CN113525732A - Satellite carrying passive telescopic mechanical arm and mechanical arm reconstruction method thereof - Google Patents
Satellite carrying passive telescopic mechanical arm and mechanical arm reconstruction method thereof Download PDFInfo
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- CN113525732A CN113525732A CN202110825628.5A CN202110825628A CN113525732A CN 113525732 A CN113525732 A CN 113525732A CN 202110825628 A CN202110825628 A CN 202110825628A CN 113525732 A CN113525732 A CN 113525732A
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
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- 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
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
- B64G1/443—Photovoltaic cell arrays
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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
A satellite carrying a passive telescopic mechanical arm and a mechanical arm reconstruction method thereof relate to a satellite and a mechanical arm reconstruction method. A plurality of ground data transmission antennas and thrusters are fixed at the bottom of the payload bin, solar cell sailboards are fixed at the bottom ends of two sides, passive telescopic mechanical arms are fixed at the top ends of two sides, two adapters are fixed at the front side, the passive telescopic mechanical arms comprise bottom fixing seats and shoulder first joints, shoulder second joints, shoulder third joints, shoulder telescopic arm rods, elbow joints, wrist end telescopic arm rods, wrist first joints, wrist second joints, wrist third joints and two-finger-shaped end effectors which are sequentially installed at the rear ends of the bottom fixing seats, and the telescopic arm rods are provided with locking mechanisms and wire retracting mechanisms. The passive telescopic structure reduces the structural complexity and the self mass, restrains the two-finger type end effector to form a kinematic closed chain, realizes configuration change by adjusting the length of the arm lever through joint motion, and is easier to control the reconstruction process.
Description
Technical Field
The invention relates to a satellite and a mechanical arm reconstruction method, in particular to a satellite carrying a passive telescopic mechanical arm and a mechanical arm reconstruction method thereof, and belongs to the technical field of on-orbit service of spacecrafts.
Background
In space missions, large-scale facilities such as space stations, space solar power stations, sky ladders, earth stations, space posters and the like are constructed in an on-orbit mode, constituent components of the large-scale facilities are launched to a working orbit through a carrier rocket, and then construction is completed in an on-orbit mode by means of different types of space robots, and space manipulators are typical representatives of the space robots. For a traditional single mechanical arm, because the traditional single mechanical arm cannot simultaneously have the capability of working in a large-scale space and fine operation in a small range, in order to complete the construction of large-scale and high-precision facilities, the multiple mechanical arms with different scales are required to work in cooperation, and the launching cost, the operation cost and the maintenance cost are undoubtedly greatly increased for a space on-orbit service task.
The reconfigurable mechanical arm can solve the problem of insufficient capacity of a single mechanical arm through the configuration of the reconfigurable mechanical arm, so that the single mechanical arm has the capacity of one arm with multiple purposes. When the mechanical arm executes a task, the configuration of the mechanical arm can be reconstructed according to the task requirement to obtain mechanical arms with different scales, so that the working space range is enlarged or reduced, the capability of flexibly operating various tasks in the working space range is improved, and the mechanical arm is more suitable for the on-orbit construction task of large-scale and high-precision facilities. The joints of a common reconfigurable mechanical arm are designed into a modular structure, mechanical arms with different sizes and configurations are obtained through deformation combination among the modular joints, and due to the fact that a locking system needs to be independently designed for each modular joint for locking and releasing among the joints, structural complexity and self quality are greatly increased. In addition, in order to reconstruct a new configuration of the mechanical arm, a modular joint needs to be mounted or dismounted on the original configuration mechanical arm, so that the automation level and reliability of the reconfiguration of the mechanical arm configuration are reduced.
Therefore, aiming at the satellite in the in-orbit construction task, the mechanical arm carried by the satellite needs to be simplified and improved, the structural complexity and the self quality are reduced, the reconstruction process is easier to control, and the method has very important significance for in-orbit construction of large-scale facilities.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a satellite carrying a passive telescopic mechanical arm and a mechanical arm reconstruction method thereof, aiming at the satellite in an in-orbit construction task, two more simple and reasonable mechanical arms are carried, a passive telescopic structure is adopted, the structural complexity and the self quality are favorably reduced, a two-finger type end effector is restrained to form a kinematic closed chain in the reconstruction process, the configuration can be changed by matching the rotation motion of a joint with a locking mechanism to adjust the length of an arm lever, and the reconstruction process is easier to control.
In order to achieve the purpose, the invention adopts the following technical scheme:
a satellite carrying a passive telescopic mechanical arm comprises a solar cell sailboard, a first passive telescopic mechanical arm, an effective load bin, a second passive telescopic mechanical arm, two adapters, a plurality of ground data transmission antennas and a plurality of thrusters, wherein the edges of the bottom of the effective load bin are fixedly surrounded by the plurality of ground data transmission antennas and the plurality of thrusters, the bottom ends of the left side and the right side of the effective load bin are fixedly provided with the two foldable and expandable solar cell sailboards, the top ends of the left side and the right side of the effective load bin are fixedly provided with the first passive telescopic mechanical arm and the second passive telescopic mechanical arm, the two adapters are transversely fixed at the middle position of the front side of the effective load bin, the first passive telescopic mechanical arm and the second passive telescopic mechanical arm are identical in structure and comprise a bottom fixing seat fixedly connected with the effective load bin, and a shoulder first joint, a shoulder second joint and a shoulder fixed on the rear end of the bottom fixing seat, Shoulder third joint, shoulder end flexible armed lever, elbow joint, wrist end flexible armed lever, wrist first joint, wrist second joint, wrist third joint and two finger type end effector, shoulder end flexible armed lever reaches wrist end flexible armed lever structure is the same, including interior armed lever, locking mechanism, wire jack and outer armed lever, interior armed lever cartridge is in the outer armed lever and the relative motion restriction of the two is in axial direction, locking mechanism includes control motor, harmonic speed reducer ware, support piece and central pivot, support piece fixed mounting is used for carrying on control motor and harmonic speed reducer inside the inner armed lever, control motor passes through harmonic speed reducer transmission center pivot, be equipped with two sets of wedge latch blocks in the pivot of center, every group the quantity of wedge latch block is individual and encircles such angles as center pivot and arrange, and every wedge latch block articulates through the connecting rod both ends with central pivot corresponding position, the wire winding and unwinding mechanism comprises a scissor mechanism and a fixing seat, the scissor mechanism can be connected through a plurality of connecting shafts and can be stretched and folded, the fixing seats are fixed at two ends of the scissor mechanism respectively, one fixing seat is fixedly connected with the root end of the outer arm rod, the other fixing seat is fixedly connected with the inner side end of the inner arm rod, a fixing frame is installed at the position, close to the root, of the inner wall of the outer arm rod, a limiting groove is formed in the fixing frame in the axial direction of the outer arm rod, a plurality of winding posts are fixed on the scissor mechanism, and the end portions of the winding posts can be in sliding fit with the limiting groove.
A mechanical arm reconstruction method for a satellite carrying a passive telescopic mechanical arm comprises the following steps:
the method comprises the following steps: when reconstruction is carried out in a single-arm working mode, the first passive telescopic mechanical arm or the second passive telescopic mechanical arm enables the two-finger-type end effector to clamp the adapter to form a kinematics closed chain through rotation of the first shoulder joint, the second shoulder joint, the third shoulder joint, the elbow joint, the first wrist joint, the second wrist joint and the third wrist joint, and then locking and positioning of the inner arm rod and the outer arm rod are carried out through rotation of the first shoulder joint, the second shoulder joint, the third shoulder joint, the elbow joint, the first wrist joint, the second wrist joint and the third wrist joint again in cooperation with the locking mechanism, so that the telescopic operation of the shoulder end telescopic arm rod and/or the wrist end telescopic arm rod is completed until the expected length is reached;
step two: and when the reconstruction process is carried out in the double-arm cooperation mode, the first passive telescopic mechanical arm and the second passive telescopic mechanical arm are both operated in the first step.
Compared with the prior art, the invention has the beneficial effects that: the invention carries two simpler and more reasonable mechanical arms aiming at a satellite in an on-orbit construction task, is different from the traditional reconfigurable mechanical arm which carries out a reconfiguration process in a complex active telescopic mode, adopts a passive telescopic structure, does not need to be provided with a power assembly, is beneficial to reducing the structural complexity and the self quality, is convenient to control the cost, is easier to control the reconfiguration process, provides a brand new reconfiguration idea, is different from the previous reconfiguration method of installing or disassembling a modular joint, only needs to restrict a two-finger type end effector to form a kinematic closed chain, can realize the change of the configuration by matching the rotation motion of the joint with a locking mechanism to adjust the length of an arm lever, reduces the difficulty of reconfiguration operation, improves the automation level and reliability in the reconfiguration operation process, can work independently with a single arm or cooperate with two arms, and is flexible in operation in a working space range, is more beneficial to the application of on-orbit construction of large-scale facilities.
Drawings
FIG. 1 is an isometric view of the overall structure of a satellite carrying a passive telescopic robotic arm of the present invention;
FIG. 2 is a schematic view of a first passive telescopic robot of the present invention;
FIG. 3 is a schematic view of the internal structure of the shoulder-end telescopic arm or the wrist-end telescopic arm of the present invention;
FIG. 4 is an isometric view of the wire retraction and release mechanism of the present invention;
FIG. 5 is a schematic structural view of the locking mechanism of the present invention;
FIG. 6 is a schematic cross-sectional view of the locking mechanism of the present invention;
FIG. 7 is an isometric view of the shortest configuration expanded state of the present invention in the single arm mode of operation;
FIG. 8 is an isometric view of the kinematic closed chain constructed in the mode of FIG. 7;
FIG. 9 is an isometric view of a first reconstruction state in the mode of FIG. 8;
FIG. 10 is an isometric view of the second reconfiguration state in the mode of FIG. 8;
FIG. 11 is an isometric view of the longest configuration expanded state of the present invention in the single-arm mode of operation;
FIG. 12 is an isometric view of the shortest configuration expanded state of the present invention in two-arm cooperative mode;
FIG. 13 is a schematic diagram of the kinematic closed chain in the mode of FIG. 12;
FIG. 14 is a schematic view of the first reconfiguration state in the mode of FIG. 13;
FIG. 15 is a schematic structural view of a second reconfiguration state in the mode of FIG. 13;
fig. 16 is an isometric view of the longest configuration in a two-arm cooperative mode of the present invention in an expanded state.
Detailed Description
The technical solutions in the present invention will be described clearly and completely with reference to the accompanying 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 invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art without any creative work based on the embodiments of the present invention belong to the protection scope of the present invention.
As shown in fig. 1 to 16, a satellite on which a passive telescopic robot arm is mounted includes a solar cell panel 1, a first passive telescopic robot arm 2, a payload compartment 3, a second passive telescopic robot arm 4, two adapters 5, a plurality of ground data transmission antennas 6, and a plurality of thrusters 7.
Referring to fig. 1, a plurality of ground data transmission antennas 6 and a plurality of thrusters 7 are fixed to the bottom edge of the payload bin 3 in a surrounding manner, the ground data transmission antennas 6 are used for transmitting information with a ground base station, the thrusters 7 are used for adjusting the position and posture of a satellite, two foldable and unfoldable solar cell panels 1 are fixed to the bottom ends of the left side and the right side of the payload bin 3 and used for providing electric energy for the satellite, a first passive telescopic mechanical arm 2 and a second passive telescopic mechanical arm 4 are fixed to the top ends of the left side and the right side of the payload bin 3 and used for transferring articles in an orbit building task, and two adapters 5 are transversely fixed to the middle position of the front side of the payload bin 3 and provide clamping points for forming a kinematic closed chain in a reconstruction process.
As shown in fig. 2, the first passive telescopic robot arm 2 and the second passive telescopic robot arm 4 have the same structure, and include a bottom fixing base 8 connected and fixed to the payload cabin 3, and a first shoulder joint 9, a second shoulder joint 10, a third shoulder joint 11, a telescopic shoulder arm rod 12, an elbow joint 13, a telescopic wrist arm rod 14, a first wrist joint 15, a second wrist joint 16, a third wrist joint 17, and a two-finger end effector 18 sequentially mounted on the rear end of the bottom fixing base.
Referring to fig. 3, the shoulder end telescopic arm 12 and the wrist end telescopic arm 14 have the same structure, and include an inner arm 19, a locking mechanism 20, a wire retracting mechanism 22 and an outer arm 23, the inner arm 19 is inserted into the outer arm 23, and the relative movement of the inner arm and the outer arm is limited in the axial direction, preferably, a plurality of pulley guide rails are axially arranged and fixed on the inner wall of the outer arm 23, slide rails matched with the plurality of pulley guide rails are correspondingly arranged on the outer wall of the inner arm 19, and the slide rails are clamped in the pulley grooves of the corresponding pulley guide rails to form the pulley guide rail mechanism 21, so that the inner arm 19 and the outer arm 23 are prevented from twisting, and the smooth sliding is ensured.
Referring to fig. 3 and 5 to 6, the locking mechanism 20 includes a control motor 26, a harmonic reducer 27, a support member 28 and a central spindle 32, the support member 28 is fixedly installed inside the inner arm 19 for carrying the control motor 26 and the harmonic reducer 27, the control motor 26 drives the central spindle 32 through the harmonic reducer 27, two sets of wedge-shaped locking blocks 29 are arranged on the central spindle 32, the number of the wedge-shaped locking blocks 29 in each set is 3, the wedge-shaped locking blocks are arranged around the central spindle 32 at equal angles, the positions of the wedge-shaped locking blocks 29 corresponding to the central spindle 32 are hinged through two ends of a connecting rod 33, the side wall of the inner arm 19 is provided with a corresponding number of radial through grooves 31 for the wedge-shaped locking blocks 29 to extend out, the control motor 26 adopts a servo motor, the forward and reverse rotation adjustment of a certain angle is performed through the control motor 26 to control the two sets of wedge-shaped locking blocks 29 to extend out or retract into the corresponding radial through grooves 31, from the locking and unlocking between the inner arm rod 19 and the outer arm rod 23, preferably, two sets of positioning grooves are convexly arranged on the side wall of the outer arm rod 23 at the insertion end and the middle position respectively, when the inner arm rod 19 completely extends or retracts into the outer arm rod 23, two sets of wedge-shaped locking blocks 29 are controlled to be inserted into the two corresponding sets of positioning grooves, so that the locking and positioning of the inner arm rod 19 and the outer arm rod 23 in the longest and shortest configurations are realized, and the stability and the firmness are realized.
As shown in fig. 5 to 6, the wedge-shaped locking block 29 preferably has a split structure and is composed of a bottom end receiving groove and a top end wedge block, the bottom of the bottom end receiving groove is hinged to a connecting rod 33, the bottom of the top end wedge block is inserted into an upper end groove of the bottom end receiving groove, and a disc spring 30 is arranged between the bottom of the top end wedge block and the bottom end receiving groove in a cushioning manner to provide a certain elastic force to enable the top end wedge block to be in contact fit with the inner wall of the outer arm rod 23 more effectively.
Referring to fig. 3 to 4, the lead retracting and releasing mechanism 22 includes a scissors mechanism 24 and a fixing seat 25, the scissors mechanism 24 is connected by a plurality of connecting shafts 24-1 and can be extended and retracted, two ends of the scissors mechanism 24 are respectively fixed with the fixing seats 25, one of the fixing seats 25 is fixedly connected with the root end of the outer arm rod 23, the other fixing seat 25 is fixedly connected with the inner side end of the inner arm rod 19, a fixing frame 23-1 is installed at a position near the root of the inner wall of the outer arm rod 23, the fixing frame 23-1 is provided with a limiting groove along the axial direction of the outer arm rod 23, the scissors mechanism 24 is fixed with a plurality of winding posts 24-2, and the end of the winding post 24-2 can be in sliding fit with the limiting groove.
The first passive telescopic mechanical arm 2 and the second passive telescopic mechanical arm 4 are arranged by adopting the configuration of an anthropomorphic arm based on the human engineering theory and have 7 degrees of freedom, so that the motion capability similar to that of a human arm is realized, and the 7 degrees of freedom are distributed according to the forms of 3 degrees of freedom of a shoulder, 1 degree of freedom of an elbow and 3 degrees of freedom of a wrist.
The first shoulder joint 9, the second shoulder joint 10 and the third shoulder joint 11 are completely the same and constitute a shoulder unit of the robot arm, the first wrist joint 15, the second wrist joint 16 and the third wrist joint 17 are completely the same and constitute a wrist unit of the robot arm, and the elbow joint 13 is different from the joints of the shoulder unit and the wrist unit and independently constitutes an elbow unit of the robot arm.
The wire winding and unwinding mechanism 22 is a passive wire winding and unwinding structure, reduces the structural complexity and realizes the lightweight requirement, and compared with the traditional winding wheel structure which realizes the winding and unwinding of the wire by using the deformation of a volute spiral spring, the wire winding and unwinding mechanism can reduce the tensile stress borne by the wire in the winding and unwinding process and prolong the service life of the wire.
In addition, in view of the requirement of light weight, the lighter the mass of the space manipulator, the more the cost during launching can be reduced, the outer arm rod 23 adopts an integral four-section structural form, in view of the higher requirements of the matching area with the locking mechanism 20 on strength and rigidity, the titanium alloy material is adopted, the positions of two groups of positioning grooves corresponding to the insertion end of the outer arm rod 23 are first titanium alloy sections, the positions of two groups of positioning grooves corresponding to the middle position of the outer arm rod 23 are third titanium alloy sections, in view of the requirements of friction resistance, high temperature resistance, corrosion resistance and the like of the matching area with the inner arm rod 19 and the lead wire retracting and releasing mechanism 22, the carbon fiber material is adopted, the second carbon fiber section is arranged between the first titanium alloy section and the third titanium alloy section of the outer arm rod 23, and the fourth carbon fiber section is arranged at the root end position of the outer arm rod 23, in sequence from the insertion end to the root end, the first titanium alloy section, A second carbon fiber section, a third titanium alloy section and a fourth carbon fiber section.
A mechanical arm reconstruction method for a satellite carrying a passive telescopic mechanical arm comprises the following steps:
the method comprises the following steps: when reconstruction is performed in a single-arm working mode, the first passive telescopic mechanical arm 2 or the second passive telescopic mechanical arm 4 enables the two-finger-type end effector 18 to clamp the adapter 5 to form a kinematic closed chain through rotation of the shoulder first joint 9, the shoulder second joint 10, the shoulder third joint 11, the elbow joint 13, the wrist first joint 15, the wrist second joint 16 and the wrist third joint 17, and then locking and positioning of the inner arm rod 19 and the outer arm rod 23 are performed through rotation of the shoulder first joint 9, the shoulder second joint 10, the shoulder third joint 11, the elbow joint 13, the wrist first joint 15, the wrist second joint 16 and the wrist third joint 17 through the locking mechanism 20, so that the shoulder telescopic arm rod 12 and/or the wrist telescopic arm rod 14 are/is completed until the desired length is reached;
step two: when the reconstruction process is performed in the two-arm cooperation mode, the first passive telescopic mechanical arm 2 and the second passive telescopic mechanical arm 4 both perform the operation of the first step.
It should be noted that, when the reconfiguration process is performed in the dual-arm cooperative mode, the first passive telescopic robot arm 2 and the second passive telescopic robot arm 4 may be clamped by the respective two-finger end effector 18, instead of clamping the adaptor 5, so as to form a kinematic closed chain, and similarly, when the reconfiguration process is performed in the single-arm working mode, if there are other fixed objects capable of being clamped by the two-finger end effector 18 in the working range, the fixed objects may also be clamped without necessarily clamping the adaptor 5.
Specifically, in the process that the satellite is launched to a working orbit by a carrier rocket, a solar cell sailboard 1 is in a folded state, a first passive telescopic mechanical arm 2 and a second passive telescopic mechanical arm 4 are folded in a shortest configuration, the outer envelope volume after the satellite is folded integrally is the smallest to vacate space for other effective loads of the carrier rocket, the satellite is also folded in the shortest configuration when a task is not required to be executed, and the probability of collision of orbit fragments is reduced;
referring to fig. 1, after reaching the working orbit, the solar cell sailboards 1 on both sides expand to convert solar energy into electric energy for the satellite to use, and the thruster 7 can adjust the position and posture of the satellite, so that the first passive telescopic mechanical arm 2 and the second passive telescopic mechanical arm 4 move to appropriate operating positions, the mobility is enhanced, and information is transmitted between the ground data transmission antenna 6 and the ground base station;
as shown in fig. 7, a single-arm working mode can be selected according to a requirement, and the first passive telescopic mechanical arm 2 is expanded in a shortest configuration at the time and is set as an initial configuration when a task is executed, so that a fine operation task in a small range can be completed, and similarly, as shown in fig. 12, a double-arm cooperation mode can be selected according to a requirement, and the first passive telescopic mechanical arm 2 and the second passive telescopic mechanical arm 4 cooperate with each other to complete a smart operation task in a small range;
referring to fig. 8, when the task area to be operated exceeds the working space range of the shortest configuration expansion in the single-arm working mode, taking the first passive telescopic robot 2 as an example for reconfiguration operation, because the power assembly is not configured like the conventional telescopic robot, the extension and retraction cannot be independently and autonomously completed, the motion of the two-finger end effector 18 needs to be constrained to form a kinematic closed chain form, the length of the shoulder telescopic arm rod 12 and/or the wrist telescopic arm rod 14 can be adjusted by clamping the fixed object at or near the adapter 5, and then by the rotational motion of the corresponding joints of the shoulder unit, the elbow unit and the wrist unit and cooperating with the locking mechanism 20, referring to fig. 9, the first reconfiguration state of locking the lower shoulder telescopic arm rod 12 for the wrist telescopic arm rod 14, and if the extension is needed, referring to fig. 10, the second reconfiguration state of extending both the wrist telescopic arm rod 14 and the shoulder telescopic arm rod 12, with reference to fig. 11, after the reconstruction is completed, the system can be expanded again to continue to execute a large-scale work task;
referring to fig. 13, when the task area to be operated exceeds the working space range expanded by the shortest configuration in the dual-arm cooperation mode, the first passive telescopic robot 2 and the second passive telescopic robot 4 respectively clamp the corresponding adapter 5 or a nearby fixed object through the two-finger type end effector 18, or mutually clamp through the respective two-finger type end effector 18, thereby forming a kinematic closed chain form, and then adjust the length of the shoulder telescopic arm 12 and/or the wrist telescopic arm 14 through the rotational movement of the corresponding joints of the shoulder unit, the elbow unit and the wrist unit in cooperation with the locking mechanism 20, referring to fig. 14, to lock the wrist telescopic arm 14 in a first reconfiguration state in which the lower shoulder telescopic arm 12 is extended, and if still needs to be extended, referring to fig. 15, to a second reconfiguration state in which the wrist telescopic arm 14 and the shoulder telescopic arm 12 are both extended, with reference to fig. 16, after the reconstruction is completed, the system can be expanded again to continue to execute a large-scale work task;
referring to fig. 2 to 6, when the inner arm 19 and the outer arm 23 perform telescopic movement, the motor 26 is controlled to rotate by a certain angle to retract the two sets of wedge-shaped locking blocks 29, the locking mechanism 13 is unlocked, after the inner arm 19 and the outer arm 23 extend to a specified length, the motor 26 is controlled to rotate in the opposite direction by a certain angle to extend the two sets of wedge-shaped locking blocks 29, the inner arm 19 and the outer arm 23 are locked, and the scissor mechanism 24 of the lead retracting mechanism 22 naturally and passively extends and retracts along with the extension and retraction of the inner arm 19 and the outer arm 23.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides a carry on satellite of passive flexible arm which characterized in that: the solar cell panel ground positioning device comprises a solar cell panel (1), a first passive telescopic mechanical arm (2), a payload bin (3), a second passive telescopic mechanical arm (4), two adapters (5), a plurality of ground data transmission antennas (6) and a plurality of thrusters (7), wherein the edges of the bottom of the payload bin (3) are fixedly surrounded with the plurality of ground data transmission antennas (6) and the plurality of thrusters (7), the bottom ends of the left side and the right side of the payload bin (3) are fixedly provided with two foldable and unfoldable solar cell panels (1), the top ends of the left side and the right side of the payload bin (3) are fixedly provided with a first passive telescopic mechanical arm (2) and a second passive telescopic mechanical arm (4), the middle position of the front side of the payload bin (3) is transversely fixedly provided with the two adapters (5), and the first passive telescopic mechanical arm (2) and the second passive telescopic mechanical arm (4) have the same structure, the device comprises a bottom fixing seat (8) fixedly connected with a payload cabin (3) and a shoulder first joint (9), a shoulder second joint (10), a shoulder third joint (11), a shoulder end telescopic arm rod (12), an elbow joint (13), a wrist end telescopic arm rod (14), a wrist first joint (15), a wrist second joint (16), a wrist third joint (17) and a two-finger-type end effector (18) which are sequentially mounted at the rear end of the bottom fixing seat, wherein the shoulder end telescopic arm rod (12) and the wrist end telescopic arm rod (14) are identical in structure and comprise an inner arm rod (19), a locking mechanism (20), a wire collecting and releasing mechanism (22) and an outer arm rod (23), the inner arm rod (19) is inserted into the outer arm rod (23) and the relative movement of the inner arm rod and the outer arm rod is limited in the axial direction, and the locking mechanism (20) comprises a control motor (26), a harmonic reducer (27), Support piece (28) and central pivot (32), support piece (28) fixed mounting is used for carrying on control motor (26) and harmonic reducer (27) inside at inner arm pole (19), control motor (26) pass through harmonic reducer (27) transmission center pivot (32), be equipped with two sets of wedge latch blocks (29) on center pivot (32), every group the quantity of wedge latch block (29) is 3 and encircles center pivot (32) equiangular arrangement, every wedge latch block (29) is articulated through connecting rod (33) both ends with center pivot (32) corresponding position, inner arm pole (19) lateral wall is equipped with the radial through groove (31) that supply wedge latch block (29) to stretch out of corresponding quantity, wire receive and release mechanism (22) is including scissors connecting axle (24) and fixing base (25), scissors mechanism (24) are connected through a plurality of (24-1) and can be extended and draw in, cut fork mechanism (24) both ends and fix respectively fixing base (25), one of them fixing base (25) and outer armed lever (23) root end fixed connection, another fixing base (25) and interior armed lever (19) medial extremity fixed connection, mount (23-1) are installed to the adjacent root position of outer armed lever (23) inner wall, mount (23-1) are equipped with the spacing groove along outer armed lever (23) axial, cut and are fixed with a plurality of wrapping posts (24-2) on fork mechanism (24), wrapping post (24-2) tip can with spacing groove sliding fit.
2. The satellite carrying a passive telescopic robot arm according to claim 1, wherein: the inner wall of the outer arm rod (23) is axially arranged and fixed with a plurality of groups of pulley guide rails, the outer wall of the inner arm rod (19) is correspondingly provided with a slide rail matched with the plurality of groups of pulley guide rails, and the slide rail is clamped in a pulley groove of the corresponding pulley guide rail to form a pulley guide rail mechanism (21), so that the relative movement of the inner arm rod (19) and the outer arm rod (23) is limited in the axial direction.
3. The satellite carrying a passive telescopic robot arm according to claim 1, wherein: the side wall of the outer arm rod (23) is respectively provided with two groups of positioning grooves in a protruding mode at the insertion end and the middle position, and the two groups of wedge-shaped locking blocks (29) can be inserted into the two corresponding groups of positioning grooves to achieve locking and positioning of the inner arm rod (19) and the outer arm rod (23).
4. The satellite carrying a passive telescopic robot arm according to claim 1, wherein: wedge-shaped locking piece (29) adopts split type structure, comprises bottom connect the groove and top voussoir, bottom connect the groove bottom and hinge with connecting rod (33), top voussoir bottom cartridge is in bottom connect the groove upper end trench, fills up between top voussoir bottom and the bottom connect the groove to be equipped with dish spring (30).
5. The satellite carrying a passive telescopic robot arm according to claim 1, wherein: the outer arm rod (23) adopts an integrated four-section structural form, and a first titanium alloy section, a second carbon fiber section, a third titanium alloy section and a fourth carbon fiber section are sequentially arranged from the insertion end to the root end.
6. The satellite carrying a passive telescopic robot arm according to claim 1, wherein: the first shoulder joint (9), the second shoulder joint (10) and the third shoulder joint (11) form a shoulder unit, the elbow joint (13) forms an elbow unit alone, the first wrist joint (15), the second wrist joint (16) and the third wrist joint (17) form a wrist unit, and physical offsets exist among the shoulder unit, the elbow unit and the wrist unit.
7. A method for reconfiguring a robot arm of a satellite equipped with a passive retractable robot arm according to any one of claims 1 to 6, comprising: the mechanical arm reconstruction method comprises the following steps:
the method comprises the following steps: when reconstruction is carried out in a single-arm working mode, the first passive telescopic mechanical arm (2) or the second passive telescopic mechanical arm (4) enables the two-finger type end effector (18) to clamp the adapter (5) to form a kinematic closed chain through the rotation of the shoulder first joint (9), the shoulder second joint (10), the shoulder third joint (11), the elbow joint (13), the wrist first joint (15), the wrist second joint (16) and the wrist third joint (17), and then the two-finger type end effector passes through the shoulder first joint (9) again, the rotation of the second shoulder joint (10), the third shoulder joint (11), the elbow joint (13), the first wrist joint (15), the second wrist joint (16) and the third wrist joint (17) is matched with a locking mechanism (20) to lock and position the inner arm rod (19) and the outer arm rod (23), and the extension of the shoulder end telescopic arm rod (12) and/or the wrist end telescopic arm rod (14) is completed until the desired length is reached;
step two: and when the reconstruction process is carried out in the double-arm cooperation mode, the first passive telescopic mechanical arm (2) and the second passive telescopic mechanical arm (4) both carry out the operation of the first step.
8. The method of reconfiguring a robotic arm of claim 7, wherein: when the reconstruction process is carried out in the double-arm cooperation mode, the first passive telescopic mechanical arm (2) and the second passive telescopic mechanical arm (4) clamp the adapter (5) through respective two finger-shaped end effectors (18) to form a kinematic closed chain.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117621005A (en) * | 2024-01-25 | 2024-03-01 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117621005A (en) * | 2024-01-25 | 2024-03-01 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
| CN117621005B (en) * | 2024-01-25 | 2024-04-09 | 北京东方昊为工业装备有限公司 | Mechanical arm based on automatic aerial working robot |
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Application publication date: 20211022 |