CN214924607U - Space station science glove box arm - Google Patents
Space station science glove box arm Download PDFInfo
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- CN214924607U CN214924607U CN202120833823.8U CN202120833823U CN214924607U CN 214924607 U CN214924607 U CN 214924607U CN 202120833823 U CN202120833823 U CN 202120833823U CN 214924607 U CN214924607 U CN 214924607U
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Abstract
The utility model relates to a manned aerospace space station science experimental facilities, in particular to space station science glove box arm. The mechanical arm is arranged in the space station scientific glove box and comprises six joints which are sequentially connected and a terminal quick connector connected with the terminal joint, the six joints are rotating joints, and the first joint is connected with the bottom of the space station scientific glove box and can rotate along an arc track. The utility model discloses can realize six degree of freedom operation tasks to supplementary astronaut accomplishes meticulous operations or independently accomplishes meticulous operations, can greatly reduce the intensity of labour of astronaut's in-orbit operation meticulous task, and improve its task success rate.
Description
Technical Field
The utility model relates to a manned aerospace space station science experimental facilities, in particular to space station science glove box arm.
Background
The main purpose of the space station is to provide a space science laboratory which can operate on track for a long time for human beings. A scientific glove box experiment cabinet for a space station is one of scientific experiment cabinets for the space station, and aims to provide an on-orbit operable environment for microgravity scientific experiments, such as space material experiments, space life science experiments, space biological experiments and the like, so as to realize experiment operation tasks in the space microgravity environment.
According to the experience of space science experiments performed by astronauts in orbit in manned aerospace engineering at home and abroad, when scientific experiments such as life sciences, biotechnology, material science, aerospace medicine and the like are performed in the environments such as space airplanes, space laboratories, space stations and the like, in order to ensure the habitability of the astronauts in the cabins, a part of experimental places of the scientific experiments need to be isolated from the cabin environment where the astronauts live, and substances (gas, liquid, solid or a mixture thereof) generated by the experiments are not allowed to bring harm to the health of the astronauts; on the other hand, many scientific experiments have certain requirements on environmental characteristics such as air, airflow, temperature, humidity, illumination and the like, and in this case, many scientific experiments are generally performed in a glove box. In addition, the research that can be carried out in the space station scientific glove box involves a plurality of basic disciplines such as biology, physics, materials and the like, in the space science experiment, a plurality of experimental samples need to be stored and transported under the controlled environment (temperature, humidity, illumination, ventilation and the like), and the fine operation is needed in part of the science experiment. Thus, a space station science glove box is a system designed to be closed, environmentally controlled, and provide the dexterous, delicate handling capabilities needed for space science experiments. When the astronaut operates the objects in the glove box, in order to ensure the tightness of the glove box, the operation is carried out through the gloves with the isolation function, and the precision operation difficulty is very high. The space station scientific glove box belongs to a narrow and irregular space, and a mechanical arm commonly used in the industry at present cannot be directly moved into the space station scientific glove box. Therefore, a small mechanical arm which can adapt to the special configuration and size of the inner space of the glove box needs to be designed so as to meet the requirement of dexterous operation in the narrow space in the glove box.
SUMMERY OF THE UTILITY MODEL
To the problem, an object of the utility model is to provide a space station science glove box arm to satisfy the dexterous operation task in the specific space of space station science glove box, independently accomplish or assist the astronaut to accomplish the meticulous operation task of in orbit science experiment.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a space station science glove box arm, arm set up in space station science glove box, the arm is including six joints that connect gradually and the terminal quick interface of being connected with terminal joint, six joints are the revolute joint, and wherein first joint is connected with the bottom of space station science glove box, and can follow the circular arc orbit and rotate.
The first joint comprises an arc guide rail, a sliding block, a base and a first joint rotation driving mechanism, wherein the arc guide rail is arranged at the bottom of the space station scientific glove box, and the base is connected with the arc guide rail in a sliding mode through the sliding block; the first joint rotation driving mechanism is arranged between the arc guide rail and the base and used for driving the base to slide along the arc guide rail.
The first joint rotation driving mechanism comprises an arc gear ring and a driving assembly, and the arc gear ring is coaxially arranged at the lower part of the arc guide rail;
the driving assembly comprises a pinion, a harmonic reducer I, a motor support and a motor I, wherein the motor support is arranged on the base, the motor I is arranged on the motor support, and one output end of the motor I is connected with an input shaft of the harmonic reducer I; the pinion is connected to an output shaft of the harmonic reducer I and meshed with the arc gear ring.
Another output of motor I passes through the shaft coupling and is connected with many rings of absolute value encoders, and many rings of absolute value encoders pass through the encoder support to be supported, the encoder support with motor leg joint.
First joint rotation actuating mechanism still including set up in drive controller I on the base, drive controller I is used for control motor I.
The second joint of the mechanical arm is arranged on the base, and the rotation axis of the second joint is parallel to that of the first joint;
the rotating axis of the third joint of the mechanical arm is vertical to the rotating axis of the second joint;
the rotation axes of the fourth joint and the fifth joint of the mechanical arm are parallel to the rotation axis of the third joint;
and the rotation axis of the sixth joint of the mechanical arm is vertical to the rotation axis of the fifth joint.
The third joint is connected with the fourth joint through a first connecting rod; the fourth joint is connected with the fifth joint through a second connecting rod.
The second to sixth joints are identical in structure and comprise a motor II, a harmonic speed reducer II and a joint output end, wherein an output shaft of the motor II is connected with the input end of the harmonic speed reducer II, and the output end of the harmonic speed reducer II is connected with the joint output end.
And the inner side end of the joint output end is fixedly connected with a hollow shaft, and the hollow shaft penetrates through a center hole of the motor II to be connected with the absolute value encoder II.
And a driving controller II is arranged on the outer side of the motor II and is used for controlling the motor II.
The utility model has the advantages and beneficial effects that:
the utility model is suitable for an optimization configuration of space station science glove box inner space: the inside irregular, narrow space that is of space station science glove box can reach for realizing the inside global of glove box, if adopt current ripe arm configuration, can cause the arm size too big, leads to the inside useful space of glove box to diminish even in the arm self can not install into the glove box. The utility model discloses a mechanical arm configuration can realize reaching the function that the inside global of glove box can reach with minimum arm size to the inside useful working space of maximize glove box.
The utility model discloses it is more convenient to change end instrument: standardized mechanical and electrical interfaces are arranged, diversified terminal tools can be replaced, connection and disconnection between the mechanical arm and terminal work are achieved through the drawing type quick locking mechanism, so that an astronaut can operate with one hand in orbit, the efficiency of replacing the terminal tools of the mechanical arm by the astronaut in orbit is greatly improved, and the labor intensity of the astronaut is reduced.
Drawings
FIG. 1 is a layout view of a space station science glove box mechanical arm in a glove box;
FIG. 2 is a schematic structural view of the mechanical arm of the space station scientific glove box of the present invention;
fig. 3 is a schematic structural diagram of a first joint of the mechanical arm of the space station scientific glove box of the present invention;
fig. 4 is a schematic structural diagram of a driving assembly of a first joint in the present invention;
fig. 5 is a schematic structural view of a second joint of the present invention.
In the figure: 1 is a mechanical arm, 2 is a space station scientific glove box, 11 is a first joint, 111 is an arc gear ring, 112 is an arc guide rail, 113 is a slide block, 114 is a slide block adapter plate, 115 is a base, 116 is a driving component, 1161 is a pinion, 1162 is a harmonic reducer I, 1163 is a motor support, 1164 is a motor I, 1165 is a coupler, 1166 is a multi-turn absolute value encoder, 1167 is an encoder support, 117 is a driving controller I, 12 is a second joint, 13 is a third joint, 14 is a first connecting rod, 15 is a fourth joint, 16 is a second connecting rod, 17 is a fifth joint, 18 is a sixth joint, 19 is a tail end quick interface, 121 is a motor II, 122 is a harmonic reducer II, 123 is a crossed roller bearing, 124 is an absolute value encoder, 125 is a driving controller II, 126 is a joint output end, and theta is theta1、θ2、θ3、θ4、θ5、θ6The corners of the first to sixth joints, respectively.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the utility model provides a pair of space station science glove box arm, including arm 1, arm 1 sets up in space station science glove box 2. The mechanical arm 1 comprises six joints which are connected in sequence and a tail end quick connector 19 connected with the tail end joint, and the six joints are all rotary joints. The six joints are a first joint 11, a second joint 12, a third joint 13, a fourth joint 15, a fifth joint 17 and a sixth joint 18 in sequence, wherein the first joint 11 is connected with the bottom of the space station scientific glove box 2 and can rotate along an arc track, and a tail end quick connector 19 is connected with an output end of the sixth joint 18.
As shown in fig. 3, in the embodiment of the present invention, the first joint 11 includes an arc guide rail 112, a slider 113, a slider adapter plate 114, a base 115, and a first joint rotation driving mechanism, wherein the arc guide rail 112 is disposed at the bottom of the space station scientific glove box 2, the base 115 is connected to the slider adapter plate 114, and the slider adapter plate 114 is slidably connected to the arc guide rail 112 through the slider 113; the first joint rotation driving mechanism is disposed between the circular arc guide rail 112 and the base 115, and is configured to drive the base 115 to slide along the circular arc guide rail 112.
Specifically, the first articulation drive mechanism includes a circular-arc ring gear 111 and a drive assembly 116, and the circular-arc ring gear 111 is coaxially disposed at a lower portion of the circular-arc guide rail 112. As shown in fig. 4, the driving assembly 116 includes a pinion 1161, a harmonic reducer i 1162, a motor bracket 1163, and a motor i 1164, wherein the motor bracket 1163 is disposed on the base 115, the motor i 1164 is disposed on the motor bracket 1163, and an output end of the motor i 1163 is connected to an input shaft of the harmonic reducer i 1162; the pinion 1161 is connected to the output shaft of the harmonic reducer i 1162, and meshes with the circular-arc ring gear 111. The motor i 1164 drives the pinion 1161 to rotate through the harmonic reducer i 1162, and since the pinion 1161 and the arc-shaped gear ring 111 form a gear kinematic pair, the pinion 1161 rolls on the arc-shaped gear ring 111, so as to drive the base 115 to slide along the arc-shaped guide rail 112, and thus the movement of the first joint 11 is realized.
On the basis of the above embodiment, further, another output end of the motor i 1164 is connected with the multi-turn absolute value encoder 1166 through the coupler 1165, the multi-turn absolute value encoder 1166 is supported by the encoder support 1167, and the encoder support 1167 is connected with the motor support 1163. A multi-turn absolute value encoder 1166 is used to feedback the position of the first joint 11.
On the basis of the above embodiment, the first joint rotation driving mechanism further includes a driving controller i 117 disposed on the base 115, and the driving controller i 117 is configured to control the motor i 1164.
As shown in fig. 2, in the embodiment of the present invention, the arrangement of six joints of the mechanical arm 1 is as follows: the second joint 12 is arranged on the base 115 of the first joint 11, and the rotation axis is parallel to that of the first joint 11; the rotation axis of the third joint 13 is perpendicular to the rotation axis of the second joint 12; the axes of rotation of the fourth joint 15 and the fifth joint 17 are parallel to the axis of rotation of the third joint 13; the axis of rotation of the sixth joint 18 is perpendicular to the axis of rotation of the fifth joint 17.
Further, the third joint 13 is connected with the fourth joint 15 through the first link 14; the fourth joint 15 is connected to a fifth joint 17 via a second link 16. The first connecting rod 14 and the second connecting rod 16 are used for connecting two adjacent joints, so that the mechanical arm meets the requirement of an operation space, namely the inside of the glove box can be reached globally.
As shown in fig. 5, in the embodiment of the present invention, the second to sixth joints in the six joints all adopt modularization, and have the same structure, and all include motor ii 121, harmonic speed reducer ii 122 and joint output end 126, wherein an output shaft of motor ii 121 is connected with the input shaft of harmonic speed reducer ii 122, the output shaft of harmonic speed reducer ii 122 is connected with joint output end 126, and joint output end 126 is supported through crossed roller bearing 123. The motor II 121 drives the joint output end 126 to move after being decelerated by the harmonic reducer II 122, so that the second joint to the sixth joint can move.
On the basis of the above embodiment, further, a hollow shaft is fixedly connected to the inner side end of the output end 126, the hollow shaft penetrates through the central hole of the motor ii 121 and is connected with the absolute value encoder ii 124, and the absolute value encoder ii 124 is used for feeding back the positions of the second to sixth joints. And a driving controller II 125 is arranged on the outer side of the motor II 121, and the driving controller II 125 is used for controlling the motor II 121.
In the embodiment of the utility model, six of the mechanical arm 1The joint components are all rotary joints, and the components form 6R joint configuration forms, and the joint variables are angles theta1、θ2、θ3、θ4、θ5And theta6. The structural design of each joint adopts hollow wiring, and the cable of the mechanical arm 1 passes through the central hole of each joint, so that the +/-180-degree rotary motion can be realized.
The embodiment of the utility model provides an in, first joint 11 provides slewing motion, realizes that arm 1 can reach on a large scale in space station science glove box 2. The space station scientific glove box 2 is an irregular geometric space, if a traditional rotary joint design mode is adopted, in order to achieve global accessibility, the arm rod of the mechanical arm is designed to be very long, and the mechanical arm is low in rigidity and large in loaded deformation. Therefore, the first joint 11 can be made lightweight and highly rigid while achieving a wide range of access by adopting a support and drive design of the arc guide rail 112 and the arc ring gear 111.
The second joint 12, the third joint 13, the fourth joint 15, the fifth joint 17 and the sixth joint 18 are modular joints, provide rotary motion, have the same design principle, and adopt a mode of feeding back a motor and a harmonic reducer heightened precision absolute value encoder. The five joints and the first joint 11 form a six-degree-of-freedom motion mechanism in a serial form, and the three positions and three postures of the tail end of the mechanical arm are adjusted. The first to the sixth joints place the joint controller inside the joint, so that the structural attractiveness and the compact design are realized, meanwhile, the hollow wiring is realized, and the reliability of the system is improved.
The embodiment of the utility model provides an in, terminal quick interface 19 provides standardized machinery and electrical interface for the glove box arm, can realize the arm end with the quick being connected and the disconnection of different executor, but the different kind of end effector of adaptation greatly reduces the astronaut and changes end effector's intensity of labour on the track. Set up public head on the end effector, the arm end sets up female head, when inserting female head with public head, in the slot of the public head end of steel ball embedding through the female head end of spring compression, realizes the high-speed joint locking. When the connection is required to be disconnected, the structure for pulling the compression steel ball moves towards the direction of the compression spring, the pressure on the steel ball is released, the male head can be quickly pulled out from the female head, and the quick disconnection of the end effector and the mechanical arm is realized. The plug pin end and the jack end of the electric connector are respectively arranged between the male head and the female head, and the electric connection and disconnection are realized while the mechanical connection and disconnection are realized.
The utility model discloses a control system divide into the joint drive controller of lower floor and the system controller of upper strata, and joint drive controller all places inside the joint. The joint driving controller is used for receiving a motion command sent by the upper system controller, driving the joint to move and feeding back joint parameters including joint current, position, speed and the like to the system controller. The system controller realizes the motion planning, parameter acquisition and monitoring of the mechanical arm and the interactive communication with a controller on the upper layer. The system controller is communicated with each joint driving controller through a bus, and each joint driving controller is connected to the bus in series, so that the most simplified design and arrangement of cables are realized.
The utility model provides a pair of space station science glove box arm is applicable to the arm of the special configuration in complicated narrow space, has not only solved traditional industry arm and has been subject to weight, the problem that the volume is difficult to be used for space station science glove box, provides the standardized quick change interface that is applicable to multiple end effector moreover, has greatly made things convenient for the convenience of astronaut's operation in orbit. The mechanical arm can realize six-degree-of-freedom operation tasks to assist astronauts to finish fine operation or independently finish fine operation, the labor intensity of the astronauts to operate the fine tasks in orbit can be greatly reduced, and the task success rate of the astronauts is improved.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a space station science glove box arm, its characterized in that, arm (1) sets up in space station science glove box (2), arm (1) including six joints that connect gradually and terminal quick interface (19) of being connected with terminal joint, six joints are the revolute joint, and wherein first joint (11) are connected with the bottom of space station science glove box (2), and can rotate along the circular arc orbit.
2. The space station science glove box mechanical arm according to claim 1, characterized in that the first joint (11) comprises a circular arc guide rail (112), a sliding block (113), a base (115) and a first joint rotation driving mechanism, wherein the circular arc guide rail (112) is arranged at the bottom of the space station science glove box (2), and the base (115) is in sliding connection with the circular arc guide rail (112) through the sliding block (113); the first joint rotation driving mechanism is arranged between the arc guide rail (112) and the base (115) and used for driving the base (115) to slide along the arc guide rail (112).
3. The space station science glove box robot of claim 2, characterized in that the first articulation drive mechanism comprises a circular-arc gear ring (111) and a drive assembly (116), the circular-arc gear ring (111) being coaxially disposed at a lower portion of the circular-arc guide rail (112);
the driving assembly (116) comprises a pinion (1161), a harmonic reducer I (1162), a motor support (1163) and a motor I (1164), wherein the motor support (1163) is arranged on the base (115), the motor I (1164) is arranged on the motor support (1163), and one output end of the motor I (1164) is connected with an input shaft of the harmonic reducer I (1162); the pinion (1161) is connected to the output shaft of the harmonic reducer I (1162) and meshed with the circular-arc gear ring (111).
4. The space station science glove box robot arm of claim 3, characterized in that, another output end of the motor I (1164) is connected with a multi-turn absolute value encoder (1166) through a coupler (1165), the multi-turn absolute value encoder (1166) is supported through an encoder support (1167), and the encoder support (1167) is connected with the motor support (1163).
5. The space station science glove box robot of claim 3, wherein the first articulation drive mechanism further comprises a drive controller i (117) disposed on the base (115), the drive controller i (117) for controlling a motor i (1164).
6. The space station science glove box robot according to claim 2, characterized in that the second joint (12) of the robot (1) is arranged on a base (115) with an axis of rotation parallel to the axis of rotation of the first joint (11);
the rotation axis of a third joint (13) of the mechanical arm (1) is vertical to the rotation axis of the second joint (12);
the rotation axes of a fourth joint (15) and a fifth joint (17) of the mechanical arm (1) are parallel to the rotation axis of the third joint (13);
the rotation axis of the sixth joint (18) of the mechanical arm (1) is vertical to the rotation axis of the fifth joint (17).
7. The space station science glove box robot according to claim 6, characterized in that the third joint (13) is connected with the fourth joint (15) by a first link (14); the fourth joint (15) is connected with the fifth joint (17) through a second connecting rod (16).
8. The space station science glove box arm of claim 6, characterized in that the second to sixth joints are identical in structure and each comprise a motor II (121), a harmonic reducer II (122) and a joint output end (126), wherein an output shaft of the motor II (121) is connected with an input end of the harmonic reducer II (122), and an output end of the harmonic reducer II (122) is connected with the joint output end (126).
9. The space station science glove box robot arm according to claim 8, characterized in that the inner end of the joint output end (126) is fixedly connected with a hollow shaft which passes through a central hole of a motor II (121) and is connected with an absolute value encoder II (124).
10. The space station science glove box robot of claim 8, characterized in that the drive controller ii (125) is arranged outside the motor ii (121), and the drive controller ii (125) is used for controlling the motor ii (121).
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CN202120833823.8U CN214924607U (en) | 2021-04-22 | 2021-04-22 | Space station science glove box arm |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113103282A (en) * | 2021-04-22 | 2021-07-13 | 中国科学院沈阳自动化研究所 | Space station science glove box arm |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113103282A (en) * | 2021-04-22 | 2021-07-13 | 中国科学院沈阳自动化研究所 | Space station science glove box arm |
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