CN113184232B - Unit module of space cell robot reconstruction platform - Google Patents
Unit module of space cell robot reconstruction platform Download PDFInfo
- Publication number
- CN113184232B CN113184232B CN202110537860.9A CN202110537860A CN113184232B CN 113184232 B CN113184232 B CN 113184232B CN 202110537860 A CN202110537860 A CN 202110537860A CN 113184232 B CN113184232 B CN 113184232B
- Authority
- CN
- China
- Prior art keywords
- cell
- gear
- cell robot
- unit module
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
The invention discloses a reconstruction platform unit module for assembling a space cell robot, which comprises a flexible crawler, a gear shaft, a transmission gear, a bearing, a coupling, a spring, a trigger, a motor, a guide plate, an inner circular rack, an outer circular rack, an upper square plate, a lower square plate and the like. According to different space task environments, the invention can realize translation and rotation of the cell robot on the reconstruction platform by adopting linkage matching of the motors in the unit modules, complete butt joint assembly of the cell modules with different functions, and output the cell robot with a specific configuration so as to meet complicated and variable space tasks.
Description
Technical Field
The invention relates to the field of space cell robots, in particular to a unit module of a space cell robot reconstruction platform.
Background
The existing space manipulator is mainly responsible for tasks such as mechanism butt joint, material handling and on-orbit maintenance in the construction process of the space station, but in the face of construction and operation of the space station based on a large truss in the future, the existing space manipulator has limitations, and has the defects of limited working range, low flexibility and the like. The space cell robot has high flexibility, and various structures can be derived through combination of cells with different functions to face different work in a complex space environment. The spatial cell robot reconstruction platform is used for assembling various cell robot modules of different types, and rapid and stable butt joint can be realized on the reconstruction platform.
Disclosure of Invention
The invention aims to provide a platform unit module for spatial cell robot reconstruction, a reconstruction platform consisting of the unit modules, and a rapid assembly method for one or more spatial cell robots with different configurations.
In order to solve the technical problems: the invention adopts the following basic technical scheme:
the invention discloses a reconstruction platform unit module for assembling a space cell robot, which comprises a flexible crawler belt, a gear shaft, a transmission gear, a bearing, a coupling, a spring, a trigger, a motor, a guide plate, an inner circular frame, an outer circular frame, an upper square plate, a lower square plate and the like, wherein an inner circular rotator is arranged in the unit module and sleeved in the outer circular frame, so that the cell robot can rotate in the Z-axis direction, and the flexible crawler belt is arranged on the inner rotator and can move in the X direction or the Y direction.
Furthermore, the flexible crawler belt is sleeved on two gear shafts, teeth on two sides of the gear shafts are matched with hole sites on two sides of the flexible crawler belt, so that the flexible crawler belt and the gear shafts do not slip synchronously, the outer side of the flexible crawler belt is designed to be in a grid shape, the phenomenon of slipping between a cell robot and a contact surface of the crawler belt in the moving process can be prevented, shaft end gears and bearings are installed at the end parts of the gear shafts, the bearings are installed on a bearing seat rack, the bearing seat rack consists of an upper bearing seat and a lower bearing seat, eight uniformly distributed springs are installed between the lower part of the bearing seat rack and a circular bottom plate, two guide plates are installed on the circular bottom plate, the guide plates are sleeved on the bearing seat rack, the bearing seat rack can slide in the guide plates when the springs are compressed, and the springs are used for providing pressure by utilizing the compressed elastic force of the springs in the reconstruction platforms on two sides of the cell robot in a weightless environment, the friction force between the flexible crawler and the cell robot is obtained when the flexible crawler moves, the shaft end gear is meshed with the transition gear, the transition gear is meshed with the driving gear, the driving gear is connected with the crawler driving motor through the coupler, the crawler driving motor is fixed on the bearing seat frame through the motor seat, and the parts are combined together to form the inner circular rotating body.
Further, a shaft plate is installed below the inner circle rotator, the shaft end of the shaft plate is connected with a Z-axis rotating motor through a shaft coupler, the plate end is fixed to the inner circle rotator, the Z-axis rotating motor can drive the inner circle rotator to rotate in the Z-axis direction, the Z-axis rotating motor is fixed to a lower square plate of the outer circular rack, the lower square plate of the outer circular rack is connected with the outer circular rack, and the outer circular rack is connected with an upper square plate of the outer circular rack.
Furthermore, the reconstruction platform unit modules are spliced together to build a reconstruction platform with a variable area, and the cell robot can freely move and butt joint on the reconstruction platform.
Compared with the prior art, the invention has the following technical effects:
1. the cell robot can translate in the X, Y direction and rotate in the Z axis under the control of the double motors, and can move to any position on the platform efficiently and freely to be butted with a target butting surface.
2. The cell robot is fixed under the condition of space weightlessness by adopting a spring device and utilizing the elasticity generated by compressing the springs in the bilateral reconstruction platform to provide pressure on the upper side and the lower side of the cell robot, and friction force between the cell robot and a crawler belt is provided in the moving process of the cell robot.
3. The grid-shaped flexible crawler belt is formed outside the hole positions on the two sides, the hole positions on the two sides of the flexible crawler belt are meshed with the teeth on the two sides of the gear shaft, so that the flexible crawler belt can accurately realize synchronous rotation with the gear shaft without slipping, and meanwhile, the grid-shaped crawler belt can prevent the cell robot from slipping between the cell robot and the contact surface of the crawler belt in the moving process.
4. By adopting the trigger device, when the cell robot completely stays on the reconstruction platform unit module, the eight springs are uniformly compressed, the trigger is switched on, and the unit module at the position of the reconstruction platform is marked, so that the cell robot stays at the position, and paths of other cell robots during moving and butting can be avoided at the position to prevent collision.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a general schematic diagram of a reconfigurable platform unit module;
FIG. 2 is a general schematic of a reconstruction platform;
FIG. 3 is a schematic diagram of the partition of the reconstruction platform and the mobile docking of the cell robot;
FIG. 4 is a schematic structural view of an inner circular rotator;
FIG. 5 is a schematic view of the internal structure of the rotating body;
FIG. 6 is a schematic view of the internal structure of the portable electronic device with the circular cover removed;
FIG. 7 is a partially enlarged schematic view;
FIG. 8 is a schematic view of a gear system;
FIG. 9 is a sectional view of the internal frame structure of the internal rotator;
in the figure: a cell robot; a B cell robot reconstruction platform; c reconstructing the platform unit module; i is a cell robot storage area; II is a cell robot reconstruction area; III is a cell robot module with a clamping function; 1 is a flexible crawler belt; 2 is a circular cover plate; 3 is an upper shaping plate; 4 is an outer circular frame; 5 is a lower square plate; 6 is a frame fixing bolt; 7 is a round cover plate fixing screw; 8 is an inner circular frame; 9 is a Z-axis rotating motor coupler; 10 is a Z-axis rotating motor; 11 is a shaft plate; 12 is a shaft plate connecting bolt; 13 is a round bottom plate fixing bolt; 14 is a circular bottom plate; 15 is a gear shaft; 16 is a bearing; 17 is a transition gear; 18 is a bearing upper seat; 19 is a bearing lower seat; 20 is a guide plate; 21 is a spring; 22 is a trigger; 23 is a shaft end gear; 24 is a shaft end gear fixing bolt; 25 is a driving gear; 26 is a caterpillar driving motor; and 27 is a crawler driving motor coupling.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a reconstruction platform unit module for a space cell robot, and a reconstruction platform consisting of the unit modules, which is used for rapidly assembling one or more space cell robots with different configurations.
In order to make the aforementioned objects and features of the present invention more comprehensible, a detailed description is given below with reference to the accompanying drawings.
Referring to fig. 1-8, the present invention discloses a reconstruction platform unit module for a space cell robot, which is described in detail below with reference to the accompanying drawings.
A cell robot A, a cell robot reconstruction platform B, a reconstruction platform unit module C, a cell robot storage area I, a cell robot reconstruction area II, a cell robot III with a clamping function, a flexible crawler 1, a circular cover plate 2, an upper shaped plate 3, an outer circular rack 4, a lower square plate 5, a rack fixing bolt 6, a circular cover plate fixing bolt 7, an inner circular rack 8, a Z-axis rotating motor coupler 9, a Z-axis rotating motor 10, an axis plate 11, an axis plate connecting bolt 12, a circular bottom plate fixing bolt 13, a circular bottom plate 14, a gear shaft 15, a bearing 16, a transition gear 17, a bearing upper seat 18, a bearing lower seat 19, a guide plate 20, a spring 21, a trigger 22, an axis end gear 23, an axis end gear fixing bolt 24, a driving gear 25, a crawler driving motor 26 and a crawler driving motor coupler 27, wherein the cell robot reconstruction platform is divided into two layers, under the condition of space weightlessness, the cell robot is clamped between the reconstruction platforms at the two sides and is fixed by the elasticity generated by the spring inside the cell robot unit module.
The gear driving motor drives the flexible crawler to work, the transverse and longitudinal movement of the cell robot is achieved, the Z-axis rotating motor drives the inner circular frame to rotate, the Z-axis rotation of the cell robot is achieved, the direction of the cell robot in the moving process is changed, the cell robot is in butt joint on the reconstruction platform, and as shown in fig. 2, the solid line with the arrow is used for clamping the moving path of the cell robot with the executing function and is in butt joint with the target robot.
When the cell robot completely moves to the reconstruction platform unit module, the eight springs are uniformly compressed, the trigger contacts between the lower bearing seat and the circular bottom plate are contacted to form a loop, the reconstruction platform unit module is marked and sends out a signal to prove that the unit module is occupied, the cell robot is positioned, and meanwhile, the marked unit module can be avoided when a path is designed for the movement of other cell robots.
The specific working process of the invention is as follows:
the flexible crawler 1 is sleeved on two gear shafts 15, so that hole positions of the flexible crawler are matched with teeth on the gear shafts 15. Two sides of the gear shaft 15 are provided with shaft end gears 23 which are fixed with the gear shaft 15 through shaft end gear fixing bolts 24, bearings 16 are arranged at the shaft ends of the two sides of the gear shaft 15, the bearings 16 are fixed by a bearing upper seat 18 and a bearing lower seat 19, two transition gears 17 are arranged on one side of the bearing lower seat and are respectively meshed with the two shaft end gears 23, a driving gear 25 is meshed with the two transition gears 17 together, a crawler driving motor 26 is connected with the driving gear 25 through a coupler 27, and the crawler driving motor 26 is fixed on the bearing lower seat 19. When the track driving motor 26 works, if the track driving motor rotates clockwise, the driving gear 25 is driven to rotate clockwise, so that the two transition gears 17 rotate anticlockwise, the transition gear 17 rotating anticlockwise drives the two shaft end gears 23 to rotate clockwise together, and the rotating directions of the two gear shafts 15 are the same as the rotating direction of the track driving motor.
Eight springs 21 are arranged between the lower bearing seat 19 and the circular base plate 14 and distributed around the circular base plate 14, a contact trigger 22 is arranged between the center of the circular base plate 14 and the lower bearing seat 19, the pre-loaded springs 21 are in a slightly compressed state, but the trigger 22 is not contacted, two guide plates 20 are arranged on the circular base plate 14, and when the springs 21 are compressed, the lower bearing seat 19 can slide in the guide plates 20 without deflection. When the eight springs 21 are uniformly compressed and the lower bearing seat 19 is lowered to a certain distance, the trigger 22 is turned on to mark the unit module.
The spatial cell robot reconstruction platform B constructed by the reconstruction platform unit modules C can realize the free movement of the cell robot A on the reconstruction platform B to be in butt joint with a target cell robot under the environment of space weightlessness by controlling the action of the motors of the unit modules C.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (3)
1. A cell module for a spatial cell robotic reconstruction platform, comprising: flexible track, gear shaft, axle head gear, excessive gear, drive gear, bearing, Z axle rotating electrical machines shaft coupling, track driving electrical machines shaft coupling, spring, trigger, Z axle rotating electrical machines, track driving electrical machines, deflector, interior circular frame, outer circular frame, top shaped plate, lower square board, wherein: the cell robot comprises a flexible crawler, a gear shaft, a shaft end gear, a transition gear, a driving gear, a bearing, a crawler driving motor coupler, a spring, a crawler driving motor, a guide plate and an inner circular rack, wherein the inner circular rotating body is arranged in a unit module and sleeved in the outer circular rack, so that the cell robot can rotate in the Z-axis direction, and the flexible crawler is arranged on the inner circular rotating body and can move in the X direction or the Y direction;
the flexible crawler belt is sleeved on the two gear shafts, teeth on two sides of the gear shafts are matched with hole sites on two sides of the flexible crawler belt, so that the flexible crawler belt and the gear shafts do not slip synchronously, the outer side of the flexible crawler belt is designed into a grid shape, the phenomenon that a cell robot slips between the flexible crawler belt and a contact surface in the moving process can be prevented, shaft end gears and bearings are installed at the end parts of the gear shafts, the shaft end gears are fixed with the gear shafts through bolts, the bearings are installed on a bearing seat frame, the bearing seat frame consists of an upper bearing seat and a lower bearing seat, eight springs which are uniformly distributed are installed between the lower part of the bearing seat frame and a circular bottom plate, two guide plates are installed on the circular bottom plate, the guide plates are sleeved on the bearing seat frame, the bearing seat frame can slide in the guide plates when the springs are compressed, and the springs are used in the space weightless environment, the cell robot system comprises a cell robot unit module, a flexible crawler belt, a bearing seat frame, a transition gear, a driving gear, a crawler belt driving motor and a motor seat, wherein the cell robot unit module is arranged on the cell robot frame, the cell robot unit module is arranged on the cell robot unit module, the cell robot unit module is arranged on the cell robot unit module, and the cell robot unit module is used for compressing the cell robot.
2. The cell module for the spatial cell robot reconstruction platform according to claim 1, wherein a shaft plate is installed under the circular bottom plate of the inner circular rotator, the shaft end of the shaft plate is connected to a Z-axis rotating motor through a Z-axis rotating motor coupler, the plate end is fixed to the inner circular rotator, the Z-axis rotating motor can drive the inner circular rotator to rotate in the Z-axis direction, the Z-axis rotating motor is fixed to the lower square plate of the outer circular frame, the lower square plate of the outer circular frame is connected to the outer circular frame, and the outer circular frame is connected to the upper square plate of the outer circular frame.
3. The cell module for the spatial cell robot reconstruction platform of claim 1, wherein the reconstruction platform cell modules are spliced together to form a reconstruction platform with a variable area, and the cell robot can freely move and butt joint on the reconstruction platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110537860.9A CN113184232B (en) | 2021-05-18 | 2021-05-18 | Unit module of space cell robot reconstruction platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110537860.9A CN113184232B (en) | 2021-05-18 | 2021-05-18 | Unit module of space cell robot reconstruction platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113184232A CN113184232A (en) | 2021-07-30 |
| CN113184232B true CN113184232B (en) | 2022-01-11 |
Family
ID=76982483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110537860.9A Active CN113184232B (en) | 2021-05-18 | 2021-05-18 | Unit module of space cell robot reconstruction platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113184232B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1931653A (en) * | 2006-09-28 | 2007-03-21 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN105966445A (en) * | 2016-06-02 | 2016-09-28 | 哈尔滨理工大学 | Three-level integration auxiliary damping mechanism |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN109015614A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of spatial cell robot for the in-orbit assembling of truss |
| US10435183B1 (en) * | 2017-04-14 | 2019-10-08 | Space Systems/Loral, Llc | Deployable propulsion module for spacecraft |
| CN112208804A (en) * | 2020-09-22 | 2021-01-12 | 哈尔滨工业大学 | Spatial reconfigurable truss type capturing mechanism and capturing method thereof |
-
2021
- 2021-05-18 CN CN202110537860.9A patent/CN113184232B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1931653A (en) * | 2006-09-28 | 2007-03-21 | 哈尔滨工业大学 | Crawler type multiple joint hinged robot suitable for search and detection in coal mine |
| CN105966445A (en) * | 2016-06-02 | 2016-09-28 | 哈尔滨理工大学 | Three-level integration auxiliary damping mechanism |
| US10435183B1 (en) * | 2017-04-14 | 2019-10-08 | Space Systems/Loral, Llc | Deployable propulsion module for spacecraft |
| CN108372499A (en) * | 2018-05-15 | 2018-08-07 | 哈尔滨理工大学 | Spatial cell robot via Self-reconfiguration cradle head module |
| CN109015614A (en) * | 2018-09-20 | 2018-12-18 | 哈尔滨理工大学 | A kind of spatial cell robot for the in-orbit assembling of truss |
| CN112208804A (en) * | 2020-09-22 | 2021-01-12 | 哈尔滨工业大学 | Spatial reconfigurable truss type capturing mechanism and capturing method thereof |
Non-Patent Citations (1)
| Title |
|---|
| 空间桁架在轨组装机器人设计与重构策略研究;张瀚博;《哈尔滨理工大学硕士学位论文》;20210215;正文第15页-22页，图2-3~图2-15 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113184232A (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| EP2252437B1 (en) | Two degree-of-freedom parallel manipulator | |
| CN201579789U (en) | Three-rotational DOF parallel-connection robot | |
| CN109605333B (en) | Spring and rope hybrid drive branched chain and three-rotational-freedom parallel robot | |
| CN110238821B (en) | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit | |
| KR20110123012A (en) | Weight compensation mechanism and method using bevel gear and robot arm using the same | |
| CN102528817A (en) | Three-degree-of-freedom parallel-connection mechanical wrist | |
| CN110466637B (en) | Single-shaft-driven four-foot all-directional climbing robot and control method thereof | |
| CN103029120A (en) | Folding static load balance adjusting parallel platform | |
| CN107554640B (en) | Six-foot walker based on four-degree-of-freedom mechanism legs | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN103495971A (en) | Five degree-of-freedom combined robot platform | |
| CN102346482A (en) | In-situ steering wheel type robot base mechanism | |
| CN201573210U (en) | Three-rotational freedom parallel robot with active telescopic link | |
| JP2016537215A (en) | Articulated arm robot type device | |
| CN105082110A (en) | Redundant actuation type three-freedom-degree stable platform | |
| CN102528796A (en) | Controllable mechanism type parallel robot platform with six degrees of freedom | |
| CN113184232B (en) | Unit module of space cell robot reconstruction platform | |
| CN108608412B (en) | Platform assembly and parallel mobile robot with same | |
| CN107249827B (en) | Industrial robot | |
| CN102357881A (en) | Three-dimensional translation and one-dimensional rotation parallel mechanism containing 5R closed-loop sub-chains | |
| KR101649108B1 (en) | A joint structure and a robot having the same | |
| KR20200117994A (en) | Planar articulated robot arm system | |
| CN105598996A (en) | Novel under-actuated robot wrist device based on nonholonomic constraint | |
| CN110524516B (en) | Redundant drive parallel mechanism containing redundant branched chain and closed-loop unit | |
| CN112476412A (en) | Four-degree-of-freedom robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |