CN112276907B - Space operation metamorphic series-parallel mechanical arm structure - Google Patents
Space operation metamorphic series-parallel mechanical arm structure Download PDFInfo
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- CN112276907B CN112276907B CN202011118409.5A CN202011118409A CN112276907B CN 112276907 B CN112276907 B CN 112276907B CN 202011118409 A CN202011118409 A CN 202011118409A CN 112276907 B CN112276907 B CN 112276907B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
Abstract
A space operation metamorphic series-parallel mechanical arm structure relates to the technical field of mechanical engineering, and aims to solve the problems of low rigidity, high operation difficulty and insufficient flexibility of a space operation mechanical arm in the prior art; the invention is in modular design, can be spliced as required, has good integral rigidity of the catching mechanism, and can be self-locked by utilizing a worm gear in a reduction gearbox; the invention can reconstruct in space, and can capture a long-range operation target and a small-range micro target.
Description
Technical Field
The invention relates to the technical field of mechanical engineering, in particular to a space operation metamorphic serial-parallel mechanical arm structure.
Background
Along with the continuous starting and implementation of China on the great aerospace engineering such as manned spacecrafts, space stations, lunar and mars detection, earth observation, space science research and the like and the requirement of complex space on-orbit control operation such as space garbage recovery, on-orbit maintenance, space attack and defense and the like, the research on the aerospace mechanism with the capture capability on the space non-cooperative target is increasingly important. Therefore, to realize the capture operation of the space non-cooperative target, the research of a large-scale reconfigurable space mechanical gripper is urgently needed, and the large-scale reconfigurable space mechanical gripper is characterized by large operation range, more controllable activity and good overall rigidity, can change the shape and the configuration according to the task requirement, and can carry out flexible on-orbit operation on the target spacecraft beyond dozens of meters.
Disclosure of Invention
The purpose of the invention is: aiming at the problems of low rigidity, high operation difficulty and insufficient flexibility of a space operation manipulator in the prior art, the structure of the space operation metamorphic serial-parallel manipulator is provided.
The technical scheme adopted by the invention to solve the technical problems is as follows:
a space manipulation metamorphic serial-parallel mechanical arm structure comprises: the manipulator comprises at least two serial-parallel manipulator finger assemblies 1 and a manipulator base 3;
the serial-parallel mechanical finger assembly 1 comprises at least one parallel mechanical finger structure unit assembly 1-1, the parallel mechanical finger structure unit assembly 1-1 comprises a movable platform 2-1 and a static platform 2-2, the movable platform 2-1 and the static platform 2-2 are connected through two movable connecting assemblies and one static connecting assembly,
the movable connecting assembly comprises a first square hollow connecting rod 2-31 and a second square hollow connecting rod 2-32, one end of the first square hollow connecting rod 2-31 is connected with the movable platform 2-1 through a first ball pair 2-35, one end of the second square hollow connecting rod 2-32 is connected with the static platform 2-2 through a first rotating pair 2-36, the first square hollow connecting rod 2-31 and the second square hollow connecting rod 2-32 are connected through a second rotating pair 2-37, the movable connecting assembly further comprises a driving assembly arranged on the static platform 2-2, and the driving assembly drives the second square hollow connecting rod 2-32 to rotate along the axial direction of the first rotating pair 2-36;
the static connecting assembly comprises third square hollow connecting rods 2-34 and metamorphic parts 2-33, one ends of the third square hollow connecting rods 2-34 are connected with one ends of the metamorphic parts 2-33 through third ball pairs 2-38, the other ends of the third square hollow connecting rods 2-34 are connected with the movable platform 2-1 through second ball pairs 2-40, and the other ends of the metamorphic parts 2-33 are connected with the static platform 2-2 through third revolute pairs 2-39.
Further, the metamorphic component 2-33 comprises a rotary tooth seat 3-1, a reset spring 3-2, a guide cylinder 3-3, a coupler 3-4, a lock block 3-5, artificial muscles 3-6, sliding claw sleeves 3-7 and a rotating shaft 3-8, one end of the rotating shaft 3-8 is arranged on the inner side of the guide cylinder 3-3, one end of the rotating shaft 3-8, which is arranged on the inner side of the guide cylinder 3-3, is provided with the sliding claw sleeves 3-7, the rotating shaft 3-8 is fixedly connected with the artificial muscles 3-6 extending to the outer side of the guide cylinder 3-3, the rotary tooth seat 3-1 matched with the sliding claw sleeves 3-7 is further arranged in the guide cylinder 3-3, and the reset spring 3-2 is arranged between the rotary tooth seat 3-1 and the sliding claw sleeves 3-7, one end of the rotating shaft 3-8, which is arranged at the outer side of the guide cylinder 3-3, is movably connected with the locking block 3-5 through a coupler 3-4.
Furthermore, the first spherical pair 2-35 comprises a Hooke joint and a sub-revolute pair, the Hooke joint comprises a T-shaped shaft 5 and a fork-shaped seat 6, and the Hooke joint is connected with the movable platform 2-1 through the sub-revolute pair.
Further, the structure also comprises a gland 2-41.
Further, the driving assembly comprises a speed reducer 4-1, a double-flange ring 4-2, a motor 4-3, a speed reducer output shaft 4-4 and a coupler 4-5, the motor 4-3 is connected with the speed reducer 4-1 through the double-flange ring 4-2, the motor 4-3 output shaft is connected with an input shaft of the speed reducer 4-1 through the coupler 4-5, and the speed reducer output shaft 4-4 is connected with a second square hollow connecting rod 2-32.
Further, the speed reducer 4-1 is composed of a pair of gears and a pair of worm gears.
Further, the worm gear and the worm are in second-stage speed reduction.
The invention has the beneficial effects that:
the metamorphic serial-parallel manipulator structure can realize the metamorphic function, enhances the controllability and the flexibility of a space capturing mechanism, and has low operation difficulty;
the invention is in modular design, can be spliced as required, has good integral rigidity of the catching mechanism, and can be self-locked by utilizing a worm gear in a reduction gearbox;
the invention can reconstruct in space, and can capture a long-range operation target and a small-range micro target.
The invention replaces a driving motor by the metamorphic component, thus the complex control process of the driving motor can be replaced by simply controlling the power on and off of the artificial muscle. The technical problems that the space operation manipulator in the prior art is low in rigidity and high in operation difficulty are solved.
Drawings
FIG. 1 is a schematic diagram of a space manipulation metamorphic serial-parallel manipulator capturing spheres in accordance with the present invention;
FIG. 2 is a schematic diagram of the expanded state of the space-manipulating metamorphic serial-parallel manipulator structure of the present invention;
FIG. 3 is a schematic diagram of a furled state of the spatial manipulation metamorphic serial-parallel manipulator structure of the present invention;
FIG. 4 is a schematic diagram of the components of the parallel robot structural unit of the space handling metamorphic serial-parallel robot structure of the present invention;
FIG. 5 is a cross-sectional view of a metamorphic assembly for a space-handling metamorphic series-parallel manipulator configuration in accordance with the present invention;
FIG. 6 is a schematic diagram of a metamorphic assembly for a space-manipulation metamorphic serial-parallel manipulator configuration in accordance with the present invention;
FIG. 7 is a schematic diagram of a metamorphic release state of the space manipulation metamorphic serial-parallel manipulator structure of the present invention;
FIG. 8 is a schematic diagram of a metamorphic locking state of the space manipulation metamorphic serial-parallel manipulator structure of the present invention;
FIG. 9 is a schematic diagram of a driving assembly of the space-handling metamorphic serial-parallel robot according to the present invention.
Detailed Description
The first embodiment is as follows: referring to fig. 1, the present embodiment is described in detail, and the space manipulation metamorphic series-parallel manipulator structure according to the present embodiment includes: the manipulator comprises at least two serial-parallel manipulator finger assemblies 1 and a manipulator base 3;
the serial-parallel mechanical finger assembly 1 comprises at least one parallel mechanical finger structure unit assembly 1-1, the parallel mechanical finger structure unit assembly 1-1 comprises a movable platform 2-1 and a static platform 2-2, the movable platform 2-1 and the static platform 2-2 are connected through two movable connecting assemblies and one static connecting assembly,
the movable connecting assembly comprises a first square hollow connecting rod 2-31 and a second square hollow connecting rod 2-32, one end of the first square hollow connecting rod 2-31 is connected with the movable platform 2-1 through a first ball pair 2-35, one end of the second square hollow connecting rod 2-32 is connected with the static platform 2-2 through a first rotating pair 2-36, the first square hollow connecting rod 2-31 and the second square hollow connecting rod 2-32 are connected through a second rotating pair 2-37, the movable connecting assembly further comprises a driving assembly arranged on the static platform 2-2, and the driving assembly drives the second square hollow connecting rod 2-32 to rotate along the axial direction of the first rotating pair 2-36;
the static connecting assembly comprises third square hollow connecting rods 2-34 and metamorphic parts 2-33, one ends of the third square hollow connecting rods 2-34 are connected with one ends of the metamorphic parts 2-33 through third ball pairs 2-38, the other ends of the third square hollow connecting rods 2-34 are connected with the movable platform 2-1 through second ball pairs 2-40, the other ends of the metamorphic parts 2-33 are connected with the static platform 2-2 through third revolute pairs 2-39,
1. unfolding the parallel manipulator structure unit: the present embodiment, which includes parallel robot structural unit assemblies, will be described with reference to fig. 2 to 4;
the first square hollow connecting rod and the second square hollow connecting rod are connected with the static platform through the first rotating pair, the connecting rods are connected with the connecting rods through the second rotating pair, the connecting rods are connected with the moving platform through the first ball pair to form a 3RRS parallel mechanism, the parallel mechanism is driven through a driving assembly, the motor rotates and outputs through a speed reducer, the rotating speed is reduced, the torque is increased, the connecting rods are driven to be lifted upwards, the moving platform is driven to move upwards, and the vertical extending state is as shown in figure 2.
2. Metamorphic motor function: the present embodiment, which includes a metamorphic means, is described with reference to fig. 2-6;
when metamorphic, the artificial muscle is electrified, the characteristic of the electrification and contraction of the artificial muscle is utilized, the rotating shaft is pulled to move leftwards, when the rotating shaft moves to the left side and contacts with the rotary tooth holder, the rotating shaft rotates towards the direction of tooth surface meshing under the action of the tooth surface meshing force, then the power supply of the artificial muscle is disconnected, the rotating shaft can move rightwards under the action of the reset spring, when the rotating shaft contacts with the guide cylinder, the relative sliding and rotating are generated between the rotating shaft and the guide cylinder under the condition that the inclined surface is contacted with the guide cylinder and is not self-locked (similar to a pressing structure in a ball pen), and the locking block is pushed to move.
3. Metamorphic lock/release function: the embodiment is described with reference to fig. 7 and 8, and comprises a metamorphic component, a T-shaped shaft and a fork-shaped seat;
when the degree of freedom needs to be locked, according to embodiment 2, the right movement of the lock block is realized, then the lock block can be matched with the T-shaped shaft, and the lock block moves in the square hollow connecting rod, so that the rotation locking of the T-shaped shaft can be realized through the hexagonal shape structure, and the ball pair at the position is changed into a Hooke pair, thereby realizing the function of locking the degree of freedom.
When the degree of freedom needs to be released, according to embodiment 2, the left movement of the lock block is realized, and then the lock block can be separated from the T-shaped shaft, so that the rotational degree of freedom of the T-shaped shaft is released, and the function of releasing the degree of freedom is realized.
4. Unfolding and bending functions: the present embodiment, which includes a parallel robot structural unit assembly, a metamorphic member, and a driving assembly, will be described with reference to fig. 2 to 9;
the two-joint parallel mechanism is characterized in that one degree of freedom of the parallel mechanism is locked through a metamorphic locking function, single-joint two-drive is achieved, then the two-joint parallel mechanism is output by a motor, speed reduction and torque increase are achieved through a speed reducer, the two motors in each unit are transmitted to a connecting rod through a speed reducer output shaft, the two motors in each unit are identical in rotating speed, vertical stretching and folding can be achieved, and bending can be achieved if the rotating speeds are different.
5. A capture function: when the space operation metamorphic series-parallel mechanical arm related by the invention catches a captured object, firstly, the degree of freedom of each parallel structural unit is reduced by 1 through the metamorphic function, so as to achieve the purpose of reducing the driving quantity. And then the driving components on the parallel structural units act to control the unfolding and bending states of the manipulator, and the edge of the movable platform and the base of the manipulator form force closure on the captured object so as to capture the non-cooperative target.
The second embodiment is as follows: the embodiment is further explained with respect to a first embodiment, and the difference between the embodiment and the first embodiment is that the metamorphic parts 2-33 comprise rotary tooth holders 3-1, return springs 3-2, guide cylinders 3-3, couplings 3-4, lock blocks 3-5, artificial muscles 3-6, sliding claw sleeves 3-7 and rotating shafts 3-8, one end of each rotating shaft 3-8 is arranged on the inner side of each guide cylinder 3-3, one end of each rotating shaft 3-8, which is arranged on the inner side of each guide cylinder 3-3, is provided with the sliding claw sleeves 3-7, the rotating shafts 3-8 are fixedly connected with the artificial muscles 3-6 extending to the outer sides of the guide cylinders 3-3, rotary tooth holders 3-1 matched with the sliding claw sleeves 3-7 are further arranged in the guide cylinders 3-3, a return spring 3-2 is arranged between the rotary tooth seat 3-1 and the sliding claw sleeve 3-7, and one end of the rotary shaft 3-8, which is arranged at the outer side of the guide cylinder 3-3, is movably connected with the locking block 3-5 through a coupler 3-4.
The third concrete implementation mode: the embodiment is a further description of a first specific embodiment, and the difference between the first specific embodiment and the first specific embodiment is that the first spherical pair 2-35 includes a hooke joint and a sub-revolute pair, the hooke joint includes a T-shaped shaft 5 and a fork-shaped seat 6, and the hooke joint is connected with the movable platform 2-1 through the sub-revolute pair.
The fourth concrete implementation mode: this embodiment mode is a further description of the first embodiment mode, and the difference between this embodiment mode and the first embodiment mode is that the structure further includes the glands 2 to 41.
The fifth concrete implementation mode: the embodiment is a further description of a first specific embodiment, and the difference between the first specific embodiment and the second specific embodiment is that the driving assembly comprises a speed reducer 4-1, a double-flange ring 4-2, a motor 4-3, a speed reducer output shaft 4-4 and a coupling 4-5, the motor 4-3 is connected with the speed reducer 4-1 through the double-flange ring 4-2, the motor 4-3 output shaft is connected with an input shaft of the speed reducer 4-1 through the coupling 4-5, and the speed reducer output shaft 4-4 is connected with a second square hollow connecting rod 2-32.
The sixth specific implementation mode: the fifth embodiment is further described, and the difference between the fifth embodiment and the fifth embodiment is that the speed reducer 4-1 is composed of a pair of gears and a pair of worm gears.
The seventh embodiment: the present embodiment is further described with reference to a sixth embodiment, and the difference between the present embodiment and the sixth embodiment is that the worm gear and the worm perform the second-stage speed reduction.
It should be noted that the detailed description is only for explaining and explaining the technical solution of the present invention, and the scope of protection of the claims is not limited thereby. It is intended that all such modifications and variations be included within the scope of the invention as defined in the following claims and the description.
Claims (6)
1. A space operation metamorphic serial-parallel mechanical arm structure is characterized by comprising: the manipulator comprises a manipulator base (3) and at least two serial-parallel connection manipulator finger assemblies (1);
the serial-parallel mechanical finger assembly (1) comprises at least one parallel mechanical finger structural unit assembly (1-1), the parallel mechanical finger structural unit assembly (1-1) comprises a movable platform (2-1) and a static platform (2-2), the movable platform (2-1) and the static platform (2-2) are connected through two movable connecting assemblies and one static connecting assembly,
the movable connecting component comprises a first square hollow connecting rod (2-31) and a second square hollow connecting rod (2-32), one end of the first square hollow connecting rod (2-31) is connected with the movable platform (2-1) through a first ball pair (2-35), one end of the second square hollow connecting rod (2-32) is connected with the static platform (2-2) through a first revolute pair (2-36), the first square hollow connecting rod (2-31) and the second square hollow connecting rod (2-32) are connected through a second revolute pair (2-37), the movable connecting assembly further comprises a driving assembly arranged on the static platform (2-2), and the driving assembly drives the second square hollow connecting rod (2-32) to rotate along the axial direction of the first rotating pair (2-36);
the static connecting assembly comprises a third square hollow connecting rod (2-34) and a metamorphic component (2-33), one end of the third square hollow connecting rod (2-34) is connected with one end of the metamorphic component (2-33) through a third ball pair (2-38), the other end of the third square hollow connecting rod (2-34) is connected with the movable platform (2-1) through a second ball pair (2-40), and the other end of the metamorphic component (2-33) is connected with the static platform (2-2) through a third revolute pair (2-39);
the metamorphic component (2-33) comprises a rotary tooth seat (3-1), a reset spring (3-2), a guide cylinder (3-3), a coupler (3-4), a locking block (3-5), artificial muscles (3-6), sliding claw sleeves (3-7) and a rotating shaft (3-8), one end of the rotating shaft (3-8) is arranged on the inner side of the guide cylinder (3-3), the sliding claw sleeves (3-7) are arranged on one end of the rotating shaft (3-8) arranged on the inner side of the guide cylinder (3-3), the rotating shaft (3-8) is fixedly connected with the artificial muscles (3-6) extending to the outer side of the guide cylinder (3-3), the rotary tooth seat (3-1) matched with the sliding claw sleeves (3-7) is further arranged in the guide cylinder (3-3), a return spring (3-2) is arranged between the rotary tooth seat (3-1) and the sliding claw sleeve (3-7), and one end of the rotary shaft (3-8) arranged on the outer side of the guide cylinder (3-3) is movably connected with the locking block (3-5) through a coupler (3-4).
2. The space manipulation metamorphic serial-parallel mechanical arm structure as claimed in claim 1, wherein the first spherical pair (2-35) comprises a Hooke's joint and a sub-revolute pair, the Hooke's joint comprises a T-shaped shaft (5) and a fork-shaped seat (6), and the Hooke's joint is connected with the movable platform (2-1) through the sub-revolute pair.
3. A space manipulation metamorphic serial-parallel manipulator structure as claimed in claim 1, wherein said structure further comprises glands (2-41).
4. A space manipulation metamorphic series-parallel manipulator structure according to claim 1, wherein the driving assembly comprises a reducer (4-1), a double flange ring (4-2), a motor (4-3), a reducer output shaft (4-4) and a coupler (4-5), the motor (4-3) is connected with the reducer (4-1) through the double flange ring (4-2), the motor (4-3) output shaft is connected with an input shaft of the reducer (4-1) through the coupler (4-5), and the reducer output shaft (4-4) is connected with a second square hollow connecting rod (2-32).
5. A space manipulation metamorphic serial-parallel manipulator structure as claimed in claim 4, wherein the decelerator (4-1) is composed of a pair of gears and a pair of worm gears.
6. The space manipulation metamorphic serial-parallel manipulator structure as claimed in claim 5, wherein the worm gear is a second stage of speed reduction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011118409.5A CN112276907B (en) | 2020-10-19 | 2020-10-19 | Space operation metamorphic series-parallel mechanical arm structure |
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| CN202011118409.5A CN112276907B (en) | 2020-10-19 | 2020-10-19 | Space operation metamorphic series-parallel mechanical arm structure |
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| CN112276907B true CN112276907B (en) | 2022-04-12 |
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| CN116534292A (en) * | 2023-05-22 | 2023-08-04 | 中国科学院空间应用工程与技术中心 | N (3 RRU) reconfigurable series-parallel type capturing mechanism and capturing method thereof |
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| DE102014116845B4 (en) * | 2014-11-18 | 2016-07-14 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Method for determining a movement limit |
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| CN1513644A (en) * | 2003-07-18 | 2004-07-21 | 江苏大学 | Massage robot for traumatological department of traditional chinese medicine |
| CN101513736A (en) * | 2009-03-26 | 2009-08-26 | 浙江大学 | Nonsingularity space five- freedom-degree parallel robot |
| CN108748166A (en) * | 2018-09-03 | 2018-11-06 | 柳州铁道职业技术学院 | A kind of restructural parallel connection platform of few branch |
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