CN114952930A

CN114952930A - Multi-degree-of-freedom mechanical arm and satellite detection device

Info

Publication number: CN114952930A
Application number: CN202110193720.4A
Authority: CN
Inventors: 王洋; 刘芮; 牟夏; 杨叶南; 王实; 黄洪州; 刘彦勇; 梁磊; 李保平; 刘立帅; 李世俊
Original assignee: Tangshan Jiutian Weixing Aerospace Technology Co ltd; Beijing Commsat Technology Development Co Ltd
Current assignee: Tangshan Jiutian Weixing Aerospace Technology Co ltd; Beijing Commsat Technology Development Co Ltd
Priority date: 2021-02-20
Filing date: 2021-02-20
Publication date: 2022-08-30

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, wherein 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, and the base plate can be arranged on a mechanical arm installation part; the base is connected with the base plate in a rotating way around the axis of the base; the first joint motor is arranged at the other end of the base; one end of the first arm rod is connected to an 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 at the other end of the first arm rod; one end of the second arm rod is connected to an output shaft of the second joint motor, the second joint motor can drive the second arm rod to rotate, and output shafts of the first joint motor and the second joint motor form included angles with the axis of the base. Therefore, the multi-degree-of-freedom mechanical arm is small in overall size and weight and can be used for microsatellites.

Description

Multi-degree-of-freedom mechanical arm 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

The aerospace world refers to a robot applied to space environment, space exploration, research and other tasks, which is called a space robot, the space robot is already used for building space infrastructure, and scientific workers all over the world are vigorously developing the space robot to build and maintain an international space station. The space mechanical arm system is the most widely and mature field applied in the space robot at present. At present, the space manipulator is mainly used in a space station, the weight and the size of the manipulator are large, and the size of the manipulator is at least more than 10m, so that the manipulator cannot be used on a microsatellite. Therefore, a multi-degree of freedom robot and a satellite inspection apparatus are needed to solve the above-mentioned problems.

Disclosure of Invention

The invention aims to provide a multi-degree-of-freedom mechanical arm and a satellite detection device, and aims to solve the technical problem that the existing mechanical arm cannot be used on a microsatellite.

In order to achieve the purpose, the invention adopts the following technical scheme:

a multi-degree-of-freedom mechanical arm comprising:

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

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

the first joint motor is arranged at the other end of the base;

one end of the first arm rod is connected to an 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 at the other end of the first arm rod;

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

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

Preferably, the robot further comprises a first locking component, and the first arm lever can be locked on the mechanical arm mounting part through the first locking component.

Preferably, the robot further comprises a third joint motor and a mounting part, the third joint motor is connected to one end, away from the second joint motor, of the second arm rod, the mounting part is connected to an output shaft of the third joint motor, and the third joint motor can drive the mounting part to rotate around the axis of the mounting part.

Preferably, the mounting piece is provided with a first locking component, and the mounting piece can be locked on the base through the first locking component.

Preferably, the robot further comprises a fourth joint motor and an actuator, wherein the fourth joint motor is connected to the mounting part, the actuator is connected to an output shaft of the fourth joint motor, and an included angle is formed between the output shaft of the fourth joint motor and an output shaft of the third joint motor.

Preferably, the device further comprises a third locking component, and the actuator can be locked on the mounting part through the third locking component.

Preferably, the first locking component comprises a first locking piece and a second locking piece, the first locking piece is arranged on the side wall of one end of the first arm rod connected with the second arm rod, the second locking piece is arranged on the mechanical arm installation part, and the first locking piece and the second locking piece can be locked.

Preferably, first armed lever is including being stock and the quarter butt that the L type is connected, the stock deviates from the one end of quarter butt is connected in first joint motor, the quarter butt deviates from the one end of stock is connected in second joint motor, the second armed lever can be changeed to and be on a parallel with the stock.

Preferably, the long rod or the second arm rod is connected with a support piece, and when the second arm rod is parallel to the long rod, the support piece is clamped between the second arm rod and the long rod.

The satellite detection device comprises a platform and the multi-degree-of-freedom mechanical arm, wherein the multi-degree-of-freedom mechanical arm is arranged on the platform.

The invention has the beneficial effects that:

the invention provides a multi-degree-of-freedom mechanical arm, wherein a base can drive structures such as a first arm rod and a second arm rod to rotate around the axis of the base relative to a base plate, the base, the first arm rod and the second arm rod are sequentially and rotatably connected through a first joint motor and a second joint motor, and output shafts of the first joint motor and the second joint motor form included angles with the axis of the base, so that the multi-degree-of-freedom of the mechanical arm is realized; meanwhile, the first joint motor and the second joint motor are small in size, the connection structures are simple, and the overall size and weight of the multi-degree-of-freedom mechanical arm are reduced, so that the multi-degree-of-freedom mechanical arm can be applied to microsatellites.

Drawings

Fig. 1 is a front view of a multi-degree-of-freedom mechanical arm provided by an embodiment of the invention in an unfolded state;

FIG. 2 is a front view of a multi-degree-of-freedom robotic arm according to an embodiment of the present invention in a deployed, upright position;

fig. 3 is a side view of a multi-degree-of-freedom robotic arm according to an embodiment of the present invention in a deployed-to-upright position;

FIG. 4 is a side view of a multi-degree of freedom mechanical arm in a stowed state provided by an embodiment of the present invention;

FIG. 5 is a front view of a satellite detection device provided in an embodiment of the present invention in an inoperative state;

fig. 6 is a schematic structural diagram of a satellite detection device in an operating state according to an embodiment of the present invention.

In the figure:

1. a substrate; 2. a base; 3. a first joint motor; 4. a first arm; 5. a second joint motor; 6. a second arm lever; 7. a mounting member; 8. a fourth joint motor; 9. an actuator; 10. a first locking assembly; 11. a second locking assembly; 12. a third locking assembly; 13. a main motor; 41. a long rod; 42. a short bar; 43. a support member; 101. a first locking member; 102. a second locking member;

100. a platform; 200. a camera; 300. and a display screen.

Detailed Description

Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar parts throughout or parts having the same or similar functions. The embodiments described below with reference to the accompanying drawings are illustrative and 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 or limited, the terms "connected," "connected," and "mounted" are to be construed broadly, e.g., as meaning both connected and disconnectable, mechanically and electrically, directly or indirectly via intermediate media, whether internal or external to the elements, or in any other relationship between the elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the description of the present invention, unless otherwise expressly specified or limited, the first feature "on" or "under" the second feature may include the first feature and the second feature being in direct contact, or may include the first feature and the second feature being in contact not directly but with another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

As shown in fig. 1 to 4, the present embodiment provides a multi-degree-of-freedom robot arm, which includes a substrate 1, a base 2, a first joint motor 3, a first arm 4, a second joint motor 5, and a second arm 6, wherein the substrate 1 can be mounted on a robot arm mounting portion; one end of the base 2 is connected to the base plate 1 in a rotating way around the axis of the base; 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 an included angle with the axis of the base 2.

In the multi-degree-of-freedom mechanical arm provided by the embodiment, the base 2 can drive the first arm rod 4, the second arm rod 6 and other structures to rotate around the axis of the base 2 relative to the substrate 1, the base 2, the first arm rod 4 and the second arm rod 6 are sequentially connected in a rotating manner through the first joint motor 3 and the second joint motor 5, and the output shafts of the first joint motor 3 and the second joint motor 5 form included angles with the axis of the base 2, so that the multi-degree-of-freedom mechanical arm is realized; meanwhile, the first joint motor 3 and the second joint motor 5 are small in size and simple in connection structure, and the overall size and weight of the multi-degree-of-freedom mechanical arm are reduced, so that the multi-degree-of-freedom mechanical arm can be used for a microsatellite.

In the present embodiment, the susceptor 2 is rotatably coupled to the base plate 1 by a general 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 can rotate in the same plane, and the occupied space is small when the first arm rod and the second arm rod rotate to the retracted state, so that the micro-satellite positioning device is further suitable for being used on a micro-satellite. 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, so that the movement of the mechanical arm is more convenient.

The multi-degree-of-freedom mechanical arm further comprises a third joint motor and a mounting part 7, the third joint motor is connected to one end, away from the second joint motor 5, of the second arm rod 6, 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. The third joint motor and the mounting part 7 are arranged to increase a degree of freedom, so that the movement of the mechanical arm is more flexible.

The multi-degree-of-freedom mechanical arm provided by the embodiment further comprises a fourth joint motor 8 and an actuator 9, 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 included angle is formed between the output shaft of the fourth joint motor 8 and an output shaft of the third joint motor. The fourth joint motor 8 and the actuator 9 are arranged, so that the degree of freedom is further increased, and the flexibility of the mechanical arm is improved.

Specifically, the output shaft of the fourth joint motor 8 is perpendicular to the axis of the mounting part 7, so that the first arm 4, the second arm 6 and the actuator 9 can rotate in the same plane, the three can rotate to the retracted state shown in fig. 4, the occupied space is smaller, and the device is further suitable for being used on a microsatellite.

The multi-degree-of-freedom mechanical arm provided by the embodiment further comprises a first locking assembly 10, and the first arm 4 can be locked on the mechanical arm mounting part through the first locking assembly 10. The multi-degree-of-freedom mechanical arm is mounted on the mechanical arm mounting portion through the base plate 1, when the mechanical arm is not used, the mechanical arm is adjusted to a retracted state, at the moment, the first arm rod 4 is locked on the mechanical arm mounting portion through the first locking assembly 10, torque can be prevented from being generated when external vibration is applied, and the effect of protecting each joint motor is achieved.

The multi-degree-of-freedom mechanical arm provided by the embodiment further comprises a second locking assembly 11, and the mounting part 7 can be locked on the base 2 through the second locking assembly 11. The arm is transferred to and is packed up the state, locks the installed part 7 on base 2 through second locking Assembly 11, can avoid producing the moment of torsion when receiving external vibration, further plays the effect of each joint motor of protection.

The multi-degree-of-freedom mechanical arm provided by the embodiment further comprises a third locking assembly 12, and the actuator 9 can be locked on the mounting part 7 through the third locking assembly 12. The mechanical arm is adjusted to the retracted state, the actuator 9 is locked on the mounting part 7, the torque is prevented from being generated when external vibration is applied, and the effect of protecting each joint motor is further achieved.

As shown in fig. 1, the first locking assembly 10 includes a first locking element 101 and a second locking element 102, the first locking element 101 is disposed on a side wall of one end of the first arm 4 connected to the second arm 6, the second locking element 102 is disposed on the arm mounting portion, and the first locking element 101 and the second locking element 102 can be locked to lock the first arm 4 on the arm mounting portion.

Optionally, in other embodiments, one of the first locking element 101 and the second locking element 102 is an electromagnetic female buckle, and the other is an electromagnetic male buckle, and the electromagnetic female buckle and the electromagnetic male buckle are attracted to each other when being powered on, so that the first locking element and the second locking element are locked.

In this embodiment, the first locking element 101 is a first locking ring, the second locking element 102 includes a second locking ring, a bolt and an electromagnetic adsorption element, the bolt is inserted into the first locking ring and the second locking ring at the same time, and at this time, the electromagnetic adsorption element is not electrified and does not have an adsorption force, so as to achieve a locking state; when needs use the arm, to electromagnetic adsorption piece circular telegram, electromagnetic adsorption piece adsorbs the bolt and takes out in first catch and the second catch, realizes the unblock. The specific structure of the second locking assembly 11 and the third locking assembly 12 is the same as that of the first locking assembly 10, and will not be described herein.

As shown in fig. 4, the first arm lever 4 includes a long lever 41 and a short lever 42 connected in an L shape, one end of the long lever 41 departing from the short lever 42 is connected to the first joint motor 3, one end of the short lever 42 departing from the long lever 41 is connected to the second joint motor 5, and the second arm lever 6 can be rotated to be parallel to the long lever 41. Due to the arrangement of the short rod 42, the long rod 41 can be prevented from blocking the rotation of the second arm rod 6, so that the long rod 41 can be rotated to be parallel to the long rod 41, the occupied space in the folding state is smaller, and the folding type micro-satellite is more suitable for being used on a micro-satellite.

Specifically, a support member 43 is attached to the long bar 41 or the second arm lever 6, and the support member 43 is interposed between the second arm lever 6 and the long bar 41 when the second arm lever 6 is parallel to the long bar 41. The provision of the support 43 ensures the stability of the second arm 6 in the stowed condition.

The multi-degree-of-freedom mechanical arm provided by the embodiment further comprises a program controller, wherein the program controller can control the on and off of each motor respectively so as to control the mechanical arm to flexibly perform unfolding and folding actions.

As shown in fig. 5 and fig. 6, the present embodiment further provides a satellite inspection apparatus, which includes a platform 100 and the above-mentioned multi-degree-of-freedom robot, where the multi-degree-of-freedom robot is mounted on the platform 100.

Specifically, the actuator 9 is mounted with a camera 200, and the platform 100 is provided with a display screen 300. The camera 200 is used to take pictures, and the taken pictures are displayed through the display screen 300 for the convenience of people to watch.

Fig. 5 shows the satellite detection device in an inoperative state, in which the multi-degree-of-freedom robot is in a retracted state. Fig. 6 shows an operating state in which the camera 200 can be used to take a picture, and the multi-degree-of-freedom mechanical arm can be used to change the position of the camera 200, so that the picture of the earth, the moon, etc. can be taken at any angle, and the picture can also be used to determine whether each component on the satellite is working normally (e.g., whether the solar wing is unfolded, etc.) by taking a picture.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

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).