CN207858887U - Modular extendable space manipulator ground tested - Google Patents
Modular extendable space manipulator ground tested Download PDFInfo
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- CN207858887U CN207858887U CN201721911269.0U CN201721911269U CN207858887U CN 207858887 U CN207858887 U CN 207858887U CN 201721911269 U CN201721911269 U CN 201721911269U CN 207858887 U CN207858887 U CN 207858887U
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Abstract
The utility model is related to robot for space analog platforms, specifically a kind of modular extendable space manipulator ground tested, air floating table is in low side, by the repulsion of high pressure gas, entire experiment porch can be made to swim on horizontal plane (such as marble horizontal plane)；Objective table is fixed on air floating table upper end by supporting rod, can bear the load of setting weight；Duct propulsion assembly is fixed on by supporting rack on air floating table supporting rod, for controlling the movement of air floating table in the horizontal plane；Modular mechanical arm system is mounted on objective table, it can be achieved that the operation task of setting.The utility model structure novel, movement is flexible, has autgmentability, is applicable to robot for space ground simulation emulation experiment.
Description
Technical field
The utility model is related to robot for space analog platform, specifically a kind of modular extendable space manipulator
Ground tested.
Background technology
With the development of space technology, artificial satellite is in scientific and technical experiment, weather forecasting, earth resource survey, region
Tracking and navigation and the communications field etc. all play an important role.Compared to the past, the function of present satellites gradually increases, knot
Structure is also increasingly complicated, and the safety and reliability of satellite in orbit has become every country issues that need special attention.For outer
Space rugged environment, mankind's utility model robot for space realize the repair and maintenance to satellite in orbit.Space machine
People is made of satellite and the mechanical arm being mounted on satellite, is that one kind can be in outer space autonomous flight, and can complete task and detect
It surveys, maintainable technology on-orbit is safeguarded and assists the in-orbit services tasks such as attitude maneuver.When robot for space works, need to ensure satellite base
The position of body and posture, then operating robotic arm complete fine operation task.With space tasks complexity and diversity
Increase, the functional requirement of robot for space is also being gradually increased.
Before robot for space transmitting, need to do a large amount of ground experiment, to ensure its reliability.So in space machine
In the development of device people, the ground experiment analog platform to match with robot for space also plays considerable effect.It is current empty
Between robot platform include air-flotation type, water floating type and hang spring counter weight type.Above-mentioned three classes are compared, water floating type and hang spring counter weight type are equal
There are excessive external disturbance, simulation precision is not high；And air-flotation type can ensure certain simulation precision, and cost maintenance expense
It is low；But current analog platform mostly is designed for individual particular task, does not have autgmentability.
Utility model content
For the above problem existing for existing space robot platform, the purpose of this utility model is to provide a kind of modules
Change expansible space manipulator ground tested.The ground experiment analog platform uses module machine person joint, has expansion
Malleability is applicable to a variety of in-orbit service task ground simulations.
The purpose of this utility model is achieved through the following technical solutions：
The utility model includes air floating table, objective table, modular mechanical arm, duct propulsion assembly and fan positioning plate,
Middle air floating table includes frame, gas cylinders group, control valve group and floating cushion, and the gas cylinders group is mounted on frame, the bottom of the frame
Multiple floating cushions are uniformly installed, the gas cylinders group by intake channel and gas transmission access respectively with air supply source and each floating cushion phase
Even, and the control valve group by being arranged on intake channel and gas transmission access controls air inlet or gas transmission, realizes each gas
Air film is formed between camel and horizontal plane；The objective table is mounted on above frame, and the modular mechanical arm includes pedestal, end
Connecting seat and multiple modularized joints, one end of the pedestal is held to be mounted on the objective table, the other end passes through sequentially connected
Multiple modularized joints are connected with the end connecting seat for installing end effector；The duct propulsion assembly includes branch
Support, ducted fan, fan fix top board and fan fixes lower platen, and one end of the supporting rack and the frame are removably
Connection, the both sides of the other end are respectively connected with one group of fan and fix top board and fan fixation lower platen, and the fan per side is fixed
Pressing plate and fan, which are fixed to clamp between lower platen, ducted fan, and the fan per side is fixed top board and promoted with adjacent duct
Homonymy fan in component is connected between fixing top board by the fan positioning plate；
Wherein：The control valve group includes pressure reducing valve, hand-operated valve, quick coupling fixed seat, quick coupling, shut-off valve, tune
Pressure valve, three-way connection and five-way joint, the quick coupling pass through the quick coupling fixed seat mounted on the objective table lower surface
It is connected with one end of hand-operated valve, the other end of the hand-operated valve is connect by pipeline with a port of the three-way connection, this three
Second port of pass joint is connected by conduit with the gas cylinders group, and third port is connected with the import of the pressure reducing valve,
The outlet of the pressure reducing valve is connected by conduit with the import of the pressure regulator valve, the import of the outlet and the shut-off valve of the pressure regulator valve
Be connected, the outlet of the shut-off valve is connected by conduit with a port of the five-way joint, the five-way joint stay there are one it is standby
With port, remaining port is connected with each floating cushion respectively；
The quick coupling, hand-operated valve, three-way connection form intake channel, and air source is input in the gas cylinders group, real
Now air floating table is inflated；In gas replenishment process, the pressure reducing valve is closed；
The gas cylinders group, three-way connection, pressure reducing valve, pressure regulator valve, shut-off valve and five-way joint form gas transmission access, will be described
Inside air source in gas cylinders group is transported to each floating cushion, realizes air film support air floating table floating；During gas transmission, the hand-operated valve
It is closed；
The frame includes bottom plate and multiple supporting rods, and the both ends of each supporting rod are provided with internal thread, and lower end passes through
Bolt is fixed on bottom plate, and the lower surface of the objective table is fixed in upper end；The gas cylinders group is mounted on by gas cylinder fixed seat
On bottom plate, the shut-off valve is mounted on by connecting seat on bottom plate, and the pressure reducing valve and five-way joint are separately mounted on bottom plate,
The three-way connection is mounted on any supporting rod；Each floating cushion is respectively positioned on the lower section of bottom plate, passes through bolt and nut
It is fixed on the lower surface of the bottom plate；
The objective table includes loading panel, support base and guardrail, and the upper surface of the loading panel is equipped with multiple supports
, it is equipped with guardrail between adjacent supports seat, the gap being inserted into for the pedestal, the bottom are equipped between any two adjacent supports seat
Seat is mounted on the loading panel；
The modularized joint includes joint back seat, Servo-controller, dead axle, steering wheel upper fixed seat, sleeve, steering wheel and steering wheel
Lower fixed seat, which is connected with Servo-controller, for the steering wheel lower fixed seat in pedestal or adjacent modular joint
Connection, the output shaft of the Servo-controller are connected with steering wheel；The sleeve is mounted on the top of Servo-controller, and the dead axle plugs
It is connect in sleeve and with Servo-controller, which is interference fitted with the dead axle；The steering wheel lower fixed seat
One end is connected with steering wheel, and the other end is connect with one end of the steering wheel upper fixed seat, the other end of the steering wheel upper fixed seat and institute
State the external cylindrical surface clearance fit of sleeve；The Servo-controller drives the upper and lower fixed seat of steering wheel around System of Rotating about Fixed Axis by steering wheel；
Base inner surface is provided with the nut mounting hole for being connect with Servo-controller behind the joint, base inner surface behind the joint
Be surrounded by the erection support with through-hole, the erection support is affixed with Servo-controller by bolt；It is fixed on the steering wheel
Seat one end bottom surface be equipped with fin, the steering wheel lower fixed seat inner surface offer with the matched guide groove of the fin, this is convex
Rib is inserted in guide groove and is fastened by bolts；
One end of support frame as described above by screw bolt and nut and supporting rack platen clamp on the frame of air floating table, the wind
The fixed top board of fan, fan fixes lower platen and fan positioning plate is fastened by bolts on supporting rack；
The ducted fan orthogonal configuration of support frame as described above both sides, the i.e. longitudinal center line of the ducted fan of both sides are vertical.
The advantages of the utility model is with good effect：
1. the air floating table of the utility model uses three floating cushions, make air floating table horizontal by three point contacts, it can
Realization steadily floats.
2. the mechanical arm of the utility model is designed using modularized joint, have scalability, can be expanded according to mission requirements
Mechanical joint is filled, while end coupling seat can be equipped with specific end effector.
3. the modular mechanical arm of the utility model and the part of duct propulsion system are all made of the making of 3D printing techniques,
Simple in structure, weight is light and has higher manufacturing efficiency.
4. the joint back seat of the modularized joint of the utility model, steering wheel seat and connecting rod are equipped with through-hole, for inside
Cabling；And joint back seat is set there are four nut mounting hole, when being fixed with other component, can directly be consolidated by bolt, be made machinery
Arm dexterousr convenience when assembling.
5. the mechanical arm of the utility model uses Servo-controller for joint driver, be internally provided with retarder, can generate compared with
On the other hand big torque uses Servo-controller that can ensure that modularized joint is compact-sized.
6. the utility model is promoted using ducted fan, the isolated propeller of same diameter is compared, pushing away for bigger is will produce
Power, and there is safety；Simultaneously because ducted fan group uses orthogonal configuration, it is ensured that the thrust of adjacent side is mutually orthogonal,
Keep motion control freer.
Description of the drawings
Fig. 1 is one of the whole assembling schematic diagram of the utility model；
Fig. 2 is the dimensional structure diagram of the utility model air floating table；
Fig. 3 is the structure top view of the utility model air floating table；
Fig. 4 is the scheme of installation of the utility model air floating table bottom plate and five-way joint；
Fig. 5 is the structure upward view of the utility model air floating table；
Fig. 6 is the dimensional structure diagram of the utility model objective table；
Fig. 7 is the dimensional structure diagram of the utility model modular mechanical arm；
Fig. 8 is the dimensional structure diagram of modularized joint in the utility model modular mechanical arm；
Fig. 9 is the explosive view of Fig. 8；
Figure 10 is the dimensional structure diagram of joint back seat in Fig. 8, Fig. 9；
Figure 11 is the dimensional structure diagram of connecting rod in the utility model modular mechanical arm；
Figure 12 is the dimensional structure diagram of the utility model duct propulsion assembly；
Figure 13 is the structural schematic diagram of the utility model fan positioning；
Figure 14 is the two of the whole assembling schematic diagram of the utility model；
Wherein：1 is air floating table, and 101 be floating cushion, and 102 be bottom plate, and 103 be supporting rod, and 104 be pressure reducing valve, and 105 be hand
Dynamic valve, 106 be gas cylinders group, and 107 be gas cylinder fixed seat, and 108 be quick coupling fixed seat, and 109 be quick coupling, and 110 be cut-off
Valve, 111 be pressure regulator valve, and 112 be pressure gauge, and 113 be three-way connection, and 114 be five-way joint, and 115 be connecting seat；
2 be objective table, and 201 be loading panel, and 202 be support base, and 203 be gap, and 204 be square guardrail, and 205 be long shield
Column；
3 be modular mechanical arm, and 301 be pedestal, and 302 be the first modularized joint, and 303 be the second modularized joint, 304
It is third modularized joint for connecting rod, 305,306 be end connecting seat, and 321 be joint back seat, and 322 be Servo-controller, and 323 are
Dead axle, 324 be steering wheel upper fixed seat, and 325 be sleeve, and 326 be steering wheel, and 327 be steering wheel lower fixed seat, and 328 be nut mounting hole,
329 be through-hole, and 330 be erection support, and 331 be guide groove；
4 be duct propulsion assembly, and 401 be supporting rack pressing plate, and 402 be supporting rack, and 403 be ducted fan, and 404 is solid for fan
Determine top board, 405 fix lower platen for fan；
5 be fan positioning plate.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the utility model include air floating table 1, objective table 2, modular mechanical arm 3, duct propulsion assembly 4 and
Fan positioning plate 5, wherein air floating table 1 are installed on the lower section of objective table 2, are equipped with pneumatic equipment, and experiment porch entirety can be made to exist
Floating is kept on horizontal plane；One end of modular mechanical arm 3 is fixed on objective table 2, and the other end is equipped with end effector,
The surrounding of air floating table 1 is equipped with multiple duct propulsion assemblies 4, is connected by fan positioning plate 5 between adjacent duct propulsion assembly 4
It connects, to ensure the orientation of duct propulsion.
As shown in Figure 2-5, air floating table 1 includes frame, gas cylinders group 106, control valve group and floating cushion 101, gas cylinders group 106
On frame, the bottom of the frame is uniformly equipped with multiple floating cushions 101, and gas cylinders group 106 passes through intake channel and gas transmission
Access is connected with air supply source and each floating cushion 101 respectively, and by the way that the control valve group on intake channel and gas transmission access is arranged
Air inlet or gas transmission are controlled, realizes and forms air film between each floating cushion 101 and horizontal plane.Frame includes bottom plate 102 and multiple supports
Bar 103, bottom plate 102 are square, and a supporting rod 103 is equipped on rectangular four angles；In the both ends of each supporting rod 103 are provided with
Screw thread, lower end are secured by bolts on bottom plate 102, and the lower surface of objective table 2 is fixed in upper end, are used to support loading 2.Gas
Bottle fixed seat 107 is secured by bolts on bottom plate 102, and gas cylinders group 106 is installed in gas cylinder fixed seat 107.Control valve group packet
Include pressure reducing valve 104, hand-operated valve 105, quick coupling fixed seat 108, quick coupling 109, shut-off valve 110, pressure regulator valve 111, air pressure
Table 112, three-way connection 113 and five-way joint 114, quick coupling fixed seat 108 are secured by bolts in loading panel 201
On lower surface, quick coupling 109 is installed in quick coupling fixed seat 108；Pressure reducing valve 104 is bolted on bottom plate 102,
Air gauge 112 is installed on pressure reducing valve 104.Connecting seat 115 is secured by bolts on bottom plate 102, and shut-off valve 110 passes through spiral shell
Bolt is fixed on connecting seat 115；Five-way joint 114 is secured by bolts on bottom plate 102, and three-way connection 113 is mounted on any
On root supporting rod 103.Each floating cushion 101 is respectively positioned on the lower section of bottom plate 102, is fixed under bottom plate 102 by bolt and nut
Surface.Quick coupling 109 is connected by quick coupling fixed seat 108 with one end of hand-operated valve 105, the other end of hand-operated valve 105
It is connect with a port of three-way connection 113 by pipeline, second port of three-way connection passes through conduit and 106 phase of gas cylinders group
Even, third port is connected with the import of pressure reducing valve 104, and the outlet of pressure reducing valve 104 passes through the import of conduit and pressure regulator valve 111
It is connected, the outlet of pressure regulator valve 111 is connected with the import of shut-off valve 110, and the outlet of shut-off valve 110 passes through conduit and five-way joint
114 a port is connected, and five-way joint 114 stays that there are one standby ports, remaining port is connected with each floating cushion 101 respectively.
Intake channel is：109 air inlet of quick coupling, hand-operated valve 105 is connected to by conduit, and being then connected to three by conduit connects
First 113, gas cylinders group 106 is connected to by conduit from the upper end port of three-way connection 113, air source is input to gas cylinders group 106
In, it realizes and air floating table 1 is inflated；In gas replenishment process, pressure reducing valve 104 is closed.Gas transmission access is：Gas cylinders group 106 is defeated
Go out air-flow, three-way connection 113 is connected to by conduit, then the lower end port of three-way connection 113 is connected to decompression by conduit
Then valve 104 is connected to pressure regulator valve 111 by conduit, then 111 shut-off valve 110 of pressure regulator valve is connected, and then shut-off valve 110 is logical
It crosses conduit with a port of five-way joint 114 to be connected, last five-way joint 114 connects floating cushion 101 by gas cylinder by conduit
Inside air source in group 106 is transported to each floating cushion 101, realizes that air film support air floating table 1 floats；During gas transmission, hand-operated valve
105 are closed.The floating cushion 101 of the present embodiment is three, respectively with three ports on five-way joint 114 by leading
Pipe is connected to；Five-way joint 114 is stayed there are one standby port, when not in use blocks the port.
As shown in fig. 6, objective table 2 includes loading panel 201, support base 202 and guardrail, loading panel 201 is rectangular, opens
There is a uniformly distributed tapped through hole, four angles of upper surface respectively install that there are one support bases 202 by bolt；Guardrail is divided into short guardrail
204 and long guardrail 205, short guardrail 204 or long guardrail 205, short guardrail 204 or long guardrail 205 are equipped between adjacent supports seat 202
It can be mounted on support base 202 by screw bolt and nut.It is equipped with the bottom of between two adjacent supports seats 202 of rectangular a line
The gap 203 that seat 301 is inserted into, the pedestal 301 are mounted on loading panel 201.
As shown in Fig. 7~11, the part of the modular mechanical arm 3 of the utility model is printed by 3D to be manufactured, including pedestal
301, connecting rod 304, end connecting seat 306 and multiple modularized joints, the modularized joint of the present embodiment are three, respectively the
One modularized joint 302, the second modularized joint 303 and third modularized joint 305, pedestal 301 are bolted on load
On the loading panel 201 of object platform 2, then the first modularized joint 301 is connected by bolt with the second modularized joint 302, the
Two modularized joints 302 are connected by bolt with connecting rod 304, and then connecting rod 304 passes through bolt and third modularized joint 305
It is connected, last third modularized joint 305 is connected by bolt with end connecting seat 306, and end connecting seat 306 is for pacifying
Fill end effector.Modularized joint includes joint back seat 321, Servo-controller 322, dead axle 323, steering wheel upper fixed seat 324, set
Cylinder 325, steering wheel 326 and steering wheel lower fixed seat 327,321 inner surface of joint back seat are provided with for being connect with Servo-controller 322
Nut mounting hole 328, the erection support 330 of 321 inner surface of joint back seat being surrounded by with through-hole 329, erection support 330 are logical
It crosses bolt and Servo-controller 322 is affixed.Joint back seat 321 is used to consolidate under the steering wheel in pedestal 301 or adjacent modular joint
Reservation 327 connects.Steering wheel 326 has been bolted in the output shaft of Servo-controller 322；Sleeve 325 is mounted on Servo-controller
322 top, dead axle 323 is inserted in sleeve 325 and, sleeve 325 inner cylinder face affixed by bolt and Servo-controller 322
It is interference fitted with dead axle 323.One end of steering wheel lower fixed seat 327 is connected by bolt with steering wheel 326, solid on the other end and steering wheel
One end of reservation 324 connects, the other end of the steering wheel upper fixed seat 324 and the external cylindrical surface clearance fit of sleeve 325.Work as servo
When steering engine 322 rotates, steering engine axis drives the upper and lower fixed seat 324,327 of steering wheel to be rotated around dead axle 323 by steering wheel 326.Steering wheel
One end bottom surface of upper fixed seat 324 is equipped with fin, and 327 inner surface of steering wheel lower fixed seat offers and the matched guiding of the fin
Slot 331, the fin are inserted in guide groove 331, play positioning action, and then the two is fastened by bolts.
Modular mechanical arm 3 can be extended as desired by modularized joint or connecting rod is increased.
The duct propulsion assembly 4 of the utility model has four groups, is respectively arranged on four supporting rods 103.Such as Figure 12~14
Shown, the part of the utility model duct propulsion assembly 4 is manufactured by 3D printing, including supporting rack pressing plate 401, supporting rack
402, ducted fan 403, fan fix top board 404 and fan fixes lower platen 405, supporting rack pressing plate 401 and supporting rack
402 one end is clamped on the external cylindrical surface of supporting rod 103 by bolts and nuts and detachable, supporting rack reinforcing rib top
Equipped with installation bore, fan fixes top board 404 and the side of fan fixation lower platen 405 is bolted on supporting rack
It installs in bore.It is fixed under top board 404 and fan fixation that is, the both sides of 402 other end of supporting rack are respectively connected with one group of fan
Pressing plate 405, the fan per side fixes top board 404 and fan fixes the Kong Zhongjun clampings formed between lower platen 405 and has duct
Fan 403, and the fan per side fixes top board 404 and fixes top board 404 with the homonymy fan in adjacent duct propulsion assembly 4
Between by fan positioning plate 5 be connected.Fan fixes top board 404, fan fixes lower platen 405 and fan positioning plate 5 is equal
It is fastened by bolts on supporting rack 402.Ducted fan 403 is divided into four groups relative to four sides of air floating table 1, every group
Ducted fan can be orthogonal configuration, i.e. the longitudinal center line of the ducted fan 403 of both sides is vertical.
The operation principle of the utility model is：
Air floating table 1 is used to simulate the matrix satellite of robot for space, when extraneous air source is connected with quick coupling 109, closing
Pressure reducing valve 104 opens hand-operated valve 105, and air-flow is connected to hand-operated valve 105 by conduit, and being then connected to three by conduit connects
First 113, it is inflated into gas cylinders group 106 from the upper end of three-way connection 113 by conduit.After gas cylinders group 106 is full of gas, close
Hand-operated valve 105, opens pressure reducing valve 104, pressure regulator valve 111 and shut-off valve 110, and air-flow is exported from gas cylinders group 106, connected by conduit
To three-way connection 113, then the lower end of three-way connection 113 is connected to pressure reducing valve 14 by conduit, is then connected to by conduit
Then pressure regulator valve 111 is connected pressure regulator valve 111 with shut-off valve 110, and then shut-off valve 110 is connected by conduit with five-way joint 114,
Last five-way joint 114 connects floating cushion 101 by conduit.Wherein pressure reducing valve 104 can realize the coarse adjustment to output pressure, and
Pressure regulator valve 111 can be realized and be fine-tuned to output pressure, and then be made between air floating table 1 and horizontal plane (such as marble horizontal plane)
Stable air film is formed, realizes the floating of experiment porch entirety.Duct propulsion assembly 4 is distributed in four supporting rods of air floating table 1
On 103, orthogonal configuration is realized by fan positioning plate 5, four groups can be divided into, i.e.,：Front, rear, left and right.Each side has two
The flat of front, rear, left and right direction in plane may be implemented when the fan being separately turned on this four faces in a ducted fan 103
It is dynamic；When two fans for opening diagonal simultaneously, it can be achieved that plane is to rotation clockwise and anticlockwise.Modular mechanical
Arm 3 is fixed on objective table 2, and end connecting seat 306 is equipped with connecting hole, can connect end effector, and watch by control
The joint angles of steering engine 322 are taken, realize operation task.
Claims (10)
1. a kind of modular extendable space manipulator ground tested, it is characterised in that：Including air floating table (1), objective table
(2), modular mechanical arm (3), duct propulsion assembly (4) and fan positioning plate (5), wherein air floating table (1) include frame, gas cylinder
Group (106), control valve group and floating cushion (101), the gas cylinders group (106) are mounted on frame, and the bottom of the frame is uniformly pacified
Equipped with multiple floating cushions (101), the gas cylinders group (106) by intake channel and gas transmission access respectively with air supply source and each air supporting
It pads (101) to be connected, and the control air inlet of the control valve group by being arranged on intake channel and gas transmission access or gas transmission, realize
Each floating cushion (101) forms air film between horizontal plane；The objective table (2) is mounted on above frame, the modularization
Mechanical arm (3) includes pedestal (301), end connecting seat (306) and multiple modularized joints, one end installation of the pedestal (301)
On the objective table (2), the other end passes through sequentially connected multiple modularized joints and the institute for installing end effector
End connecting seat (306) is stated to be connected；The duct propulsion assembly (4) includes that supporting rack (402), ducted fan (403), fan are solid
To determine top board (404) and fan fixes lower platen (405), one end of the supporting rack (402) and the frame are detachably connected,
The both sides of the other end are respectively connected with one group of fan and fix top board (404) and fan fixation lower platen (405), and the fan per side is solid
Determine to clamp between top board (404) and fan fixation lower platen (405) and have ducted fan (403), and the fan per side is fixed
Homonymy fan in top board (404) and adjacent duct propulsion assembly (4) is determined between fixing top board (404) by the fan
Position plate (5) is connected.
2. modular extendable space manipulator ground tested according to claim 1, it is characterised in that：The control
Valve group processed includes pressure reducing valve (104), hand-operated valve (105), quick coupling fixed seat (108), quick coupling (109), shut-off valve
(110), pressure regulator valve (111), three-way connection (113) and five-way joint (114), the quick coupling (109) are described by being mounted on
The quick coupling fixed seat (108) of objective table (2) lower surface is connected with one end of hand-operated valve (105), the hand-operated valve (105) it is another
One end is connect by pipeline with a port of the three-way connection (113), and second port of the three-way connection passes through conduit
It is connected with the gas cylinders group (106), third port is connected with the import of the pressure reducing valve (104), which goes out
Mouth is connected by conduit with the import of the pressure regulator valve (111), outlet and the shut-off valve (110) of the pressure regulator valve (111)
Import be connected, the outlet of the shut-off valve (110) is connected by conduit with a port of the five-way joint (114), this five lead to
Connector (114) is stayed there are one standby port, remaining port is connected with each floating cushion (101) respectively.
3. modular extendable space manipulator ground tested according to claim 2, it is characterised in that：It is described fast
Quick coupling (109), hand-operated valve (105), three-way connection (113) form intake channel, and air source is input to the gas cylinders group (106)
In, it realizes and air floating table (1) is inflated；In gas replenishment process, the pressure reducing valve (104) is closed.
4. modular extendable space manipulator ground tested according to claim 2, it is characterised in that：The gas
Bottle group (106), three-way connection (113), pressure reducing valve (104), pressure regulator valve (111), shut-off valve (110) and five-way joint (114) group
At gas transmission access, the inside air source in the gas cylinders group (106) is transported to each floating cushion (101), realizes that air film supports air supporting
Platform (1) floats；During gas transmission, the hand-operated valve (105) is closed.
5. modular extendable space manipulator ground tested according to claim 2, it is characterised in that：The frame
Frame includes bottom plate (102) and multiple supporting rods (103), and the both ends of each supporting rod (103) are provided with internal thread, and lower end passes through
Bolt is fixed on bottom plate (102), and the lower surface of the objective table (2) is fixed in upper end；The gas cylinders group (106) passes through gas cylinder
Fixed seat (107) is mounted on bottom plate (102), and the shut-off valve (110) is mounted on by connecting seat (115) on bottom plate (102),
The pressure reducing valve (104) and five-way joint (114) are separately mounted on bottom plate (102), and three-way connection (113) installation is in office
On a piece supporting rod (103)；Each floating cushion (101) is respectively positioned on the lower section of bottom plate (102), is fixed on by bolt and nut
The lower surface of the bottom plate (102).
6. modular extendable space manipulator ground tested according to claim 1, it is characterised in that：The load
Object platform (2) includes loading panel (201), support base (202) and guardrail, and the upper surface of the loading panel (201) is equipped with multiple
Support base (202) is equipped with guardrail between adjacent supports seat (202), is equipped between any two adjacent supports seat and supplies the pedestal
(301) gap (203) being inserted into, the pedestal (301) are mounted on the loading panel (201).
7. modular extendable space manipulator ground tested according to claim 1, it is characterised in that：The mould
Block joint includes joint back seat (321), Servo-controller (322), dead axle (323), steering wheel upper fixed seat (324), sleeve
(325), steering wheel (326) and steering wheel lower fixed seat (327), which is connected with Servo-controller (322), for
Steering wheel lower fixed seat (327) connection in pedestal (301) or adjacent modular joint, the output shaft of the Servo-controller (322)
It is connected with steering wheel (326)；The sleeve (325) is mounted on the top of Servo-controller (322), and the dead axle (323) is inserted in set
It is connect in cylinder (325) and with Servo-controller (322), which is interference fitted with the dead axle (323)；Institute
The one end for stating steering wheel lower fixed seat (327) is connected with steering wheel (326), one end of the other end and the steering wheel upper fixed seat (324)
Connection, the external cylindrical surface clearance fit of the other end and the sleeve (325) of the steering wheel upper fixed seat (324)；The servorudder
Machine (322) drives the upper and lower fixed seat of steering wheel (324,327) to be rotated around dead axle (323) by steering wheel (326).
8. modular extendable space manipulator ground tested according to claim 7, it is characterised in that：The pass
Section back seat (321) inner surface is provided with the nut mounting hole (328) for being connect with Servo-controller (322), the joint back seat (321)
The erection support (330) of inner surface being surrounded by with through-hole (329), the erection support (330) pass through bolt and servorudder
Machine (322) is affixed；One end bottom surface of the steering wheel upper fixed seat (324) is equipped with fin, the interior table of the steering wheel lower fixed seat (327)
Face, which is offered, to be inserted in guide groove (331) and is fastened by bolts with the matched guide groove of the fin (331), the fin.
9. modular extendable space manipulator ground tested according to claim 1, it is characterised in that：The branch
One end of support (402) is clamped in by screw bolt and nut and supporting rack pressing plate (401) on the frame of air floating table (1), the wind
The fixed top board (404) of fan, fan fixes lower platen (405) and fan positioning plate (5) is fastened by bolts in supporting rack
(402) on.
10. modular extendable space manipulator ground tested according to claim 1, it is characterised in that：It is described
Ducted fan (403) orthogonal configuration of supporting rack (402) both sides, the i.e. longitudinal center line of the ducted fan (403) of both sides are vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721911269.0U CN207858887U (en) | 2017-12-30 | 2017-12-30 | Modular extendable space manipulator ground tested |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721911269.0U CN207858887U (en) | 2017-12-30 | 2017-12-30 | Modular extendable space manipulator ground tested |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207858887U true CN207858887U (en) | 2018-09-14 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161990A (en) * | 2017-12-30 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| CN111284733A (en) * | 2019-12-30 | 2020-06-16 | 南京理工大学 | Air floatation device of ground simulation spacecraft |
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2017
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161990A (en) * | 2017-12-30 | 2018-06-15 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| CN108161990B (en) * | 2017-12-30 | 2019-05-21 | 中国科学院沈阳自动化研究所 | A kind of modular extendable space manipulator ground tested |
| WO2019128823A1 (en) * | 2017-12-30 | 2019-07-04 | 中国科学院沈阳自动化研究所 | Modularized extensible space manipulator type ground experiment platform |
| CN111284733A (en) * | 2019-12-30 | 2020-06-16 | 南京理工大学 | Air floatation device of ground simulation spacecraft |
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