CN117773998B - Reconfigurable space manipulator with wide-range operation and variable operation space capability - Google Patents
Reconfigurable space manipulator with wide-range operation and variable operation space capability Download PDFInfo
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- CN117773998B CN117773998B CN202410090024.4A CN202410090024A CN117773998B CN 117773998 B CN117773998 B CN 117773998B CN 202410090024 A CN202410090024 A CN 202410090024A CN 117773998 B CN117773998 B CN 117773998B
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- 210000001503 joint Anatomy 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 22
- 238000005516 engineering process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 3
- 239000003822 epoxy resin Substances 0.000 description 3
- 229920000647 polyepoxide Polymers 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
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Abstract
A reconfigurable space manipulator with large-scale operation and space changing capability belongs to the technical field of on-orbit service space robots. The two ends of the space manipulator are provided with the standardized butt joint interfaces, and the space manipulator can creep and move on a truss structure of a large space infrastructure through the butt joint interfaces, so that the large-range operation capability of the space robot is realized. The space manipulator is provided with two passively telescopic arm rods, and the passively telescopic arm rods have two states of locking and free movement. When the two ends of the mechanical arm are fixed, the locking structure of the passive telescopic arm rod is opened, the extension and locking of the arm rod are realized through planning joint movement, the arm rod is extended to a specified length, and locking is performed, so that the variable operation space capacity of the space robot is realized, and the space robot can be reconfigured. The passive telescopic arm lever designed in the invention has six locking positions, so that the space manipulator has 36 configurations. The invention improves the on-orbit operation capacity and efficiency.
Description
Technical Field
The invention belongs to the technical field of on-orbit service space robots, and particularly relates to a reconfigurable space manipulator with large-scale operation and space changing capabilities.
Background
At present, space robot systems which finish on-orbit verification belong to the first generation of space robots, and the technology is mature. With the continuous penetration of human beings in the field of space exploration, the construction requirements of large space facilities such as space stations, space telescopes, communication antennas and space power stations are increasingly urgent, and the on-orbit assembly technology can break through the limitation of vehicles, so that the construction of the ultra-large space facilities is possible, and related researches are carried out in the United states, europe, japan, canada and other countries. Compared with the construction of space stations, the future on-orbit service has the problems of wide operation range and different operation scales, and the existing first-generation space robot system can not meet the future requirements.
Therefore, the space manipulator which can be operated in a large range and can change the operation space is developed, the efficiency and the quality of an on-orbit service task are greatly improved, and great economy can be brought.
Disclosure of Invention
The present invention is directed to solving the above-mentioned problems, and further provides a reconfigurable space manipulator technology and a passive telescopic boom technology having a wide range of operations and a variable operation space capability.
The technical scheme adopted by the invention is as follows:
The space manipulator comprises a plurality of passive telescopic arm rods, a plurality of common arm rods and a plurality of rotary joints, and standard butt joint interfaces are arranged at two ends of the manipulator.
Further, each passive telescopic arm comprises an outer arm flange, an outer arm, a locking groove curved plate, a shaft sleeve flange, a locking mechanism, an inner arm and an inner arm flange;
The two ends of the outer arm rod are respectively fixed with an outer arm rod flange and a shaft sleeve flange, the locking groove curved plate is coaxially fixed on the inner wall of the outer arm rod, and a plurality of locking grooves matched with the locking mechanism are formed in the inner wall of the locking groove curved plate;
the front end and the rear end of the inner arm rod are respectively fixed with a locking mechanism and an inner arm rod flange,
The inner arm rod is slidably arranged on the inner side of the curved plate of the locking groove.
Further, a plurality of the locking grooves are axially aligned along the inner arm.
Further, each passive telescopic arm rod further comprises a guide rail and a guide rail shaft sleeve;
the guide rail is arranged in the gap between the inner arm rod and the outer arm rod, the two ends of the guide rail are respectively fixed on the flange of the outer arm rod and the flange of the shaft sleeve,
The outer circumference of the guide rail shaft sleeve is fixed with the locking mechanism, the guide rail is matched with the inner circumferential wall of the guide rail shaft sleeve, three groups of guide rail and guide rail shaft sleeve are combined, and the circumference is uniformly distributed.
Further, each passive telescopic arm further comprises an inner arm shaft sleeve;
The inner arm rod shaft sleeve is fixed on the shaft sleeve flange,
The outer circumference of the inner arm rod is matched with the inner circumference of the inner arm rod shaft sleeve, and the inner arm rod can slide relatively.
Further, the locking mechanism comprises a horizontal sliding rail, a first rotating shaft, a second rotating shaft, a linear actuator retainer, a locking pin, a connecting rod connecting piece and a centripetal joint bearing; the horizontal slide rail is fixedly connected with the guide rail shaft sleeve through a plurality of through holes formed on the outer circumferential surface, the guide rail shaft sleeve is in sliding connection with the guide rail, the linear actuator is fixed on the horizontal slide rail through a linear actuator retainer, an output shaft of the linear actuator is coaxially inserted into an inner ring of the horizontal slide rail, one end of a plurality of locking pins which are uniformly distributed in a ring shape is matched with a rectangular groove on the horizontal slide rail, the locking pins can freely slide,
And each connecting rod is hinged with the connecting rod connecting piece and the other end of the corresponding locking pin respectively to form a revolute pair.
The connecting rod connecting piece is sleeved on an output shaft of the linear actuator through a radial spherical plain bearing.
Compared with the prior art, the invention has the following beneficial effects:
The two ends of the space manipulator are provided with the standardized butt joint interfaces, and the space manipulator can creep and move on a truss structure of a large space infrastructure through the butt joint interfaces, so that the large-range operation capability of the space robot is realized. Meanwhile, the space manipulator is provided with two passively telescopic arm rods, and the passively telescopic arm rods have two states of locking and free movement. When the two ends of the mechanical arm are fixed, the locking structure of the passive telescopic arm rod is opened, the extension and locking of the arm rod are realized through planning joint movement, the arm rod is extended to a specified length, and locking is performed, so that the variable operation space capacity of the space robot is realized, and the space robot can be reconfigured. The passive telescopic arm lever designed in the invention has six locking positions, so that the space manipulator has 36 configurations. The reconfigurable space manipulator provided by the invention has the capability of large-scale operation and space changing operation, can participate in the whole process of future on-orbit service operation, and improves the on-orbit operation capability and efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of a passive telescopic arm of the present invention;
FIG. 3 is a schematic view of the locking mechanism of the present invention;
FIG. 4 is a schematic view of a passive telescopic arm in a contracted state according to the present invention;
FIG. 5 is a schematic view of the passive telescopic boom of the present invention in an extended position;
wherein: 1. a rotary joint; 2. a standard docking interface; 3. a passive telescopic arm; 4. a common arm lever; 31. an outer arm flange; 32. an outer arm lever; 33. locking the grooved curved plate; 34. a guide rail shaft sleeve; 35. a guide rail; 36. a sleeve flange; 37. a locking mechanism; 38. an inner arm shaft sleeve; 39. an inner arm lever; 310. an inner arm flange; 371. a horizontal slide rail; 372. a first rotating shaft; 373. a second rotating shaft; 374. a linear actuator; 375. a linear actuator holder; 376. a locking pin; 377. a connecting rod; 378. a connecting rod connecting piece; 379. a radial spherical plain bearing; 3710. and (5) connecting bolts.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, reference should be made to the following detailed description of the invention with reference to the accompanying drawings.
As shown in fig. 1, in the reconfigurable space manipulator with wide-range operation and space changing capability, the space manipulator is composed of a plurality of passive telescopic arm rods 3, a plurality of common arm rods 4 and a plurality of rotary joints 1, the assembly mode of the space manipulator adopts the prior art, and two ends of the manipulator are provided with standard butt joint interfaces 2.
The number of passive telescopic arms 3 is preferably two and the number of rotary joints 1 is preferably seven.
As shown in fig. 2, each passive telescopic arm 3 includes an outer arm flange 31, an outer arm 32, a locking groove curved plate 33, a guide rail sleeve 34, a guide rail 35, a sleeve flange 36, a locking mechanism 37, an inner arm sleeve 38, an inner arm 39, and an inner arm flange 310;
the two ends of the outer arm rod 32 are respectively fixed with an outer arm rod flange 31 and a shaft sleeve flange 36, the locking groove curved plate 33 is coaxially fixed on the inner wall of the outer arm rod 32, and a plurality of locking grooves matched with the locking mechanism 37 are formed on the inner wall of the locking groove curved plate 33;
the front end and the rear end of the inner arm rod 39 are respectively fixed with a locking mechanism 37 and an inner arm rod flange 310;
a plurality of the locking grooves are axially aligned along the inner arm 39. The number is preferably six.
The passive telescopic boom may be connected to the robot arm by means of an outer boom flange 31, an inner boom flange 310.
The guide rail 35 is arranged in the gap between the outer arm rod 32 and the inner arm rod 39, and two ends of the guide rail 35 are respectively fixed on the outer arm rod flange 31 and the shaft sleeve flange 36,
The outer circumference of the guide rail shaft sleeve 34 is fixed with the locking mechanism 37 (epoxy resin is adhered), the guide rail 35 is matched with the inner circumference wall of the guide rail shaft sleeve 34 (namely, the guide rail 35 is inserted into the circumference wall of the guide rail shaft sleeve 34), three groups of the guide rail 35 and the guide rail shaft sleeve 34 are matched, and the circumferences of the guide rail 35 and the guide rail shaft sleeve 34 are uniformly distributed.
The inner arm shaft sleeve 38 is fixed to the shaft sleeve flange 36, and an outer circumferential surface of the inner arm 39 and an inner circumferential surface of the inner arm shaft sleeve 38 are fitted to each other by epoxy resin adhesive bonding, so that the inner arm shaft sleeve 38 can slide relatively. At the same time, the locking mechanism 37 is fixed to the end of the inner arm 39, in which case it is ensured that the inner arm 39 and the outer arm 32 can only move linearly relative to each other.
Three conditions are required to achieve relative linear movement of the inner arm 39 and the outer arm 32: 1. the outer circumference of the guide rail shaft sleeve 34 is fixed with the locking mechanism 37 (the epoxy resin is adhered), the guide rail 35 is matched with the inner circumference wall of the guide rail shaft sleeve 34 (namely, the guide rail is inserted into the circumference wall of the guide rail shaft sleeve), three groups of the guide rail 35 and the guide rail shaft sleeve 34 are matched, and the circumference is uniformly distributed, so that the linear motion of the locking mechanism 37 relative to the outer arm rod 32 is ensured. 2. The inner arm shaft sleeve 38 is fixed to the shaft sleeve flange 36, and an outer circumferential surface of the inner arm 39 is fitted to an inner circumferential surface of the inner arm shaft sleeve 38, and the inner arm 39 is freely slidable in the inner arm shaft sleeve 38. 3. The locking mechanism 37 is fixed to the end of the inner arm 39.
As shown in fig. 3, the locking mechanism 37 includes a horizontal slide rail 371, a first rotation shaft 372, a second rotation shaft 373, a linear actuator 374, a linear actuator holder 375, a locking pin 376, a link 377, a link connector 378, a radial spherical plain bearing 379, and a connecting bolt 3710;
The horizontal slide rail 371 is fixedly connected with the guide rail shaft sleeve 34 through a plurality of through holes formed on the outer circumferential surface, the guide rail shaft sleeve 34 is in sliding connection with the guide rail 35, the linear actuator 374 is fixed on the horizontal slide rail 371 through the linear actuator retainer 375, the output shaft of the linear actuator 374 is coaxially inserted into the inner ring of the horizontal slide rail 371, one ends of a plurality of locking pins 376 which are uniformly distributed in a ring shape are matched with rectangular grooves on the horizontal slide rail 371, and can freely slide,
Each connecting rod 377 is hinged with the connecting rod connecting piece 378 and the other end of the corresponding locking pin 376 through a second rotating shaft 373 and a first rotating shaft 372 respectively to form a revolute pair.
The connecting rod connector 378 is sleeved on the output shaft of the linear actuator 374 through a radial spherical plain bearing 379.
The radial spherical plain bearing 379 is fixed to the output shaft of the linear actuator 374 by a connecting bolt 3710.
When the space manipulator works in a large scale, as shown in fig. 4, the novel reconfigurable space manipulator provided by the invention realizes the on-orbit crawling of the manipulator through alternate butt locking of the standard butt joint interfaces 2 at two ends and the standard interfaces on installation and large-scale space facilities and track planning control, thereby realizing the large-scale working capacity of the manipulator.
As shown in fig. 3, the linear actuator 374 drives the radial spherical plain bearing 379 to move linearly in an axial direction, and the connecting rod connecting piece 378 moves linearly in an axial direction synchronously; then, the radial movement of the locking pin 376 is converted by the connecting rod 377, when the locking pin 376 is clamped into the locking groove on the locking groove curved plate 33, the inner arm 39 and the outer arm 32 are fixed and can not move relatively, and when the locking mechanism 37 is opened, the inner arm 39 and the outer arm 32 can move relatively linearly and freely. The locking groove curved plate 33 has six rows of locking grooves, so that each arm has six locking states.
When the operation space is changed: as shown in fig. 5, the passive telescopic boom is fixedly connected to the space manipulator through an outer boom flange 31 and an inner boom flange 310. When the standard butt joint interfaces 2 at the two ends of the mechanical arm are connected with interfaces on space facilities, the arm rod is unlocked, the inner arm rod 39 of the passive telescopic arm rod freely slides on the guide rail 35 through the guide rail shaft sleeve 34 by planning joint movement, and when the passive telescopic arm rod stretches to a specified length, the locking structure is locked, so that the configuration change of the mechanical arm is realized. Each arm has 6 locking states, so the space manipulator proposed has 36 configurations.
It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (4)
1. A reconfigurable spatial manipulator having a wide range of operation and variable operating space capabilities, characterized by: the space mechanical arm consists of a plurality of passive telescopic arm rods (3), a plurality of common arm rods (4) and a plurality of rotary joints (1), two ends of the mechanical arm are provided with standard butt joint interfaces (2),
Each passive telescopic arm lever (3) comprises an outer arm lever flange (31), an outer arm lever (32), a locking groove curved plate (33), a shaft sleeve flange (36), a locking mechanism (37), an inner arm lever (39) and an inner arm lever flange (310);
The two ends of the outer arm rod (32) are respectively fixed with an outer arm rod flange (31) and a shaft sleeve flange (36), the locking groove curved plate (33) is coaxially fixed on the inner wall of the outer arm rod (32), and a plurality of locking grooves matched with the locking mechanism (37) are formed in the inner wall of the locking groove curved plate (33);
The front end and the rear end of the inner arm rod (39) are respectively fixed with a locking mechanism (37) and an inner arm rod flange (310),
The inner arm lever (39) is slidably mounted inside the locking groove curved plate (33),
The locking mechanism (37) comprises a horizontal sliding rail (371), a first rotating shaft (372), a second rotating shaft (373), a linear actuator (374), a linear actuator retainer (375), a locking pin (376), a connecting rod (377), a connecting rod connecting piece (378) and a radial joint bearing (379); the horizontal slide rail (371) is fixedly connected with the guide rail shaft sleeve (34) through a plurality of through holes formed in the outer circumferential surface, the guide rail shaft sleeve (34) is in sliding connection with the guide rail (35), the linear actuator (374) is fixed on the horizontal slide rail (371) through the linear actuator retainer (375), an output shaft of the linear actuator (374) is coaxially inserted into an inner ring of the horizontal slide rail (371), one end of a plurality of locking pins (376) which are uniformly distributed in a ring shape is matched with a rectangular groove on the horizontal slide rail (371) and can freely slide,
Each connecting rod (377) is hinged with the connecting rod connecting piece (378) and the other end of the corresponding locking pin (376) respectively to form a revolute pair;
The connecting rod connector (378) is sleeved on the output shaft of the linear actuator (374) through a radial spherical plain bearing (379).
2. The reconfigurable space manipulator with wide range of operation and variable operating space capability of claim 1, wherein: a plurality of locking grooves are axially aligned along the inner arm (39).
3. The reconfigurable space manipulator with wide range of operation and variable operating space capability of claim 2, wherein: each passive telescopic arm rod (3) further comprises a guide rail (35) and a guide rail shaft sleeve (34); the guide rail (35) is arranged at the gap between the outer arm lever (32) and the inner arm lever (39), the two ends of the guide rail (35) are respectively fixed on the outer arm lever flange (31) and the shaft sleeve flange (36),
The outer circumference of the guide rail shaft sleeve (34) is fixed with the locking mechanism (37), the guide rail (35) is matched with the inner circumferential wall of the guide rail shaft sleeve (34), three groups of the guide rail (35) and the guide rail shaft sleeve (34) are matched, and the circumferences of the guide rail shaft sleeve and the guide rail shaft sleeve are uniformly distributed.
4. A reconfigurable space manipulator having a wide range of working and variable operating space capabilities according to claim 3, wherein: each passive telescopic arm (3) further comprises an inner arm shaft sleeve (38);
The inner arm rod shaft sleeve (38) is fixed on the shaft sleeve flange (36), and the outer circumferential surface of the inner arm rod (39) and the inner circumferential surface of the inner arm rod shaft sleeve (38) are matched and can slide relatively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410090024.4A CN117773998B (en) | 2024-01-22 | Reconfigurable space manipulator with wide-range operation and variable operation space capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410090024.4A CN117773998B (en) | 2024-01-22 | Reconfigurable space manipulator with wide-range operation and variable operation space capability |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117773998A CN117773998A (en) | 2024-03-29 |
| CN117773998B true CN117773998B (en) | 2024-07-09 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500591A (en) * | 2021-07-21 | 2021-10-15 | 哈尔滨工业大学 | Variable-operation-space mechanical arm with passive lockable telescopic arm rod |
| CN115383788A (en) * | 2022-08-29 | 2022-11-25 | 北京空间飞行器总体设计部 | Spatial high-reliability crawling mechanical arm system |
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113500591A (en) * | 2021-07-21 | 2021-10-15 | 哈尔滨工业大学 | Variable-operation-space mechanical arm with passive lockable telescopic arm rod |
| CN115383788A (en) * | 2022-08-29 | 2022-11-25 | 北京空间飞行器总体设计部 | Spatial high-reliability crawling mechanical arm system |
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