CN114952930A - Multi-degree-of-freedom manipulator and satellite detection device - Google Patents

Abstract

The invention belongs to the technical field of space robots and discloses a multi-degree-of-freedom mechanical arm and a satellite detection device. The multi-degree-of-freedom mechanical arm comprises a base plate, a base, a first joint motor, a first arm rod, a second joint motor and a second arm rod , the base plate can be installed on the mounting part of the mechanical arm; the base is connected to the base plate in rotation around its own axis; the first joint motor is arranged at the other end of the base; one end of the first arm rod is connected to the output shaft of the first joint motor , the first joint motor can drive the first arm rod to rotate; the second joint motor is arranged on the other end of the first arm rod; one end of the second arm rod is connected to the output shaft of the second joint motor, and the second joint motor can drive the first arm rod The two-arm lever rotates, and the output shafts of the first joint motor and the second joint motor form an included angle with the axis of the base. Therefore, the multi-degree-of-freedom manipulator has small overall size and weight, and can be used on microsatellites.

Description

Multi-degree-of-freedom manipulator and satellite detection device

technical field

The invention belongs to the technical field of space robots, and particularly relates to a multi-degree-of-freedom mechanical arm and a satellite detection device.

Background technique

Robots that are used in space environment, space exploration and research are called space robots. Space robots have been used in the construction of space infrastructure. Scientists and technicians all over the world are vigorously developing space robots. Build and maintain the International Space Station. The space manipulator system is currently the most widely used and mature field in space robots. At present, the space manipulator is mainly used on the space station. The weight and size of the manipulator are very large, and its size is at least 10m or more, which makes the manipulator unable to be used on small satellites. Therefore, there is an urgent need for a multi-degree-of-freedom manipulator and a satellite detection device to solve the above technical problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose a multi-degree-of-freedom manipulator and a satellite detection device to solve the technical problem that the existing manipulator cannot be used on a small satellite.

For this purpose, the present invention adopts the following technical solutions:

A multi-degree-of-freedom robotic arm, comprising:

the base plate, which can be mounted on the mounting part of the robotic arm;

a base, one end of which is rotatably connected to the base plate around its own axis;

a first joint motor, arranged at the other end of the base;

a first arm rod, one end of which is connected to the output shaft of the first joint motor, and the first joint motor can drive the first arm rod to rotate;

The second joint motor is arranged on the other end of the first arm rod;

A second arm rod, one end of which is connected to the output shaft of the second joint motor, the second joint motor can drive the second arm rod to rotate, and the outputs of the first joint motor and the second joint motor The shafts are all at an angle with the axis of the base.

Preferably, the output shaft of the first joint motor and the output shaft of the second joint motor are parallel to each other.

Preferably, a first locking assembly is also included, and the first arm rod can be locked on the mechanical arm mounting portion through the first locking assembly.

Preferably, it also includes a third joint motor and a mounting member, the third joint motor is connected to the end of the second arm rod away from the second joint motor, and the mounting member is connected to the third joint motor an output shaft, and the third joint motor can drive the mounting member to rotate around the axis of the mounting member.

Preferably, a second locking assembly is also included, and the mounting member can be locked on the base through the second locking assembly.

Preferably, it also includes a fourth joint motor and an actuator, the fourth joint motor is connected to the mounting member, the actuator is connected to the output shaft of the fourth joint motor, and the output of the fourth joint motor The shaft forms an included angle with the output shaft of the third joint motor.

Preferably, a third locking assembly is also included, and the actuator can be locked on the mounting member through the third locking assembly.

Preferably, the first locking assembly includes a first locking member and a second locking member, the first locking member is disposed on a side wall of the first arm rod connecting one end of the second arm rod , the second locking member is arranged on the mechanical arm mounting part, and the first locking member and the second locking member can be locked.

Preferably, the first arm rod includes a long rod and a short rod connected in an L-shape, the end of the long rod facing away from the short rod is connected to the first joint motor, and the short rod is facing away from the long rod One end of the arm is connected to the second joint motor, and the second arm can be rotated to be parallel to the long rod.

Preferably, a support is connected to the long rod or the second arm, and when the second arm is parallel to the long rod, the support is sandwiched between the second arm and the second arm. between the long rods.

A satellite detection device includes a platform, and also includes the above-mentioned multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is mounted on the platform.

Beneficial effects of the present invention:

The invention provides a multi-degree-of-freedom manipulator. The base can drive the first arm rod, the second arm rod and other structures to rotate relative to the base plate around the axis of the base, and the base is rotated by the first joint motor and the second joint motor. The seat, the first arm rod and the second arm rod are connected by rotation in sequence, and the output shafts of the first joint motor and the second joint motor are at an angle with the axis of the base, which realizes the multi-degree of freedom of the mechanical arm; at the same time, The size of the first joint motor and the second joint motor are small, and each connection structure is simple, which reduces the overall size and weight of the multi-degree-of-freedom mechanical arm, so that it can be applied to small satellites.

Description of drawings

1 is a front view of a multi-degree-of-freedom robotic arm provided in an embodiment of the present invention in an unfolded state;

FIG. 2 is a front view of the multi-degree-of-freedom manipulator arm provided by an embodiment of the present invention in a state of being extended to a vertical state;

3 is a side view of the multi-degree-of-freedom robotic arm provided in an embodiment of the present invention when it is extended to a vertical state;

4 is a side view of the multi-degree-of-freedom manipulator arm provided in an embodiment of the present invention in a retracted state;

5 is a front view of a satellite detection device provided in an embodiment of the present invention in a non-working state;

FIG. 6 is a schematic structural diagram of a satellite detection device provided in an embodiment of the present invention in a working state.

In the picture:

1. Base plate; 2. Base; 3. Motor of the first joint; 4. The first arm; 5. Motor of the second joint; 6. The second arm; 7. Mounting part; 8. Motor of the fourth joint; 9 , actuator; 10, first locking assembly; 11, second locking assembly; 12, third locking assembly; 13, total motor; 41, long rod; 42, short rod; 43, support; 101, a first locking piece; 102, a second locking piece;

100, platform; 200, camera; 300, display screen.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar parts or parts having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present invention and should not be construed as limiting the present invention.

In the description of the present invention, unless otherwise expressly specified and limited, the terms "connected", "connected" and "installed" should be understood in a broad sense, for example, it may be an installation connection, or a detachable connection, or a mechanical connection. The connection can also be an electrical connection, it can be a direct connection, or an indirect connection through an intermediate medium, and it can be an internal connection between two elements or an interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the description of the present invention, unless otherwise expressly specified and limited, a first feature "on" or "under" a second feature may include the first feature and the second feature in direct contact, or may include the first feature and the second feature is not in direct contact but through another feature between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

The technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments.

As shown in FIG. 1 to FIG. 4 , this embodiment provides a multi-degree-of-freedom manipulator, which includes a base plate 1, a base 2, a first joint motor 3, a first arm rod 4, a second joint motor 5 and a first joint motor 3. Two arm rods 6, the base plate 1 can be installed on the robot arm mounting part; one end of the base 2 is connected to the base plate 1 by rotating around its own axis; the first joint motor 3 is arranged on the other end of the base 2; the first arm rod 4 One end of the joint motor 3 is connected to the output shaft of the first joint motor 3, and the first joint motor 3 can drive the first arm rod 4 to rotate; the second joint motor 5 is arranged on the other end of the first arm rod 4; one end of the second arm rod 6 Connected to the output shaft of the second joint motor 5 , the second joint motor 5 can drive the second arm rod 6 to rotate, and the output shafts of the first joint motor 3 and the second joint motor 5 are at an angle with the axis of the base 2 .

In the multi-degree-of-freedom robotic arm provided in this embodiment, the base 2 can drive the first arm rod 4, the second arm rod 6 and other structures to rotate relative to the base plate 1 around the axis of the base 2. The two-joint motor 5 connects the base 2 , the first arm rod 4 and the second arm rod 6 in sequence, and the output shafts of the first joint motor 3 and the second joint motor 5 are at an angle with the axis of the base 2 , realizes the multi-degree-of-freedom of the mechanical arm; at the same time, the size of the first joint motor 3 and the second joint motor 5 is small, and the connection structure of each is simple, which reduces the overall size and weight of the multi-degree-of-freedom mechanical arm, thereby Can be used on microsatellites.

In this embodiment, the base 2 is rotatably connected to the base plate 1 through the main motor 13 .

Specifically, the output shaft of the first joint motor 3 and the output shaft of the second joint motor 5 are parallel to each other. The first arm rod 4 and the second arm rod 6 are made to rotate in the same plane, and they occupy less space when they are turned to the retracted state, which is further suitable for use on microsatellites. In this embodiment, the output shaft of the first joint motor 3 and the output shaft of the second joint motor 5 are both perpendicular to the axis of the base 2, which makes the movement of the mechanical arm more convenient.

The multi-degree-of-freedom manipulator provided in this embodiment further includes a third joint motor and a mounting member 7, the third joint motor is connected to the end of the second arm rod 6 away from the second joint motor 5, and the mounting member 7 is connected to the third joint motor The output shaft of the third joint motor can drive the mounting member 7 to rotate around the axis of the mounting member 7 . The arrangement of the third joint motor and the mounting member 7 increases a degree of freedom, which makes the movement of the robotic arm more flexible.

The multi-degree-of-freedom manipulator provided in this embodiment further includes a fourth joint motor 8 and an actuator 9. The fourth joint motor 8 is connected to the mounting member 7, and the actuator 9 is connected to the output shaft of the fourth joint motor 8. The fourth joint motor 8 is connected to the output shaft of the fourth joint motor 8. The output shaft of the motor 8 forms an included angle with the output shaft of the third joint motor. The arrangement of the fourth joint motor 8 and the actuator 9 further increases the degree of freedom and improves the flexibility of the robotic arm.

Specifically, the output shaft of the fourth joint motor 8 and the axis of the mounting member 7 are perpendicular to each other, so that the first arm 4, the second arm 6 and the actuator 9 can rotate in the same plane, so that the three can rotate mutually. In the stowed state as shown in Figure 4, the occupied space is smaller, which is further suitable for use on microsatellites.

The multi-degree-of-freedom manipulator provided in this embodiment further includes a first locking assembly 10 , and the first arm rod 4 can be locked on the mounting portion of the manipulator through the first locking assembly 10 . The multi-degree-of-freedom manipulator is mounted on the manipulator mounting portion through the base plate 1. When the manipulator is not in use, the manipulator is adjusted to the retracted state. At this time, the first arm rod 4 is locked on the On the mounting part of the robot arm, torque can be avoided when it is subjected to external vibration, and it can protect each joint motor.

The multi-degree-of-freedom robotic arm provided in this embodiment further includes a second locking assembly 11 , and the mounting member 7 can be locked on the base 2 through the second locking assembly 11 . The mechanical arm is adjusted to the retracted state, and the mounting member 7 is locked on the base 2 through the second locking assembly 11, which can avoid generating torque when subjected to external vibration, and further protects each joint motor.

The multi-degree-of-freedom robotic arm provided in this embodiment further includes a third locking assembly 12 , and the actuator 9 can be locked on the mounting member 7 through the third locking assembly 12 . The mechanical arm is adjusted to the retracted state, and the actuator 9 is locked on the mounting member 7 to avoid generating torque when subjected to external vibration, and further protects the motors of each joint.

As shown in FIG. 1 , the first locking assembly 10 includes a first locking member 101 and a second locking member 102 , and the first locking member 101 is disposed on the side of the first arm 4 connecting one end of the second arm 6 The second locking member 102 is disposed on the mounting portion of the robotic arm. The first locking member 101 and the second locking member 102 can be locked to lock the first arm rod 4 on the mounting portion of the robotic arm.

Optionally, in other embodiments, one of the first locking member 101 and the second locking member 102 is an electromagnetic female buckle and the other is an electromagnetic male buckle. When the electromagnetic female buckle and the electromagnetic male buckle are powered on Adhesion to each other to achieve the locking of the two.

In this embodiment, the first locking member 101 is a first locking ring, the second locking member 102 includes a second locking ring, a bolt and an electromagnetic adsorption member, and the bolt is inserted into the first locking ring and the second locking ring at the same time At this time, the electromagnetic adsorption part is not energized, has no adsorption force, and reaches a locked state; when the mechanical arm needs to be used, the electromagnetic adsorption part is energized, and the electromagnetic adsorption part adsorption latch is pulled out from the first lock ring and the second lock ring, achieve unlocking. The specific structures of the second locking assembly 11 and the third locking assembly 12 are the same as those of the first locking assembly 10, and will not be repeated here.

As shown in FIG. 4 , the first arm rod 4 includes a long rod 41 and a short rod 42 which are connected in an L-shape. The end of the long rod 41 facing away from the short rod 42 is connected to the first joint motor 3 , and the short rod 42 is remote from the long rod 41 . One end is connected to the second joint motor 5 , and the second arm rod 6 can be rotated to be parallel to the long rod 41 . Due to the arrangement of the short rod 42, the long rod 41 can prevent the rotation of the second arm rod 6 from being blocked, so that the long rod 41 can be rotated to be parallel to the long rod 41, so that the space occupied in the retracted state is smaller, and it is more suitable for use on microsatellites use.

Specifically, a support member 43 is connected to the long rod 41 or the second arm rod 6 . When the second arm rod 6 is parallel to the long rod 41 , the support member 43 is sandwiched between the second arm rod 6 and the long rod 41 . The arrangement of the support member 43 ensures the stability of the second arm rod 6 in the retracted state.

The multi-degree-of-freedom manipulator provided in this embodiment further includes a program controller, and the program controller can respectively control the opening and closing of each motor, so as to control the manipulator to flexibly expand and retract.

As shown in FIG. 5 and FIG. 6 , this embodiment further provides a satellite detection device, including a platform 100 and the above-mentioned multi-degree-of-freedom manipulator, and the multi-degree-of-freedom manipulator is mounted on the platform 100 .

Specifically, a camera 200 is installed on the actuator 9 , and a display screen 300 is installed on the platform 100 . The camera 200 is used for taking pictures, and the taken pictures are displayed on the display screen 300, which is convenient for people to watch.

Figure 5 shows the non-working state of the satellite detection device, and the multi-degree-of-freedom manipulator is in a retracted state at this time. Fig. 6 is the working state, at this time, the camera 200 can be used to take pictures, and the position of the camera 200 can be changed by the multi-degree-of-freedom mechanical arm, and the pictures of the earth, the moon, etc. can be taken at any angle, and the pictures can also be used to judge whether the various components on the satellite are Normal work (such as whether the sun wing is deployed, etc.).

Obviously, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the embodiments of the present invention. For those of ordinary skill in the art, changes or modifications in other different forms can also be made on the basis of the above description. There is no need and cannot be exhaustive of all implementations here. Any modifications, equivalent replacements and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the claims of the present invention.

Claims (11)

1. A multi-degree-of-freedom mechanical arm is characterized by comprising:

a base plate (1) which can be mounted on the mechanical arm mounting part;

a base (2) one end of which is rotatably connected to the base plate (1) around the axis thereof;

the first joint motor (3) is arranged at the other end of the base (2);

one end of the first arm rod (4) is connected to an output shaft of the first joint motor (3), and the first joint motor (3) can drive the first arm rod (4) to rotate;

the second joint motor (5) is arranged at the other end of the first arm rod (4);

one end of the second arm rod (6) is connected to an output shaft of the second joint motor (5), the second joint motor (5) can drive the second arm rod (6) to rotate, and output shafts of the first joint motor (3) and the second joint motor (5) form included angles with the axis of the base (2).

2. The multi-degree-of-freedom mechanical arm according to claim 1, wherein the output shaft of the first joint motor (3) and the output shaft of the second joint motor (5) are parallel to each other.

3. The MDOF robot arm of claim 1, further comprising a first locking assembly (10), wherein the first arm (4) is lockable to the arm mounting portion by the first locking assembly (10).

4. The MDOF mechanical arm of claim 1, further comprising a third joint motor and a mounting part (7), wherein the third joint motor is connected to one end of the second arm rod (6) facing away from the second joint motor (5), the mounting part (7) is connected to an output shaft of the third joint motor, and the third joint motor can drive the mounting part (7) to rotate around the axis of the mounting part (7).

5. The MDOF mechanical arm of claim 4, further comprising a second locking assembly (11), wherein the mounting member (7) is lockable to the base (2) by the second locking assembly (11).

6. The MDOF mechanical arm as claimed in claim 4, further comprising a fourth joint motor (8) and an actuator (9), wherein the fourth joint motor (8) is connected to the mounting part (7), the actuator (9) is connected to an output shaft of the fourth joint motor (8), and an output shaft of the fourth joint motor (8) forms an included angle with an output shaft of the third joint motor.

7. The multi-degree-of-freedom mechanical arm according to claim 6, further comprising a third locking assembly (12), wherein the actuator (9) is lockable to the mount (7) by the third locking assembly (12).

8. The MDOF robot arm of claim 3, wherein the first locking assembly (10) comprises a first locking element (101) and a second locking element (102), the first locking element (101) is arranged on a side wall of the first arm (4) connected with one end of the second arm (6), the second locking element (102) is arranged on the robot arm mounting part, and the first locking element (101) and the second locking element (102) can be locked.

9. The multi-degree-of-freedom mechanical arm according to any one of claims 1-8, wherein the first arm (4) comprises a long bar (41) and a short bar (42) connected in an L shape, wherein one end of the long bar (41) facing away from the short bar (42) is connected to the first joint motor (3), one end of the short bar (42) facing away from the long bar (41) is connected to the second joint motor (5), and the second arm (6) can be rotated to be parallel to the long bar (41).

10. The multi-degree-of-freedom mechanical arm according to claim 9, wherein a support member (43) is attached to the long rod (41) or the second arm (6), and the support member (43) is interposed between the second arm (6) and the long rod (41) when the second arm (6) is parallel to the long rod (41).

11. A satellite inspection apparatus comprising a platform (100) and further comprising a multi-degree-of-freedom robotic arm as claimed in any one of claims 1 to 10 mounted on said platform (100).

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