiting upward movement of the friction ball while ensuring rotational movement of the friction ball.
4. The omnidirectional active friction end effector for spatial target manipulation according to claim 1, wherein the linear module clutch device comprises a clutch motor, a screw rod and a nut, the screw rod is positioned right above the friction ball constraint device, when the friction ball is statically arranged in the friction ball constraint device, an extension line of the screw rod passes through a ball center of the friction ball, the nut is fixed at a center of the friction ball power device, the friction ball power device is limited along a rotation direction of the nut, the screw rod is connected with the friction ball constraint device through a bearing, the nut with the friction ball power device is matched with the screw rod to form a ball screw structure, the motor drives the screw rod to rotate, and the nut drives the friction ball power device to linearly move along the screw rod.
5. The omnidirectional active friction end effector for spatial target manipulation according to claim 4, wherein two ends of the screw are provided with limiting devices, so that the nut driving the friction ball power device can only move linearly within a certain range.
6. The omnidirectional active friction end effector for spatial target manipulation according to claim 5, wherein the friction ball power plant comprises an active suspension, three ohmic sets of gears, three servomotors, and three reducers;
the active suspension comprises a flat plate structure with a through hole in the center, the center of the flat plate structure penetrates through a nut of the linear module clutch device and is fixedly connected with the nut, three flanges are uniformly distributed on the periphery of the flat plate structure, the mounting surfaces of the flanges are upwards tilted and form the same included angle with the flat plate structure, three servo motors are respectively and fixedly connected onto the mounting surfaces of the three flanges through servo motor flanges, the servo motors are connected with a speed reducer in series, each group of ohmic wheels is fixedly connected with a support rod perpendicular to the wheel surface, meanwhile, the support rod is mounted on the servo motor flanges through a bearing, the servo motors drive the speed reducer to rotate, and the speed reducer drives the ohmic wheel groups to rotate through the support rod; the total length of the supporting rod, the speed reducer and the servo motor, the radius of the ohm wheel and the included angle between the flange mounting surface and the flat plate structure are proper, so that when the edge of the ohm wheel is tangent to the friction ball, the center rotating plane of the three ohm wheel sets passes through the ball center of the friction ball.
7. The omnidirectional active friction end effector for spatial target steering according to claim 6, wherein the ohmic damping wheel set comprises more than two ohmic damping wheels with the same diameter, the ohmic damping wheels are installed in parallel and are perpendicular to the strut.
8. The omnidirectional active friction end effector for spatial target manipulation according to claim 7, wherein the driven wheels of two adjacent ohmic wheels are installed in a staggered manner to ensure the edge of the ohmic wheel sets, and when the ohmic wheel sets are in contact with the friction ball, each ohmic wheel set always has the driven wheel in contact with the spherical surface.
9. The omnidirectional active friction end effector for spatial target manipulation according to claim 2, further comprising a measurement sensor for measuring the direction and speed of the friction ball surface relative to the motion of each omnidirectional ball bearing.
10. The omnidirectional active friction end effector for spatial target manipulation according to claim 1, wherein the friction ball surface is coated with a rubber coating.
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| CN110576260B (en) * | 2019-08-27 | 2021-09-21 | 苏州天航激光科技有限公司 | Intelligent laser flight welding device |
| CN111745670A (en) * | 2020-06-10 | 2020-10-09 | 北京精密机电控制设备研究所 | Multi-wheel-arm space robot for large rolling target |
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