CN115625693A - Science popularization display device for displaying mechanical arm principle of space station - Google Patents

Abstract

The invention discloses a science popularization display device for displaying the mechanical arm principle of a space station, which comprises: the robot comprises a base assembly, a power supply system and a mechanical arm, wherein the base assembly is provided with a plurality of first connecting joints and a plurality of first connecting pieces which are correspondingly arranged; the power supply system is connected with the plurality of first connecting pieces; the mechanical arm is provided with a plurality of second connectors and a plurality of second connecting pieces which are correspondingly arranged; the science popularization display device can visually display the structure of the mechanical arm of the space station, simulate the basic motion process of the mechanical arm on the space station and embody the characteristic that the space station continuously supplies power to the mechanical arm, so that personnel can better understand the working principle of the mechanical arm of the space station.

Description

A popular science display device that demonstrates the principle of the space station's robotic arm

technical field

The invention relates to the technical field of science popularization exhibits, in particular to a science popularization display device for displaying the principle of a space station mechanical arm.

Background technique

Space station technology has been a very popular technology since the 1970s. The development of space station technology has shown the country's industrial manufacturing level and scientific and technological research and development capabilities to a certain extent. For this reason, we need to educate young people through popular science exhibits. Demonstrate the country's industrial manufacturing level and scientific and technological research and development capabilities, so as to stimulate their interest in engaging in related industries and cultivate their national pride.

In the normal work of the space station, objects and astronauts need to be oriented in space. For example, the astronauts need to be moved to the detection point during detection. The function of directional transfer of objects and astronauts is often undertaken by the robotic arm of the space station. During the operation of the manipulator, in order to adapt to its special work requirements, when any end of the manipulator needs to be disconnected, functions such as relative fixation, information and energy acquisition can still be achieved through the other end.

Compared with its final overall structure, the mechanical arm of the space station can better reflect the working difficulties and working methods of the space station as a mechanical system operating in a special environment. In the existing technology, the space station model mainly focuses on the shape and structure of the space station and other characteristics, the work of the robotic arm has not been paid enough attention, and this equipment has not even been mentioned, which makes the science popularization effect of the space station poor, and there is room for improvement.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, an object of the present invention is to propose a science popularization display device for displaying the principle of the space station manipulator. The basic movement process of the arm also reflects the characteristics of the continuous power supply of the space station to the machinery, so that the visitors can better understand the working principle of the robotic arm on the space station, and have a better display and popularization effect.

According to an embodiment of the present invention, a popular science display device for displaying the principle of a space station robot arm includes: a base assembly, the base assembly has a plurality of first connectors and a plurality of first connectors, and the first connectors are provided with a first An electric signal connection part, a plurality of the first connectors correspond to a plurality of the first connectors; a power supply system, the power supply system is connected to a plurality of the first connectors; a mechanical arm, the The mechanical arm has a plurality of second connectors and a plurality of second connectors, the second connectors are provided with a second electrical signal connection portion, and the plurality of second connectors and the plurality of second connectors One-to-one correspondence; wherein, in the state where any one of the second connectors is mated with any one of the first connectors, the second electrical signal connection part on the corresponding second connector is connected to the corresponding The first electrical signal connection parts on the first connector are electrically connected to allow the power supply system to supply power to the mechanical arm, and the potentials of the plurality of second electrical signal connection parts are the same.

According to the popular science display device for displaying the principle of the space station manipulator according to the embodiment of the present invention, the science popularization display device simplifies the display of the space station manipulator, can more intuitively display the structure of the space station manipulator and simulate the basic movement process of the manipulator on the space station. It reflects the characteristics of the continuous power supply of the space station to the machinery, so that the visitors can better understand the working principle of the robotic arm on the space station, and has a better display and popularization effect.

According to some embodiments of the present invention, the science popularization display device for displaying the principle of the space station manipulator further includes a control system, and the first connecting part is provided with a first control signal connection part communicatively connected with the control system, and the The second connecting part is provided with a second control signal connection part; in the state where any one of the second connecting heads is mated with any one of the first connecting heads, the corresponding first connecting part on the second connecting part The two control signal connection parts are communicatively connected with the first control signal connection part on the corresponding first connector.

According to some embodiments of the present invention, one of the first connector and the second connector defines a socket, and the other defines a plug, so that the first connector and the second connector Plug fit.

According to some embodiments of the present invention, the base assembly is provided with a locking member, and the locking member is used to secure the first connector to A connector is locked with the second connector.

According to some embodiments of the present invention, the mechanical arm includes: a first rocker arm and a second rocker arm, one end of the first rocker arm is rotatably connected to one end of the second rocker arm; a plurality of first rocker arms Drive assemblies, at least two of the first drive assemblies are respectively connected to the other end of the first rocker arm and the other end of the second rocker arm; wherein, each of the first drive assemblies is arranged on one of the on the second connector and connected to the first connector.

According to some embodiments of the present invention, each of the first drive assemblies includes two fixedly connected first steering gears, wherein the power output shaft of one of the first steering gears is connected to the second connector, and the other A power output shaft of the first steering gear is connected with the first rocker arm/the second rocker arm.

According to some embodiments of the present invention, the mechanical arm further includes a second drive assembly, and one of the one end of the first rocker arm and the one end of the second rocker arm is connected to the second drive assembly The main body of one is connected and the other is connected with the power take-off shaft of the second drive assembly.

According to some embodiments of the present invention, the second drive assembly is a second steering gear.

According to some embodiments of the present invention, a plurality of the first drive assembly and the second drive assembly are arranged in parallel.

According to some embodiments of the present invention, the base assembly further includes: an installation platform; a support frame, the support is erected on the installation platform, the space station model and the mechanical arm are arranged on the support frame, and the mechanical arm It also includes: a camera, the camera is arranged on the mechanical arm and connected to any one of the second connecting parts.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and comprehensible from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a partial structural schematic diagram of a science popularization display device showing the principle of a space station manipulator according to an embodiment of the present invention;

2 is a schematic diagram of a partial structure of a robotic arm according to an embodiment of the present invention;

Fig. 3 is a partial cross-sectional view of a mechanical arm mated with a first connector according to an embodiment of the present invention;

Fig. 4 is a partial structural schematic diagram of a science popularization display device showing the principle of a space station manipulator according to an embodiment of the present invention;

Fig. 5 is a partial cross-sectional view of a science popularization display device showing the principle of a space station robot arm according to an embodiment of the present invention.

Reference signs:

Science popularization display device 1000, mechanical arm 100, second connector 101, second connector 102,

The first rocker arm 1, the second rocker arm 2, the first drive assembly 3, the first steering gear 31, the second drive assembly 4, the second steering gear 4,

Base assembly 200 , support frame 201 , first connector 2011 , first connector 2012 , locking member 2013 , space station model 202 , installation platform 203 , control button 2031 , and camera 300 .

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", " Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", The orientation or positional relationship indicated by "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the referred device or element Must be in a particular orientation, be constructed in a particular orientation, and operate in a particular orientation, and therefore should not be construed as limiting the invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

Space station technology has been a hot topic since the 1970s. The development of space station technology shows the country's industrial manufacturing level and scientific and technological research and development capabilities to a certain extent. Therefore, we need to show the country's industrial manufacturing level and scientific and technological research and development capabilities to young people through popular science exhibits, so as to stimulate their interest in engaging in related industries. , to foster their national pride.

In the normal work of the space station, objects and astronauts need to be oriented in space. For example, the astronauts need to be moved to the detection point during detection. The function of directional transfer of objects and astronauts is often undertaken by the robotic arm of the space station. During the operation of the manipulator, in order to adapt to its special work requirements, when any end of the manipulator needs to be disconnected, functions such as relative fixation, information and energy acquisition can still be achieved through the other end.

Compared with its final overall structure, the mechanical arm of the space station can better reflect the working difficulties and working methods of the space station as a mechanical system operating in a special environment. In the existing technology, the space station model mainly focuses on the shape and structure of the space station and other characteristics, the work of the robotic arm has not been paid enough attention, and this equipment has not even been mentioned, which makes the science popularization effect of the space station poor.

For this reason, the embodiment of the present invention designs a science popularization display device 1000 capable of displaying the principle of the space station manipulator, so that the structure and working principle of the space station manipulator can be more intuitively displayed to the exhibitors, which is easy for the visitors to understand. It has a good display and popularization effect.

A science popularization display device 1000 for demonstrating the principle of a space station robot arm according to an embodiment of the present invention will be described below with reference to FIGS. 1-5 .

As shown in FIGS. 1-5 , a popular science display device 1000 showing the principle of a space station manipulator according to an embodiment of the present invention includes: a base assembly 200 , a power supply system and a manipulator 100 .

Wherein, the base assembly 200 has a plurality of first connectors 2011, the mechanical arm 100 has a plurality of second connectors 101, and the first connectors 2011 and the second connectors 101 can be fixed together, wherein the plurality of first connectors 2011 It is possible to provide the robot arm 100 with a plurality of connection positions at different positions, so that the robot arm 100 has a greater range of movement.

A plurality of second connectors 101 enables the robot arm 100 to move through alternate connections. When one of the plurality of second connectors 101 is connected to the first connector 2011, the robot arm 100 can have a stable fixed point. The other second connectors 101 can move freely to realize special functions or connect to any first connector 2011 within its range of motion, so that the mechanical arm 100 can be alternately connected to the first connector 2011 through different second connectors 101 Realize continuous movement.

Further, the base assembly 200 also has multiple first connectors 2012, the multiple first connectors 2011 correspond to the multiple first connectors 2012, the mechanical arm 100 also has multiple second connectors 102, and the multiple first connectors 2012 correspond one-to-one. The two connectors 101 correspond to a plurality of second connectors 102 one by one. The corresponding second connectors 102 are connected.

The power supply system is connected to a plurality of first connectors 2012, and when any second connector 101 is mated with any first connector 2011, the corresponding second connector 102 is electrically connected to the corresponding first connector 2012 In order to allow the power supply system to supply power to the robot arm 100 .

That is to say, when any one of the plurality of second connectors 101 of the robot arm 100 is mated with any one of the first connectors 2011 on the base assembly 200, the power supply system can supply power to the robot arm 100 so that the robot arm 100 can move , the provided electric energy enables other second connectors 101 on the robot arm 100 to move freely with energy to realize special functions or to connect with any first connector 2011 within its range of motion.

When the plurality of second connectors 101 of the robotic arm 100 are mated with any number of first connectors 2011 on the base assembly 200, the power supply system can also supply power to the robotic arm 100 without short circuit and other phenomena. At this time, the robotic arm 100 It is only necessary to ensure that one of the second connectors 101 maintains a mating connection with the first connector 2011 on the base assembly 200, while the other second connectors 101 can be freely selected to separate or cooperate with the first connector 2011, and can freely Movement to achieve special functions or to connect with any first connector 2011 within its range of motion, multiple second connectors 101 are alternately connected with the first connectors 2011 in different positions, enabling the robot arm 100 to move continuously and within the range of motion bigger.

Wherein, the first connector 2012 and the second connector 102 may be PCB boards.

In some embodiments, as shown in Figures 1 and 2, the robotic arm 100 has two second connectors 101, and when one of the two second connectors 101 is connected to the first connector 2011, the robotic arm 100 can There is a stable fixed point, another second connector 101 can move freely around it to achieve special functions or connect with the first connector 2011 within its range of motion, through the two second connectors 101 alternately with different positions The cooperative connection of the first connecting head 2011 can make the mechanical arm 100 move continuously and have a larger range of motion.

When one second connector 101 of the robotic arm 100 is mated with any one of the first connectors 2011 on the base assembly 200, the power supply system can supply power to the robotic arm 100 so that the robotic arm 100 can move. At this time, the other second connector 101 can move freely to realize special functions or be connected to any first connecting head 2011 within its range of motion.

When the two second connectors 101 are mated with the first connectors 2011 on the base assembly 200, the power supply system can also supply power to the mechanical arm 100 without short circuit, etc. At this time, the mechanical arm 100 only needs to ensure that One second connector 101 is kept matingly connected with the first connector 2011 on the base assembly 200, and the other second connector 101 can be freely selected to separate or cooperate with the first connector 2011, and can move freely to realize special functions Alternatively, any first connector 2011 within its range of motion may be mated and connected, and the two second connectors 101 may alternately be mated and connected with first connectors 2011 at different positions, enabling the mechanical arm 100 to be within the arrangement range of the first connector 2011 Continuous movement within.

According to some embodiments of the present invention, the first connecting part 2012 is provided with a first electrical signal connecting part, and the second connecting part 102 is provided with a second electrical signal connecting part. When a connector 2011 is mated, the second electrical signal connection part on the corresponding second connector 102 is electrically connected to the first electrical signal connection part on the corresponding first connector 2012. At this time, the mechanical arm 100 The circuit in the base assembly 200 can communicate with the integrated circuit in the base assembly 200, and the integrated power supply system in the base assembly 200 can supply electric energy to the mechanical arm 100 through the second electrical signal connection part, so that the mechanical arm 100 has the energy to execute the operation command.

Among them, in some embodiments, the electrical components on the mechanical arm 100 are connected in parallel, so as to avoid that when any second connector 101 of the mechanical arm 100 does not cooperate with the first connector 2011 on the base assembly 200, the An open circuit affects the normal operation of the mechanical arm 100 .

In some embodiments, the potentials of the plurality of second electrical signal connection parts are the same, that is, when the plurality of second connectors 101 of the robotic arm 100 are mated with any number of first connectors 2011 on the base assembly 200 Since the potential of the second electrical signal connection part is the same, there is no potential difference between the points where the mechanical arm 100 and the base assembly 200 are electrically connected. At this time, the power supply system can supply power to the mechanical arm 100 without short circuit.

According to the popular science display device 1000 for displaying the principle of the space station manipulator according to the embodiment of the present invention, the science popularization display device 1000 simplifies the display of the space station manipulator, and can more intuitively display the structure of the space station manipulator and simulate the basic structure of the space station manipulator 100. The movement process also reflects the characteristics of the space station’s continuous power supply to the robotic arm 100, enabling visitors to better understand the working principle of the robotic arm 100 on the space station, and has a better display and popularization effect.

According to some embodiments of the present invention, the popular science display device 1000 for demonstrating the principle of the space station manipulator further includes a control system, which can control the attitude, position, function operation and motion process of the manipulator 100 .

The first connection part 2012 is provided with a first control signal connection part communicating with the control system, and the second connection part 102 is provided with a second control signal connection part. In the state where the head 2011 is mated, the second control signal connection part on the corresponding second connector 102 communicates with the first control signal connection part on the corresponding first connector 2012. At this time, the integrated control in the base assembly 200 The system can send instructions to the functional parts on the robotic arm 100 through the second control signal connection part, and each functional part on the robotic arm 100 operates according to the command of the control system.

Thus, through the connection and separation of the second connector 101 and the first connector 2011, the conversion of the power supply and control circuit of the robot arm 100 is realized, and continuous control and power supply are ensured when the robot arm 3 moves. Through the change of the power supply source of the manipulator 100, it is possible to demonstrate the characteristics of continuous power supply of the manipulator of the actual space station when moving, and to deepen the audience's understanding.

As shown in Figures 1-3, a plurality of first connectors 2012 are arranged on a plurality of first connectors 2011 in one-to-one correspondence, and a plurality of second connectors 102 are arranged in a one-to-one correspondence on a plurality of second connectors 101, thus, when the first connector 2011 is mated with the second connector 101, the second connector 102 can also be connected with the first connector 2012, so as to realize the communication and electrical connection between the robot arm 100 and the base assembly 200. connect.

Referring to Figure 2 and Figure 3, the first connector 2011 is mated with the second connector 101, thereby not only making the electrical connection between the first connector 2012 and the second connector 102 safer, but also ensuring electrical safety , and the second connector 101 of the robotic arm 100 can be stably connected to the first connector 2011 by means of plug-in fit, so that the operation of the robotic arm 100 is more stable.

In some embodiments, one of the first connector and the second connector defines a socket, and the other defines a plug, so that the first connector and the second connector are plug-fitted.

Referring to Fig. 3, the first connector 2011 defines a jack, and the second connector 101 defines a plug. The first connector 2011 can be a socket structure to simulate a docking hole on a space station, and the second connector 101 defines a socket. The plug is mated with the socket. Since the power supply system is directly connected to the first electrical signal connection part, the direct exposure of the first connector 2012 with the first electrical signal connection part poses a risk to the safety of electricity use. By making the first connection The head 2011 is defined as a socket, which can prevent the first connecting piece 2012 having the first electrical signal connection part from being exposed, thereby ensuring the safety of electricity use.

In some other embodiments, the first connector 2011 may define a plug, and the second connector 101 defines a socket, which is not limited here.

As shown in FIG. 5 , the base assembly 200 is provided with a locking member 2013. In the state where the first connector 2011 and the second connector 101 are mated, the locking member 2013 is used to connect the first connector 2011 and the second connector 101. The connecting head 101 is locked, and the locking member 2013 can ensure that the first connecting head 2011 and the second connecting head 101 can be connected together stably, so as to prevent the first connecting head 2011 and the second connecting head 2011 from being connected to the second connecting head 2011 in the process of changing the shape of the mechanical arm 100. The detachment of the connecting head 101 affects the normal operation of the robot arm 100 and can also prevent the robot arm 100 from being stolen.

Specifically, as shown in Figure 5, the first connector 2011 defines a through hole on the inner wall of the socket, and the locking member 2013 is a telescopic motor to simulate the positioning and retraction mechanism of the mechanical arm of the space station. 101 is mated with the socket, the telescopic head of the telescopic motor moves toward the direction close to the second connector 101, and locks the first connector 2011 and the second connector 101, thereby realizing the first connector 2011 and the stable connection between the second connector 101.

As shown in Figure 2, the mechanical arm 100 includes: a first rocker arm 1 and a second rocker arm 2, one end of the first rocker arm 1 is rotatably connected with one end of the second rocker arm 2, so that the second rocker arm located at both ends The relative position of the connecting head 101 can be changed, so as to realize the linear movement of the mechanical arm 100 in the horizontal direction.

The mechanical arm 100 also includes: a plurality of first drive assemblies 3, at least two first drive assemblies 3 are respectively connected to the other end of the first rocker arm 1 and the other end of the second rocker arm 2, wherein each first drive The component 3 is arranged on one of the second connectors 101 and connected to the first connector 2012, so that the power supply system can supply power to each first drive component 3, so that multiple first drive components 3 can have energy drive The robotic arm 100 moves.

The first driving assembly 3 can change the angle between the second connecting head 101 and the first driving assembly 3, so that the second connecting head 101 can always be inserted vertically downward into the first connecting head 2011 in the vertical direction, ensuring The stable operation of the mechanical arm 100, and the first drive assembly 3 can change the angle between the first rocker arm 1 or the second rocker arm 2 and the first drive assembly 3, so that the relative positions of the second connecting heads 101 at both ends Can change, and then realize the linear movement of the mechanical arm 100 in the horizontal direction.

As shown in Fig. 2 and Fig. 3, each first driving assembly 3 comprises two fixedly connected first steering gears 31, thus, by using the steering gear as a driving part, it is possible to simulate the joint motor of the mechanical arm of a space station, and when driving The first rocker arm 1 or the second rocker arm 2 rotates relative to the first drive assembly 3, while driving the relative rotation between the second connecting head 101 and the first drive assembly 3, it can realize self-locking after rotating to a suitable angle , ensuring the stability of the structure of the mechanical arm 100 .

The power output shaft of one of the first steering gear 31 is connected with the second connector 101, so that the second connector 101 connected with the first steering gear 31 can rotate relative to the first drive assembly 3, thus, when connected with When the second connector 101 connected to the first steering gear 31 is mated with the first connector 2011 on the base, by controlling the first steering gear 31, the extension direction of the projection of the mechanical arm 100 on the horizontal plane can be controlled, so that the mechanical arm 100 can move in any direction in the horizontal direction.

Further, in some embodiments, the second connector 101 needs to be rotated to a specific angle before it can be mated with the first connector 2011. During the mating connection process between the second connector 101 and the first connector 2011, the first The steering gear 31 can also adjust the angle of the second connecting head 101 relative to the first drive assembly 3 and then adjust the angle of the second connecting head 101 relative to the base assembly 200, so that the second connecting head 101 can be rotated to align with the first connecting head 2011 The matching angle ensures that the second connector 101 can be inserted into the first connector 2011 accurately.

Wherein, the power output shaft of another first steering gear 31 is connected with the first rocker arm 1/second rocker arm 2, that is to say, another first steering gear can change the first rocker arm 1/second rocker arm 2 The relative angles of the first driving assembly 3 and the second connecting head 101 connected thereto.

When the second connector 101 is mated with the first connector 2011, the second connector 101 extends vertically, so that the first steering gear 31 can change the second connection mated with the first connector 2011. The angle of the rocker arm adjacent to the head 101 relative to the vertical direction changes the angle between the extension direction of the second connector 101 that has not been mated with the first connector 2011 and the extension direction of the adjacent rocker.

Thus, the mechanical arm 100 can move the first rocker arm 1 and the second rocker arm 2 in different directions to make the mechanical arm 100 move in this direction, and when the second connector 101 is inserted into the first connector 2011 The angle of the second connector 101 is controlled so that the second connector 101 extends vertically, so as to ensure that the second connector 101 can be stably inserted into the first connector 2011 .

Wherein, the first rocker arm 1 and the second rocker arm 2 can be circular tubes, so as to simulate the swing arms of the space station mechanical arm.

1 and 2, in the first drive assembly 3, the axes of the power output shafts of the two first steering gears 31 are perpendicular to each other, specifically, as shown in FIG. The extension direction of the axis of the output shaft of the steering gear 31 is the extension direction of the second joint 101, and the axis of the power output shaft of the steering gear connected to the first rocking arm 1 or the second rocking arm 2 is the extension direction of the second joint 101. The extension direction and the extension direction of the first rocker arm 1 or the second rocker arm 2 share the vertical direction of the plane where they are located.

Through the arrangement of the two first steering gears 31 , the overall movement of the mechanical arm 100 is more flexible, which facilitates the movement of the mechanical arm 100 .

Further, since the first steering gear 31 connected to the first rocker arm 1/second rocker arm 2 changes the angle between the second connecting head 101 and the first rocker arm 1/second rocker arm 2, therefore, the same as The axis of the power output shaft of the first steering gear 31 connected by the first rocker arm 1/second rocker arm 2 and the rotation axes of the first rocker arm 1 and the second rocker arm 2 are all perpendicular to the vertical direction and the first rocker arm 1/ The extension direction of the second rocker arm 2 is in the same plane, therefore, in the first drive assembly 3, the axis of the power output shaft of the first steering gear 31 connected to the first rocker arm 1/second rocker arm 2 is parallel to Axis of rotation of the first rocker arm 1 and the second rocker arm 2 .

2, the mechanical arm 100 also includes a second drive assembly 4, one end of the first rocker arm 1 and one end of the second rocker arm 2 are connected to the main body of the second drive assembly 4 and the other is connected to the second drive assembly 4 is connected to the power output shaft, so that the relative rotation between the first rocker arm 1 and the second rocker arm 2 is possible.

Wherein, the second driving assembly 4 is the second steering gear 4, thus, by using the steering gear as the driving part to connect the first rocker arm 1 and the second rocker arm 2, the joint motor of the mechanical arm of the space station can be simulated, and the first rocker arm can be realized. The relative movement between the rocker arm 1 and the second rocker arm 2 can realize self-locking after turning to an appropriate angle, which ensures the stability of the mechanical arm 100 structure.

According to some embodiments of the present invention, multiple first drive assemblies 3 and second drive assemblies 4 are arranged in parallel, so as to prevent any second connector 101 of the robotic arm 100 from not cooperating with the first connector 2011 on the base assembly 200 When connecting, the mechanical arm 100 is disconnected, which affects the normal operation of the mechanical arm 100 , and avoids the short circuit phenomenon of the circuit when multiple second connectors 101 are connected to the first connector, which affects the normal operation of the mechanical arm 100 .

As shown in Fig. 1 and Fig. 2, the science popularization display device 1000 showing the principle of the space station manipulator also includes: a camera 300, the camera 300 is arranged on the manipulator 100 and is connected with any second connector 102, so that the control system can control The operation of the camera 300 and information exchange with the camera 300 enable the power supply system to supply power to the camera 300 .

In some embodiments, referring to Fig. 1 and Fig. 2, the camera 300 is arranged on any one of the plurality of first steering gears 31, so that the movement range of the camera 300 is larger, ensuring that the camera 300 can achieve a wider range of shooting , and facilitate the connection between the camera and the circuit in the mechanical arm 100 .

Thus, by installing the camera 300, after the audience presses the camera button, the mechanical arm 100 can automatically adjust its posture and transport the camera 300 to a designated location to take pictures, thereby demonstrating the detection and monitoring functions of the space station robotic arm.

To sum up, the mechanical arm 100 is composed of two second connectors 101, the first rocker 1, the second rocker 2, the camera 300, four first steering gears 31 and a second steering gear 4, generally With three joints and five degrees of freedom, it can simulate the basic movement of the robotic arm, with flexibility and stability.

As shown in FIGS. 4-5 , the base assembly 200 also includes: an installation platform 203 and a support frame 201, the support frame 201 is arranged on the installation platform 203 for supporting the space station model 202 and the mechanical arm 100 arranged on the installation platform 203, The support frame 201 is provided with a space station model 202 and a robotic arm 100. The space station model 202 can reflect the environment to which the robotic arm 100 is applicable, and reflect the characteristics of the space station's shape and structure, making the science popularization effect better and more intuitive.

Specifically, the installation method of the science popularization display device is that the hole sleeve simulating the docking hole is fixed on the support frame 201 by bolts and nuts, the space station model 202 simulating the shape of the space station is fixed on the support frame 201 by bolts and nuts, and the second connector 101 and the socket 4 are connected through two PCB boards with pogo pins, one of which is connected to the socket and connected to the control system and power supply system, and the other PCB is connected to the electrical components in the mechanical arm.

There is a steering gear base between the second connecting head 101 and the first steering gear 31, and the second connecting head 101 and the steering gear base are connected by bolts. The steering gear base is connected with the output shaft of the first steering gear 31 at the bottom, and the first rocker arm 1 or the second rocker arm 2 is connected with the output shaft of the first steering gear 31 at the top. The bodies of the two first steering gears are rigidly connected. The first rocking arm 1 is connected to the output shaft of the second steering gear 4, and the second rocking arm 2 is connected to the body of the second steering gear 4 through threads.

The installation platform 203 can be integrated with a control system, control buttons 2031, and an interactive platform to realize the interaction between the exhibitors and the popular science display device 1000, wherein the control buttons 2031 include: switch buttons, direction buttons, camera buttons, etc. It is not limited here.

The popular science display device 1000 can be turned on by the switch button, at this time, the LED light integrated on the direction button is on, and the user can control the movement of the mechanical arm 100 by the direction button.

When the user presses the first direction button, the LED light on the direction button goes out, and the robotic arm 100 enters the motion state. The robotic arm 100 executes the corresponding motion code according to the preset operation. After the motion is completed, the robotic arm 100 feeds back to the control system. When the motion is completed, the mechanical arm 100 enters a static state, and the control system controls the LED light on the direction button to light up again after receiving the motion complete information.

At any moment when the mechanical arm 100 is still, the camera button lights up, and the user presses the button, the camera 300 takes a photo, and the picture is fed back to the control system after the photo is taken. The picture is displayed on the display screen or the audience can also scan the QR code on the screen to obtain the picture and save it.

Other configurations and operations of the science popularization display device 1000 for displaying the principle of the space station robot arm according to the embodiment of the present invention are known to those skilled in the art, and will not be described in detail here.

In the description of the present invention, unless otherwise clearly specified and limited, a first feature being "on" or "under" a second feature may include direct contact between the first and second features, and may also include the first and second features. Two features are not in direct contact but through another feature between them. Moreover, "above", "above" and "above" the first feature on the second feature include that the first feature is directly above and obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature.

In the description of this specification, references to the terms "one embodiment," "some embodiments," "exemplary embodiments," "example," "specific examples," or "some examples" are intended to mean that the implementation A specific feature, structure, material, or characteristic described by an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (10)

1. A popular science display device for demonstrating the principle of a space station manipulator, characterized in that it comprises: A base assembly, the base assembly has a plurality of first connectors and a plurality of first connectors, a first electrical signal connection portion is provided on the first connectors, a plurality of the first connectors and a plurality of the first connectors One-to-one correspondence of the first connectors; a power supply system, the power supply system is connected to a plurality of the first connectors; A mechanical arm, the mechanical arm has a plurality of second connectors and a plurality of second connectors, the second connectors are provided with a second electrical signal connection part, the plurality of second connectors and the plurality of One-to-one correspondence between the second connectors; Wherein, in the state where any one of the second connectors is mated with any one of the first connectors, the second electrical signal connection portion on the corresponding second connector is connected to the corresponding first connector. The first electrical signal connection parts on the connector are electrically connected to allow the power supply system to supply power to the mechanical arm, and the potentials of the multiple second electrical signal connection parts are the same. 2. The science popularization display device for displaying the principle of the manipulator of the space station according to claim 1, further comprising a control system, and the first connecting part is provided with a first control signal connection connected to the control system in communication part, the second connecting part is provided with a second control signal connecting part; In the state where any one of the second connectors is mated with any one of the first connectors, the second control signal connection portion on the corresponding second connector is connected to the corresponding first connector. The first control signal connection part on the communication connection. 3. The science popularization display device for displaying the principle of the space station manipulator according to claim 1, wherein one of the first connector and the second connector defines a jack, and the other defines a plug, so that the first connector is mated with the second connector. 4. The science popularization display device for displaying the principle of the space station manipulator according to claim 3, wherein the base assembly is provided with a locking member, which is mated with the first connector and the second connector In a state, the locking member is used to lock the first connector and the second connector. 5. The science popularization display device for demonstrating the principle of a space station manipulator according to any one of claims 1-4, wherein the manipulator comprises: a first rocker arm and a second rocker arm, one end of the first rocker arm is rotatably connected to one end of the second rocker arm; A plurality of first drive assemblies, at least two of which are respectively connected to the other end of the first rocker arm and the other end of the second rocker arm; Wherein, each of the first driving components is disposed on one of the second connecting heads and connected to the first connecting piece. 6. The science popularization display device for demonstrating the principle of the space station manipulator according to claim 5, wherein each of the first drive assemblies includes two fixedly connected first steering gears, one of the first steering gears The power output shaft of the first steering gear is connected to the second connecting head, and the power output shaft of the other first steering gear is connected to the first rocker arm/the second rocker arm. 7. The science popularization display device for demonstrating the principle of the space station manipulator according to claim 6, wherein the manipulator further comprises a second drive assembly, and the one end of the first rocker arm is connected to the second rocker. One of the one ends of the arm is connected to the main body of the second drive assembly and the other is connected to the power take-off shaft of the second drive assembly. 8. The science popularization display device for displaying the principle of the space station manipulator according to claim 7, wherein the second drive assembly is a second steering gear. 9 . The science popularization display device for displaying the principle of the space station manipulator according to claim 7 , wherein a plurality of the first drive components and the second drive components are arranged in parallel. 10. The science popularization display device for demonstrating the principle of a space station manipulator according to any one of claims 1-4, wherein the base assembly further comprises: installation platform; A support frame, the support frame is set on the installation platform, the space station model and the mechanical arm are arranged on the support frame, and the mechanical arm also includes: a camera, the camera is arranged on the mechanical arm and is connected to any One of the second connectors is connected.

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