CN113459118A - Bionic manipulator capable of flying freely in space station cabin - Google Patents
Bionic manipulator capable of flying freely in space station cabin Download PDFInfo
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- CN113459118A CN113459118A CN202110665250.7A CN202110665250A CN113459118A CN 113459118 A CN113459118 A CN 113459118A CN 202110665250 A CN202110665250 A CN 202110665250A CN 113459118 A CN113459118 A CN 113459118A
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- finger
- thumb
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- joint
- cabin
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 230000005486 microgravity Effects 0.000 claims abstract description 10
- 230000005487 simulated microgravity Effects 0.000 claims abstract description 4
- 210000003811 finger Anatomy 0.000 claims description 67
- 210000003813 thumb Anatomy 0.000 claims description 50
- 230000007246 mechanism Effects 0.000 claims description 35
- 210000001145 finger joint Anatomy 0.000 claims description 32
- 210000000707 wrist Anatomy 0.000 claims description 13
- 210000004932 little finger Anatomy 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241000203475 Neopanax arboreus Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004579 marble Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J15/0009—Gripping heads and other end effectors comprising multi-articulated fingers, e.g. resembling a human hand
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of space robots, and particularly relates to a bionic manipulator capable of flying freely in a space station cabin. The device comprises a manipulator, an aircraft and an air floating platform, wherein the air floating platform is used for simulating a microgravity environment in a space cabin; the aircraft is arranged above the air floatation platform and is used for flying and hovering in six degrees of freedom under a simulated microgravity environment provided by the air floatation platform; the manipulator sets up on the aircraft, and the manipulator is used for accomplishing and snatchs the task. The whole robot system is carried on the small air floating platform, the microgravity environment in the space cabin can be simulated on the ground, the manipulator can complete the planar two-degree-of-freedom grabbing experiment, the operation is flexible, and the grabbing efficiency is high.
Description
Technical Field
The invention belongs to the technical field of space robots, and particularly relates to a bionic manipulator capable of flying freely in a space station cabin.
Background
In the field of space stations, astronauts carry out a large number of scientific experiments, space tasks and other works in space station cabins. In consideration of the fact that the number of astronauts working in the space station cabin is limited and the tasks are heavy, the astronaut assistant robot is used for sharing pressure for the astronauts, the robot can assist the astronauts in performing some tasks in the space station cabin, can also be used as scientific test equipment or technical verification equipment, and has high application value.
The astronaut assistant robot assists an astronaut to take some tools or objects, reduces the working time of the astronaut and improves the efficiency. At present, most of the grabbing mechanisms carried on the traditional cabin aircrafts are simple structures with two fingers, have single functions and cannot be suitable for grabbing tools and objects in different shapes. Therefore, an astronaut assistant robot which can move freely under the microgravity environment in a space station cabin and can grab tools and objects with different shapes is urgently needed.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a bionic manipulator capable of flying freely in a space station cabin, which is used for grabbing objects in the cabin.
In order to achieve the purpose, the invention adopts the following technical scheme:
a bionic manipulator capable of flying freely in a cabin of a space station, comprising:
the air floatation platform is used for simulating a microgravity environment in the space cabin;
the aircraft is arranged above the air floatation platform and is used for flying and hovering in six degrees of freedom under a simulated microgravity environment provided by the air floatation platform;
the manipulator is arranged on the aircraft and used for completing a grabbing task.
The manipulator comprises a base, a wrist steering engine, a palm and five fingers, wherein the base is connected with the aircraft, the wrist steering engine is arranged on the base, and the output end of the wrist steering engine is connected with the palm; five fingers are arranged on the palm.
The five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, wherein the index finger, the middle finger, the ring finger and the little finger have the same structure and respectively comprise an upper finger joint, a middle finger joint and a lower finger joint which are sequentially hinged from head to tail, and the lower finger joint is rotatably connected with the palm; the rear end of the joint in the finger is hinged with the palm through an interphalangeal connecting rod;
the thumb comprises a lower thumb joint and an upper thumb joint which are sequentially hinged end to end, wherein the lower thumb joint is rotatably connected with the palm.
The palm comprises a palm support frame, a thumb driving mechanism and four finger driving mechanisms, wherein the thumb driving mechanism and the four finger driving mechanisms are arranged on the palm support frame; the four finger driving mechanisms are respectively connected with the lower finger joints of the index finger, the middle finger, the ring finger and the little finger and are used for driving the lower finger joints to rotate; the thumb driving mechanism is connected with the lower thumb joint and used for driving the lower thumb joint to rotate.
The palm support frame include the palm baffle and set up in the back of the hand casing of palm baffle back, thumb actuating mechanism and four finger actuating mechanism all set up in on the palm baffle.
The thumb driving mechanism comprises a thumb steering engine and a connecting rod mechanism, wherein the thumb steering engine is arranged on the palm baffle;
the connecting rod mechanism comprises a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is hinged with the crank at the output end of the thumb steering engine, the other end of the first connecting rod is hinged with one end of the second connecting rod, and the other end of the second connecting rod is hinged with the lower joint of the thumb.
The finger driving mechanism comprises finger steering engines, and the output ends of the finger steering engines are connected with the lower finger joints of the fingers.
The base is a triangular base.
The aircraft is an octahedral aircraft.
The invention has the advantages and beneficial effects that:
the bionic manipulator is adopted, so that different tools or objects can be grabbed by simulating grabbing actions of people and adopting different gestures, and the high efficiency of grabbing tasks is facilitated.
The manipulator is arranged on the aircraft in the cabin, and can be carried to the position close to a target object to be grabbed by utilizing the free flight characteristic of the aircraft, so that the manipulator can conveniently complete the grabbing task.
The whole robot system is carried on the small air floating platform, and the microgravity environment in the space cabin can be simulated on the ground, so that the manipulator completes the planar two-degree-of-freedom grabbing experiment.
The invention has the advantages of small volume, flexible operation, high grabbing efficiency and the like.
Drawings
FIG. 1 is a schematic structural view of a bionic manipulator capable of flying freely in a space station cabin according to the present invention;
fig. 2 is a schematic structural view of the robot of the present invention.
In the figure: the robot comprises a manipulator 1, an aircraft 2, an air floatation platform 3, an upper finger joint 4, a middle finger joint 5, a lower finger joint 6, a finger steering engine 7, a back of hand shell 8, a wrist steering engine 9, a palm baffle 10, a second connecting rod 11, a first connecting rod 12, a thumb steering engine 13, a base 14 and an interphalangeal connecting rod 15.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the bionic manipulator capable of flying freely in the space station cabin provided by the invention comprises: the device comprises a manipulator 1, an aircraft 2 and an air floating platform 3, wherein the air floating platform 3 is used for simulating a microgravity environment in a space cabin; the aircraft 2 is arranged above the air floating platform 3, and the aircraft 2 is used for flying and hovering in six degrees of freedom under the simulated microgravity environment provided by the air floating platform 3; manipulator 1 sets up on aircraft 2, and manipulator 1 is used for accomplishing the task of snatching.
As shown in fig. 2, in the embodiment of the present invention, the manipulator 1 includes a base 14, a wrist steering engine 9, a palm and five fingers, wherein the base 14 is connected with the aircraft 2, the wrist steering engine 9 is disposed on the base 14, and an output end is connected with the palm; five fingers are arranged on the palm.
In the embodiment of the invention, five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, wherein the index finger, the middle finger, the ring finger and the little finger have the same structure and respectively comprise an upper finger joint 4, a middle finger joint 5 and a lower finger joint 6 which are sequentially hinged from head to tail, the lower finger joint 6 is rotatably connected with a palm, and the rear end of the middle finger joint 5 is hinged with the palm through an interphalangeal connecting rod 15. The thumb comprises a lower thumb joint and an upper thumb joint which are sequentially hinged end to end, wherein the lower thumb joint is rotatably connected with the palm.
In the embodiment of the invention, the palm comprises a palm support frame, a thumb driving mechanism and four finger driving mechanisms, wherein the thumb driving mechanism and the four finger driving mechanisms are arranged on the palm support frame, and the palm support frame is connected with the output end of a wrist steering engine 9; the four finger driving mechanisms are respectively connected with the lower finger joints 6 of the index finger, the middle finger, the ring finger and the little finger and are used for driving the lower finger joints 6 to rotate; the thumb driving mechanism is connected with the lower thumb joint and used for driving the lower thumb joint to rotate.
In the embodiment of the invention, the palm support frame comprises a palm baffle plate 10 and a back shell 8 arranged on the back of the palm baffle plate 10, the thumb driving mechanism and the four finger driving mechanisms are arranged on the side surface of the palm baffle plate 10, and five fingers are rotatably connected with the upper end and the side part of the palm baffle plate 10 through hinged supports.
Specifically, the thumb driving mechanism comprises a thumb steering gear 13 and a connecting rod mechanism, wherein the thumb steering gear 13 is arranged on the palm baffle plate 10; the connecting rod mechanism comprises a first connecting rod 12 and a second connecting rod 11, wherein one end of the first connecting rod 12 is hinged with a crank at the output end of the thumb steering engine 13, the other end of the first connecting rod is hinged with one end of the second connecting rod 11, and the other end of the second connecting rod 11 is hinged with a lower joint of the thumb.
The finger driving mechanism comprises finger steering engines 7, and the output ends of the finger steering engines 7 are connected with the finger lower joints 6 of the fingers.
Further, the base 14 is a triangular base to increase the stability of the robot 1.
Five fingers have relatively similar transmission structures. The thumb steering gear 13 drives the first connecting rod 12, and the first connecting rod 12 is hinged with the second connecting rod 11 so as to drive the thumb to move; similarly, the finger steering engine 7 drives the lower finger joints 6 to move, two ends of the middle finger joints 5 are respectively connected with the lower finger joints 6 and the upper finger joints 4, the middle finger joints 5 are connected with the palm baffle 10 through the interphalangeal connecting rods 15 to restrict the movement of the middle finger joints 5, the upper finger joints 4 move along with the movement of the middle finger joints 5, and all joint components are installed between the back shell 8 and the palm baffle 10. The lower end of the wrist steering engine 9 is fixedly connected with the triangular base, and the upper end of the wrist steering engine is connected with the back of the hand shell 8 through an output shaft, so that 360-degree rotation of the back of the hand shell can be realized.
In the embodiment of the invention, the manipulator 1 simulates the structure of a human hand, can finish various gestures such as fist making, five-finger opening, hooking, pinching, cylindrical object grabbing, spherical object grabbing and the like, can grab different grabbed objects by adopting corresponding gestures, and can improve the grabbing efficiency.
In the embodiment of the invention, the aircraft 2 is an octahedral aircraft, the octahedral aircraft adopts an octahedral aircraft disclosed in the file number CN 205256676U, the polyhedral aircraft has six degrees of freedom, and the aircraft can fly and hover freely in the space station cabin with six degrees of freedom by utilizing a twelve ducted fan thrust system and an attitude detection system on the aircraft. The aircraft has the size of 200 multiplied by 200mm, the weight of 3.5kg and the load of 0.5 kg. The octahedron aircraft can carry the manipulator 1 to realize suspension and six-degree-of-freedom free flight in a microgravity environment in a space station cabin, and move to the vicinity of a target object to be grabbed.
In the embodiment of the invention, the air floating platform 3 is a commercially available product and is a small air floating platform purchased from the minisize instrument and equipment limited company in Tianjin. The small-size air supporting platform is as the experimental platform on manipulator ground, and manipulator 1 and polyhedron aircraft are installed on small-size air supporting platform, and small-size air supporting platform can realize the suspension on the marble platform through the three air foot of bottom to can simulate motion and state under the microgravity environment in the space station under-deck at the plane direction. The size of the air floating platform is 200 multiplied by 200mm, the load is 10kg, and the working time of the air cylinder in a full air state is five minutes.
The bionic manipulator capable of flying freely in the space station cabin provided by the invention adopts the bionic manipulator, can simulate the grabbing action of a human and grab different tools or objects by adopting different gestures, and is beneficial to the high efficiency of grabbing tasks. The manipulator is arranged on the aircraft in the cabin, and can be carried to the position near a target object to be grabbed by utilizing the free flight characteristic of the aircraft, so that the manipulator can conveniently complete the grabbing task. The whole robot system is carried on a small air floating platform, and the microgravity environment in a space cabin can be simulated on the ground, so that the manipulator can complete the grabbing experiment of two degrees of freedom in a plane. The invention has the advantages of small volume, flexible operation, high grabbing efficiency and the like.
The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (9)
1. A bionic manipulator capable of flying freely in a space station cabin is characterized by comprising:
the air floatation platform (3) is used for simulating a microgravity environment in the space cabin;
the aircraft (2) is arranged above the air floating platform (3), and the aircraft (2) is used for flying and hovering in six degrees of freedom under the simulated microgravity environment provided by the air floating platform (3);
the manipulator (1) is arranged on the aircraft (2), and the manipulator (1) is used for completing a grabbing task.
2. The bionic manipulator capable of flying freely in the space station cabin according to claim 1, wherein the manipulator (1) comprises a base (14), a wrist steering engine (9), a palm and five fingers, wherein the base (14) is connected with the aircraft (2), the wrist steering engine (9) is arranged on the base (14), and the output end of the wrist steering engine is connected with the palm; five fingers are arranged on the palm.
3. The bionic manipulator capable of flying freely in the space station cabin is characterized in that five fingers are respectively a thumb, an index finger, a middle finger, a ring finger and a little finger, wherein the index finger, the middle finger, the ring finger and the little finger are of the same structure and respectively comprise an upper finger joint (4), a middle finger joint (5) and a lower finger joint (6) which are sequentially hinged end to end, and the lower finger joint (6) is rotatably connected with the palm; the rear end of the finger middle joint (5) is hinged with the palm through an interphalangeal connecting rod (15);
the thumb comprises a lower thumb joint and an upper thumb joint which are sequentially hinged end to end, wherein the lower thumb joint is rotatably connected with the palm.
4. The bionic manipulator capable of flying freely in the space station cabin according to claim 3, wherein the palm comprises a palm support frame, and a thumb driving mechanism and four finger driving mechanisms which are arranged on the palm support frame, wherein the palm support frame is connected with the output end of the wrist steering engine (9); the four finger driving mechanisms are respectively connected with the lower finger joints (6) of the index finger, the middle finger, the ring finger and the little finger and are used for driving the lower finger joints (6) to rotate; the thumb driving mechanism is connected with the lower thumb joint and used for driving the lower thumb joint to rotate.
5. The bionic manipulator capable of flying freely in the cabin of a spatial station according to claim 4, wherein the palm support frame comprises a palm guard (10) and a back shell (8) arranged at the back of the palm guard (10), and the thumb driving mechanism and the four finger driving mechanisms are arranged on the palm guard (10).
6. The bionic manipulator capable of flying freely in the space station cabin according to claim 5, wherein the thumb driving mechanism comprises a thumb steering engine (13) and a link mechanism, wherein the thumb steering engine (13) is arranged on the palm baffle (10);
the connecting rod mechanism comprises a first connecting rod (12) and a second connecting rod (11), wherein one end of the first connecting rod (12) is hinged to a crank at the output end of the thumb steering engine (13), the other end of the first connecting rod is hinged to one end of the second connecting rod (11), and the other end of the second connecting rod (11) is hinged to a lower joint of the thumb.
7. The bionic manipulator capable of flying freely in the space station cabin according to claim 5, wherein the finger driving mechanism comprises a finger steering engine (7), and the output end of the finger steering engine (7) is connected with the lower finger joint (6) of each finger.
8. The bionic robot flying freely in the cabin of a space station as claimed in claim 2, characterized in that the base (14) is a triangular base.
9. The bionic manipulator free-flying inside the cabin of a spatial station according to claim 1, characterized in that the aircraft (2) is an octahedral aircraft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665250.7A CN113459118A (en) | 2021-06-16 | 2021-06-16 | Bionic manipulator capable of flying freely in space station cabin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665250.7A CN113459118A (en) | 2021-06-16 | 2021-06-16 | Bionic manipulator capable of flying freely in space station cabin |
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| CN113459118A true CN113459118A (en) | 2021-10-01 |
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| CN202110665250.7A Pending CN113459118A (en) | 2021-06-16 | 2021-06-16 | Bionic manipulator capable of flying freely in space station cabin |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115232734A (en) * | 2022-08-19 | 2022-10-25 | 兰州理工大学 | Pneumatic suspension type three-dimensional microgravity biological effect simulation system and application thereof |
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2021
- 2021-06-16 CN CN202110665250.7A patent/CN113459118A/en active Pending
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| CN115232734B (en) * | 2022-08-19 | 2024-04-30 | 兰州理工大学 | Pneumatic suspension type three-dimensional microgravity biological effect simulation system and application thereof |
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