CN113291495B - Space mechanical arm based on flexible belt winding and unwinding and rigid-flexible conversion mechanism - Google Patents
Space mechanical arm based on flexible belt winding and unwinding and rigid-flexible conversion mechanism Download PDFInfo
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- CN113291495B CN113291495B CN202110711518.6A CN202110711518A CN113291495B CN 113291495 B CN113291495 B CN 113291495B CN 202110711518 A CN202110711518 A CN 202110711518A CN 113291495 B CN113291495 B CN 113291495B
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- flexible belt
- belt
- rear arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
- B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
- B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
- B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
- B65H75/44—Constructional details
- B65H75/4481—Arrangements or adaptations for driving the reel or the material
- B65H75/4486—Electric motors
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- 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 relates to the technical field of space mechanical arms, in particular to a space mechanical arm based on a flexible belt retraction and extension and rigid-flexible conversion mechanism. The device comprises a flexible belt made of soft glass, a retracting mechanism, a first conversion mechanism, a second conversion mechanism, a third conversion mechanism and an adjusting mechanism; the winding and unwinding mechanism is used for winding and unwinding the flexible belt; the first conversion mechanism, the second conversion mechanism and the third conversion mechanism realize the conversion that the flexible belt is formed into a cylinder shape and is spread in a flat way, the second belt-shaped flexible belt is sequentially conveyed by the extrusion of the pair of front arm rollers and the pair of rear arm rollers, the first belt-shaped flexible belt, the first cylinder-shaped flexible belt, the second cylinder-shaped flexible belt and the second belt-shaped flexible belt form an arm lever of the space mechanical arm, and the flexible belt is used as the arm lever of the space mechanical arm, so that the quality of the flexible belt is greatly reduced; simultaneously, the rotating speed and the steering of the roll shaft motor and the roller motor are controlled, the arm rod can be contracted in a non-working state, and the length of the arm rod is adjusted in a working state, so that the occupied space is saved compared with the existing space mechanical arm.
Description
Technical Field
The invention relates to the technical field of space mechanical arms, in particular to a space mechanical arm based on a flexible belt retraction and extension and rigid-flexible conversion mechanism.
Background
Modern aviation industry develops extremely rapidly, human exploration aviation footsteps are becoming deeper and deeper, space manipulator is arranged outside a cabin of an aircraft to assist spacecrafts to complete tasks such as space station construction and maintenance, and workload of the spacecrafts can be greatly reduced. The current space manipulator is provided with a Canadian SRMS manipulator which is arranged on an aeroplane, the arm length is 15m, and the weight is about 410.5kg; JEMMS mechanical arm in Japan, main arm length about 10m, small fine arm length about 2.2m; european ERA mechanical arm, arm length of about 11m, etc. The main stream space mechanical arms are all rigid serial mechanical arm structures and have the characteristics of fixed arm length, large occupied space and large self mass.
Under normal conditions, the space manipulator is installed on the whole ship to carry the rocket into the orbit, and the total mass and total space carried by the space manipulator are limited due to the limitation of rocket fuel. When the space is applied, the space manipulator is required to have larger arm extension, so that a larger operation range is realized. Taking the mainstream space manipulator as an example, the space manipulator needs to be carried to space, so that larger resources are consumed.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides the space manipulator based on the flexible belt retraction and rigid-flexible conversion mechanism, which can retract in a non-working state, reduce occupied space as much as possible, can extend in a working state, meets a larger operation range, and has the characteristics of light weight and flexibility.
The invention is realized by the following technical scheme:
a space manipulator based on flexible belt retraction and rigid-flexible conversion,
the device comprises a flexible belt 1 made of soft glass, a retracting mechanism 2, a first conversion mechanism, a second conversion mechanism, a third conversion mechanism and an adjusting mechanism 3;
the retraction mechanism is rotatably connected to the support plate 22 of the base 21 through a rotating arm 23, and comprises a shell 24 and a retraction roller 28 arranged in the shell 24, one end of the retraction roller 28 is connected with a roller shaft motor 25 through a speed reducer 26, and the flexible belt 1 is wound in the shell 24 through the retraction roller 28;
the first conversion mechanism, the second conversion mechanism and the third conversion mechanism have the same structure and comprise a plastic plate 314 and a fixing frame for fixing the plastic plate 314, one end of the plastic plate 314 is cylindrical, and the other end of the plastic plate 314 is horizontally unfolded;
each fixing frame comprises a first fixing ring 315, a pair of meshing extrusion wheels 317 are correspondingly arranged on the first fixing rings 315, the first fixing rings are sleeved at one cylindrical end of the molding plate 314, the flexible belt 1 is attached to the inner side arm of the molding plate 314, the flexible belt 1 at one cylindrical end of the molding plate 314 is extruded by the pair of meshing extrusion wheels 317, the teeth 15 at the two sides of the flexible belt 1 are correspondingly meshed, the flexible belt 1 is coiled into a cylindrical shape, and the flexible belt 1 at one expanded end of the molding plate 314 is strip-shaped;
the fixing frame of the first conversion mechanism is fixedly connected to the shell 24;
the adjusting mechanism 3 comprises a front arm frame and a rear arm frame, and the front arm frame and the rear arm frame are rotatably connected through a rotating shaft 31,
the forearm frame comprises a pair of forearm side plates 308, a pair of forearm rollers 306 are arranged between the pair of forearm side plates 308 in parallel, the rear arm frame comprises a pair of rear arm side plates 309, and a pair of rear arm rollers 307 are arranged between the pair of rear arm side plates 309 in parallel;
the pair of front arm rollers 306 and the pair of rear arm rollers 307 realize synchronous rotation through the roller motor 301, and the arrangement direction of the pair of front arm rollers 306 and the pair of rear arm rollers 307 is vertical to the extending direction of the flexible belt 1;
the fixing frame of the second conversion mechanism is fixedly connected to the pair of forearm side plates 308, and the fixing frame of the third conversion mechanism is fixedly connected to the pair of rear arm side plates 309;
the flexible belt 1 extends out of the shell 24 to form a first belt-shaped flexible belt 11, the first belt-shaped flexible belt 11 is rolled into a first cylindrical flexible belt 12 through a first conversion mechanism, the first cylindrical flexible belt 12 is unfolded into a second belt-shaped flexible belt 13 through a second conversion mechanism, the second belt-shaped flexible belt 13 is sequentially conveyed through extrusion of a pair of front arm rollers 306 and a pair of rear arm rollers 305, and finally is rolled into a second cylindrical flexible belt 14 through a third conversion mechanism and extends.
Further, the space manipulator further comprises a reinforcing mechanism 4, the reinforcing mechanism 4 comprises a pair of air bags 44 in cylindrical blow molding shape, the air bags 44 are coaxially arranged and communicated through an air pipe 43, and the air pipe 43 is communicated with the air tank 41 through an air valve 42;
the opposite ends of the pair of air bags 44 are respectively fixed on the front arm frame and the rear arm frame through a pair of supporting frames 45;
the pair of air bags 44 are inserted into the inner cavities of the first and second tubular flexible bands 12 and 14, respectively, for increasing the rigidity of the first and second tubular flexible bands 12 and 14.
Further, the retraction mechanism 2 further comprises a retraction roller 27, the retraction roller 27 and the retraction roller 28 are axially parallel, and the retraction roller 27 is arranged in the housing 24 for adjusting the extension position of the flexible band 1 in the housing 24.
Further, a steering mechanism is arranged on the adjusting mechanism 3 corresponding to one side of the second belt-shaped flexible belt 13, and a transmission mechanism is arranged on the adjusting mechanism corresponding to the other side of the second belt-shaped flexible belt 13;
the steering mechanism comprises a steering motor 310, a first transmission gear 312 and a steering gear 313, wherein the steering motor 310 is fixedly arranged on a corresponding rear arm side plate, the first transmission gear 312 is arranged on a roll shaft of a corresponding rear arm roll through a bearing, the steering gear 313 is fixedly inserted on the rotating shaft 31, and the rotating shaft 31 is fixedly arranged on a corresponding front arm side plate;
a steering motor gear 311 is fixedly inserted on the output shaft of the steering motor 310, and the steering motor gear 311, the first transmission gear 312 and the steering gear 313 are sequentially meshed, so that the torque output by the steering motor 310 is transmitted to the rotating shaft 31 through gear transmission;
the transmission mechanism comprises a roller motor 301, a rear arm roller gear 303, a second transmission gear 304 and a front arm roller gear 305, wherein the roller motor 301 is fixedly arranged on a corresponding rear arm side plate, the rear arm roller gear 303 is fixedly inserted on a roller shaft of a corresponding rear arm roller, the second transmission gear 304 is arranged on a corresponding rear arm side plate through a bearing, the front arm roller gear 305 is fixedly inserted on a roller shaft of a corresponding front arm roller,
the transmission motor gear 302 is fixedly inserted on the output shaft of the roller motor 301, and the transmission motor gear 302, the rear arm roller gear 303, the second transmission gear 304 and the front arm roller gear 305 are sequentially meshed, so that the torque output by the roller motor 301 is transmitted to the pair of rear arm rollers 307 and the pair of front arm rollers 306 through gear transmission, that is, the pair of front arm rollers 306 and the pair of rear arm rollers 307 are synchronously rotated, and the second belt-shaped flexible belt 13 is extruded and transmitted.
Further, each fixing frame further includes a second fixing ring 316, the second fixing ring 316 and the first fixing ring 315 are located in different planes and are tangential, a pair of first struts 318 are arranged at the tangential position, a pair of second struts 319 are arranged on the first fixing ring 315 corresponding to the pair of first struts 318, a pair of third struts are arranged on the second fixing ring 316, and the pair of third struts and the pair of second struts 319 are correspondingly and fixedly connected;
the extending ends of the first support rod 318 and the second support rod 319 which are positioned on the same side of the flexible belt 1 are fixedly provided with mounting plates;
a pair of mounting plates 320 on the fixed frame of the first conversion mechanism are fixedly connected to the housing 24;
a pair of mounting plates 320 on the fixing frame of the second conversion mechanism are fixedly connected to the corresponding ends of the pair of forearm side plates 308;
a pair of mounting plates 320 on the fixing frame of the third conversion mechanism are fixedly connected to the corresponding ends of a pair of rear arm side plates 309.
The beneficial technical effects of the invention are as follows:
1. the space manipulator comprises a flexible belt made of soft glass, a retracting mechanism, a first conversion mechanism, a second conversion mechanism, a third conversion mechanism and an adjusting mechanism;
the winding and unwinding mechanism is used for winding and unwinding the flexible belt; the first conversion mechanism, the second conversion mechanism and the third conversion mechanism realize the rigid and flexible state conversion of the flexible belt, namely the flexible belt is converted into a cylindrical shape and a flat spreading and expanding strip shape, so that one end of the flexible belt extending out of the shell is a first strip-shaped flexible belt, the first strip-shaped flexible belt is rolled into a first cylindrical flexible belt through the first conversion mechanism, the first cylindrical flexible belt is expanded into a first cylindrical flexible belt through the second conversion mechanism, the second strip-shaped flexible belt is sequentially conveyed through the extrusion of the pair of front arm rollers and the pair of rear arm rollers, and finally is rolled into a second cylindrical flexible belt through the third conversion mechanism and extends, and the first strip-shaped flexible belt, the first cylindrical flexible belt, the second cylindrical flexible belt and the second strip-shaped flexible belt form the arm lever of the space manipulator.
2. The adjusting mechanism of the invention comprises a front arm frame and a rear arm frame, the front arm frame and the rear arm frame are rotationally connected through a rotating shaft, so that the second banded flexible belt can be folded, and the arm lever is bent to change the extending direction,
simultaneously a pair of forearm roller and a pair of rear arm roller realize synchronous rotation through roller motor, and extrusion formula conveying second banded flexible band controls the rotational speed and the steering of roller motor and roller motor, can shrink the armed lever at non-operating condition, adjusts first tube-shape flexible band and second tube-shape flexible band length as required at operating condition and controls armed lever length promptly, compares the space that current space arm more saves.
3. The reinforcing mechanism comprises a pair of cylindrical blow molding type air bags, wherein the air bags are coaxially arranged and communicated through air pipes, and the air pipes are communicated through air valves and air tank pipelines; the pair of air bags are respectively inserted into the inner cavities of the first cylindrical flexible belt and the second cylindrical flexible belt and are used for improving the rigidity of the first cylindrical flexible belt and the second cylindrical flexible belt.
Drawings
Fig. 1 is a schematic structural view of a space manipulator according to the present invention.
Fig. 2 is a schematic structural view of a space manipulator at a second ribbon-shaped flexible ribbon of the present invention.
Fig. 3 is a top view from above and to the left of fig. 2.
Fig. 4 is a bottom view from the lower right of fig. 2.
Fig. 5 is a schematic structural view of the reinforcing mechanism of the present invention.
Fig. 6 is a schematic structural view of the adjusting mechanism, steering mechanism and transmission mechanism of the present invention.
Fig. 7 is a schematic structural view of the first switching mechanism, the second switching mechanism and the third switching mechanism according to the present invention.
Fig. 8 is a schematic structural view of the fixing frame of the present invention.
Fig. 9 is a partial enlarged view of fig. 8.
Fig. 10 is a schematic structural view of the molding plate of the present invention.
Fig. 11 is a schematic structural view of the flexible belt of the present invention.
Fig. 12 is a rear side view of fig. 11.
Fig. 13 is a partial enlarged view of fig. 12.
Fig. 14 is a schematic structural view of the base and the retracting mechanism of the present invention.
Fig. 15 is a D-D cross-sectional view of fig. 14.
Wherein: a flexible belt 1, a first belt-shaped flexible belt 11, a first cylindrical flexible belt 12, a second belt-shaped flexible belt 13, a second cylindrical flexible belt 14, a 15-link element, a 2-retracting mechanism, a 21-base, a 22-seat plate, a 23-rotating arm, a 24-housing, a 25-rotating shaft motor, a 26-speed reducer, a 27-retracting drum, a 28-retracting drum, a 3-adjusting mechanism, a 31-rotating shaft, a 301-drum motor, a 302-drive motor gear, a 303-rear arm drum gear, a 304-second drive gear, a 305-front arm drum gear, a 306-pair of front arm drums, a 307-pair of rear arm drums, a 308-pair of front arm side plates, a 309-pair of rear arm side plates, a 310-steering motor, a 311-steering motor gear, a 312-first drive gear, a 313-steering gear, a 314-shaped plate, a 315-first fixed ring, a 316-second fixed ring, a 317-pair of meshing extrusion wheels, a 318-pair of first struts, a 319-pair of second struts, a 320-pair of mounting plates, a 4-reinforcing mechanism, 41, 42, a gas valves, 43 gas tubes, a 44-pair of airbags, and 45-pair of support frames.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the detailed description is presented by way of example only and is not intended to limit the invention.
A space manipulator based on flexible belt retraction and rigid-flexible conversion,
referring to fig. 1, the device comprises a flexible belt 1 made of soft glass, a retracting mechanism 2, a first conversion mechanism, a second conversion mechanism, a third conversion mechanism and an adjusting mechanism 3;
referring to fig. 14 and 15, the retraction mechanism is rotatably connected to the support plate 22 of the base 21 through a rotating arm 23, and the retraction mechanism includes a housing 24 and a retraction roller 28 disposed in the housing 24, one end of the retraction roller 28 is connected to a roller motor 25 through a speed reducer 26, and the flexible belt 1 is wound in the housing 24 through the retraction roller 28;
referring to fig. 7, the first conversion mechanism, the second conversion mechanism and the third conversion mechanism have the same structure and each include a molding plate 314 and a fixing frame for fixing the molding plate 314, wherein one end of the molding plate 314 is cylindrical, and the other end of the molding plate 314 is horizontally unfolded; with the contoured plate 314 seen in fig. 10.
Referring to fig. 8 and 9, each fixing frame includes a first fixing ring 315, a pair of engaging extrusion wheels 317 are correspondingly disposed on the first fixing ring 315, the first fixing ring is sleeved at one end of the cylinder of the molding plate 314, the flexible belt 1 is attached to an inner side arm of the molding plate 314, the flexible belt 1 at one end of the cylinder of the molding plate 314 is extruded by the pair of engaging extrusion wheels 317, the teeth 15 at two sides of the flexible belt 1 are correspondingly engaged, the flexible belt 1 is coiled into a cylinder shape, and the flexible belt 1 at one end of the expansion of the molding plate 314 is in a belt shape;
the fixing frame of the first conversion mechanism is fixedly connected to the shell 24;
referring to fig. 2, the adjusting mechanism 3 includes a forearm frame and a rear arm frame, and the forearm frame and the rear arm frame are rotatably connected by a rotation shaft 31,
referring to fig. 3, 4 and 5, the forearm frame includes a pair of forearm side plates 308, a pair of forearm rollers 306 are juxtaposed between the pair of forearm side plates 308, the rear arm frame includes a pair of rear arm side plates 309, and a pair of rear arm rollers 307 are juxtaposed between the pair of rear arm side plates 309;
the pair of front arm rollers 306 and the pair of rear arm rollers 307 realize synchronous rotation through the roller motor 301, and the arrangement direction of the pair of front arm rollers 306 and the pair of rear arm rollers 307 is vertical to the extending direction of the flexible belt 1;
the fixing frame of the second conversion mechanism is fixedly connected to the pair of forearm side plates 308, and the fixing frame of the third conversion mechanism is fixedly connected to the pair of rear arm side plates 309;
referring to fig. 11, 12 and 13, the end of the flexible belt 1 extending out of the housing 24 is a first belt-shaped flexible belt 11, the first belt-shaped flexible belt 11 is rolled into a first cylindrical flexible belt 12 by a first conversion mechanism, the first cylindrical flexible belt 12 is unrolled into a second belt-shaped flexible belt 13 by a second conversion mechanism, the second belt-shaped flexible belt 13 is sequentially conveyed by extrusion of a pair of front arm rollers 306 and a pair of rear arm rollers 305, and finally is rolled into a second cylindrical flexible belt 14 by a third conversion mechanism and extends.
Referring to fig. 5, the space manipulator further comprises a reinforcing mechanism 4, wherein the reinforcing mechanism 4 comprises a pair of air bags 44 in cylindrical blow molding shape, the air bags 44 are coaxially arranged and communicated through an air pipe 43, and the air pipe 43 is communicated with the air tank 41 through an air valve 42;
the opposite ends of the pair of air bags 44 are respectively fixed on the front arm frame and the rear arm frame through a pair of supporting frames 45;
the pair of air bags 44 are inserted into the inner cavities of the first and second tubular flexible bands 12 and 14, respectively, for increasing the rigidity of the first and second tubular flexible bands 12 and 14.
Referring to fig. 15, the retraction mechanism 2 further includes a retraction roller 27, the retraction roller 27 and the retraction roller 28 are axially parallel, and the retraction roller 27 is disposed in the housing 24 for adjusting the extension position of the flexible strap 1 in the housing 24.
Referring to fig. 3 and 4, a steering mechanism is arranged on the adjusting mechanism 3 corresponding to one side of the second belt-shaped flexible belt 13, and a transmission mechanism is arranged on the adjusting mechanism corresponding to the other side of the second belt-shaped flexible belt 13;
the steering mechanism comprises a steering motor 310, a first transmission gear 312 and a steering gear 313, wherein the steering motor 310 is fixedly arranged on a corresponding rear arm side plate, the first transmission gear 312 is arranged on a roll shaft of a corresponding rear arm roll through a bearing, the steering gear 313 is fixedly inserted on the rotating shaft 31, and the rotating shaft 31 is fixedly arranged on a corresponding front arm side plate;
a steering motor gear 311 is fixedly inserted on the output shaft of the steering motor 310, and the steering motor gear 311, the first transmission gear 312 and the steering gear 313 are sequentially meshed, so that the torque output by the steering motor 310 is transmitted to the rotating shaft 31 through gear transmission;
the transmission mechanism comprises a roller motor 301, a rear arm roller gear 303, a second transmission gear 304 and a front arm roller gear 305, wherein the roller motor 301 is fixedly arranged on a corresponding rear arm side plate, the rear arm roller gear 303 is fixedly inserted on a roller shaft of a corresponding rear arm roller, the second transmission gear 304 is arranged on a corresponding rear arm side plate through a bearing, the front arm roller gear 305 is fixedly inserted on a roller shaft of a corresponding front arm roller,
the transmission motor gear 302 is fixedly inserted on the output shaft of the roller motor 301, and the transmission motor gear 302, the rear arm roller gear 303, the second transmission gear 304 and the front arm roller gear 305 are sequentially meshed, so that the torque output by the roller motor 301 is transmitted to the pair of rear arm rollers 307 and the pair of front arm rollers 306 through gear transmission, that is, the pair of front arm rollers 306 and the pair of rear arm rollers 307 are synchronously rotated, and the second belt-shaped flexible belt 13 is extruded and transmitted.
Referring to fig. 8, each fixing frame further includes a second fixing ring 316, the second fixing ring 316 and the first fixing ring 315 are located on different planes and are tangential, a pair of first struts 318 are arranged at the tangential position, a pair of second struts 319 are arranged on the first fixing ring 315 corresponding to the pair of first struts 318, a pair of third struts are arranged on the second fixing ring 316, and the pair of third struts and the pair of second struts 319 are correspondingly and fixedly connected;
the extending ends of the first support rod 318 and the second support rod 319 which are positioned on the same side of the flexible belt 1 are fixedly provided with mounting plates;
a pair of mounting plates 320 on the fixed frame of the first conversion mechanism are fixedly connected to the housing 24;
a pair of mounting plates 320 on the fixing frame of the second conversion mechanism are fixedly connected to the corresponding ends of the pair of forearm side plates 308;
a pair of mounting plates 320 on the fixing frame of the third conversion mechanism are fixedly connected to the corresponding ends of a pair of rear arm side plates 309.
Therefore, the first belt-shaped flexible belt 11, the first cylindrical flexible belt 12, the second cylindrical flexible belt 14 and the second belt-shaped flexible belt 13 form the arm lever of the space manipulator, and compared with the arm lever of the traditional space manipulator, the weight of the space manipulator is greatly reduced;
the front arm frame and the rear arm frame of the space manipulator are rotationally connected through the rotating shaft 31, so that the second banded flexible belt 13 can be folded, and further the extending direction of the extending arm rod can be changed again after being bent, and a larger operation range is met;
the pair of front arm rollers 306 and the pair of rear arm rollers 307 realize synchronous rotation through the roller motor 301, the second banded flexible belt 13 is conveyed in an extrusion mode, the rotating speed and the rotating direction of the roller shaft motor 25 and the roller motor 301 are controlled, the arm rod can be contracted in a non-working state, the lengths of the first cylindrical flexible belt 12 and the second cylindrical flexible belt 14, namely the length of the control arm rod, are adjusted according to the requirements in the working state, and compared with the existing space manipulator, the occupied space is saved.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. Spatial mechanical arm based on flexible belt winding and unwinding and rigid-flexible conversion, and is characterized in that:
comprises a flexible belt (1) made of soft glass, a retracting mechanism (2), a first conversion mechanism, a second conversion mechanism, a third conversion mechanism and an adjusting mechanism (3);
the winding and unwinding mechanism is rotatably connected to a support plate (22) of the base (21) through a rotating arm (23), and comprises a shell (24) and a winding and unwinding roller (28) arranged in the shell (24), one end of the winding and unwinding roller (28) is connected with a roller shaft motor (25) through a speed reducer (26), and the flexible belt (1) is wound in the shell (24) through the winding and unwinding roller (28);
the first conversion mechanism, the second conversion mechanism and the third conversion mechanism are identical in structure and comprise a molding plate (314) and a fixing frame for fixing the molding plate (314), one end of the molding plate (314) is cylindrical, and the other end of the molding plate is horizontally unfolded;
each fixing frame comprises a first fixing ring (315), a pair of meshing extrusion wheels (317) are correspondingly arranged on the first fixing rings (315), the first fixing rings are sleeved at one cylindrical end of the molding plate (314), the flexible belt (1) is attached to the inner side arm of the molding plate (314), the flexible belt (1) at one cylindrical end of the molding plate (314) is extruded by the pair of meshing extrusion wheels (317), the teeth (15) at the two sides of the flexible belt (1) are correspondingly meshed, the flexible belt (1) is coiled into a cylinder shape, and the flexible belt (1) at one unfolding end of the molding plate (314) is strip-shaped;
the fixing frame of the first conversion mechanism is fixedly connected to the shell (24);
the adjusting mechanism (3) comprises a front arm frame and a rear arm frame, and the front arm frame and the rear arm frame are rotationally connected through a rotating shaft (31);
the forearm frame comprises a pair of forearm side plates (308), a pair of forearm rollers (306) are arranged between the pair of forearm side plates (308) in parallel, the rear arm frame comprises a pair of rear arm side plates (309), and a pair of rear arm rollers (307) are arranged between the pair of rear arm side plates (309) in parallel;
the pair of front arm rollers (306) and the pair of rear arm rollers (307) synchronously rotate through the roller motor (301), and the arrangement direction of the pair of front arm rollers (306) and the pair of rear arm rollers (307) is perpendicular to the extension direction of the flexible belt (1);
the fixing frame of the second conversion mechanism is fixedly connected to the pair of forearm side plates (308), and the fixing frame of the third conversion mechanism is fixedly connected to the pair of rear arm side plates (309);
one end of the flexible belt (1) extending out of the shell (24) is a first belt-shaped flexible belt (11), the first belt-shaped flexible belt (11) is rolled into a first cylindrical flexible belt (12) through a first conversion mechanism, the first cylindrical flexible belt (12) is unfolded into a second belt-shaped flexible belt (13) through a second conversion mechanism, the second belt-shaped flexible belt (13) is sequentially conveyed by extrusion of a pair of front arm rollers (306) and a pair of rear arm rollers 307, and finally is rolled into a second cylindrical flexible belt (14) through a third conversion mechanism and extends;
the steering mechanism is arranged on the adjusting mechanism (3) corresponding to one side of the second belt-shaped flexible belt (13), and the transmission mechanism is arranged on the adjusting mechanism corresponding to the other side of the second belt-shaped flexible belt (13);
the steering mechanism comprises a steering motor (310), a first transmission gear (312) and a steering gear (313), wherein the steering motor (310) is fixedly arranged on a corresponding rear arm side plate, the first transmission gear (312) is arranged on a roll shaft of a corresponding rear arm roll through a bearing, the steering gear (313) is fixedly inserted into the rotating shaft (31), and the rotating shaft (31) is fixedly arranged on a corresponding front arm side plate;
a steering motor gear (311) is fixedly inserted on an output shaft of the steering motor (310), and the steering motor gear (311), the first transmission gear (312) and the steering gear (313) are sequentially meshed, so that the torque output by the steering motor (310) is transmitted to the rotating shaft (31) through gear transmission;
the transmission mechanism comprises a roller motor (301), a rear arm roller gear (303), a second transmission gear (304) and a front arm roller gear (305), wherein the roller motor (301) is fixedly arranged on a corresponding rear arm side plate, the rear arm roller gear (303) is fixedly inserted on a roller shaft of a corresponding rear arm roller, the second transmission gear (304) is arranged on a corresponding rear arm side plate through a bearing, the front arm roller gear (305) is fixedly inserted on a roller shaft of a corresponding front arm roller,
the transmission motor gear (302) is fixedly inserted on the output shaft of the roller motor (301), the transmission motor gear (302), the rear arm roller gear (303), the second transmission gear (304) and the front arm roller gear (305) are sequentially meshed, so that torque output by the roller motor (301) is transmitted to the pair of rear arm rollers (307) and the pair of front arm rollers (306) through gear transmission, namely, synchronous rotation of the pair of front arm rollers (306) and the pair of rear arm rollers (307) is realized, and the second banded flexible belt (13) is extruded and transmitted.
2. The space manipulator based on flexible belt retraction and rigid-flexible conversion according to claim 1, wherein: the space manipulator further comprises a reinforcing mechanism (4), the reinforcing mechanism (4) comprises a pair of air bags (44) in cylindrical blow molding mode, the air bags (44) are coaxially arranged and communicated through an air pipe (43), and the air pipe (43) is communicated with a gas tank (41) through an air valve (42) in a pipeline mode;
opposite ends of the pair of air bags (44) are respectively fixed on the forearm frame and the rear arm frame through a pair of supporting frames (45);
the pair of air bags (44) are respectively inserted into the inner cavities of the first cylindrical flexible belt (12) and the second cylindrical flexible belt (14) and are used for improving the rigidity of the first cylindrical flexible belt (12) and the second cylindrical flexible belt (14).
3. The space manipulator based on flexible belt retraction and rigid-flexible conversion according to claim 1, wherein: the winding and unwinding mechanism (2) further comprises a winding and unwinding drum (27), the winding and unwinding drum (27) and the winding and unwinding drum (28) are axially parallel, and the winding and unwinding drum (27) is arranged in the shell (24) and used for adjusting the extending position of the flexible belt (1) in the shell (24).
4. The space manipulator based on flexible belt retraction and rigid-flexible conversion according to claim 1, wherein: each fixing frame further comprises a second fixing ring (316), the second fixing rings (316) and the first fixing rings (315) are located on different planes and are tangential, a pair of first supporting rods (318) are arranged at the tangential position, a pair of second supporting rods (319) are arranged on the first fixing rings (315) corresponding to the pair of first supporting rods (318), a pair of third supporting rods are arranged on the second fixing rings (316), and the pair of third supporting rods and the pair of second supporting rods (319) are correspondingly and fixedly connected;
the extending ends of the first supporting rod (318) and the second supporting rod (319) which are positioned on the same side of the flexible belt (1) are fixedly provided with mounting plates;
a pair of mounting plates (320) on the fixing frame of the first conversion mechanism are fixedly connected to the shell (24);
a pair of mounting plates (320) on the fixing frame of the second conversion mechanism are fixedly connected to the corresponding ends of a pair of forearm side plates (308);
a pair of mounting plates (320) on the fixing frame of the third conversion mechanism are fixedly connected to corresponding ends of a pair of rear arm side plates (309).
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| CN202110711518.6A CN113291495B (en) | 2021-06-25 | 2021-06-25 | Space mechanical arm based on flexible belt winding and unwinding and rigid-flexible conversion mechanism |
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| CN113291495A CN113291495A (en) | 2021-08-24 |
| CN113291495B true CN113291495B (en) | 2023-05-09 |
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Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19525359C1 (en) * | 1995-07-12 | 1996-06-05 | Daimler Benz Aerospace Ag | Device for handling loads outside space vehicle |
| CN106134337B (en) * | 2008-10-22 | 2012-08-08 | 北京卫星制造厂 | A kind of mechanical arm mechanism of moonscape sampler |
| DE102010035297A1 (en) * | 2010-08-20 | 2012-02-23 | Astrium Gmbh | Anti-rotation device for screws |
| CN103979121B (en) * | 2014-04-30 | 2016-01-20 | 清华大学 | A kind of space manipulator analog machine containing harmonic drive |
| CN105539890B (en) * | 2015-12-30 | 2018-01-30 | 哈尔滨工业大学 | A kind of apparatus and method for the Three Dimensional Ground space microgravity for simulating space manipulator capture target satellite |
| CN105480439B (en) * | 2016-01-14 | 2017-08-25 | 北京空间飞行器总体设计部 | A kind of space manipulator maintainable technology on-orbit device |
| CN110979742B (en) * | 2019-11-29 | 2021-12-07 | 北京卫星制造厂有限公司 | High-expansion-ratio unfolding mechanism suitable for space environment |
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