CN215851973U - Space station extra-cabin mobile robot system with redundant power supply - Google Patents

Abstract

The utility model relates to manned space station equipment, in particular to a space station extra-cabin mobile robot system with redundant power supply. The space station exposure platform cabin comprises a moving platform, an arc-shaped track system, a take-up and pay-off mechanism, a space station exposure platform cabin section and six mechanical arms, wherein the arc-shaped track system is arranged between a space station main cabin section and the space station exposure platform cabin section; the take-up and pay-off mechanism is arranged at the bottom of the arc-shaped track system, is connected with the mobile platform and is used for supplying power to the mobile platform. The utility model adopts the moving platform driven by the friction wheel as the base of the mechanical arm, so that the mechanical arm can be continuously reached and positioned in the full quadrant of the exposed platform, the reference point does not need to be replaced again in the operation process, and the precision is easy to ensure.

Description

Space station extra-cabin mobile robot system with redundant power supply

Technical Field

The utility model relates to manned space station equipment, in particular to a space station extra-cabin mobile robot system with redundant power supply.

Background

With the continuous development of aerospace technology, the activities of human beings for exploring space are more and more. The space robot can independently or assist human beings to explore the space environment, for example, assist astronauts to finish out-of-cabin operation tasks at a space station, perform patrol detection on the surface of a mars, perform drilling sampling on the surface of a moon and the like, is a beneficial assistant for human beings to perform space activities, and is not even a non-robot to operate some tasks, such as some dangerous operation tasks. The space station outdoor robot is an important type of space robot and is the most developed and applied space robot so far. An extra-cabin robot Mobile Service System (MSS) on an international Space Station is the most complex robot System on the international Space Station, and comprises a Mobile Base System (MBS), a Space Station Remote control mechanical arm System (SSRMS), a Special smart Manipulator (SPDM), and the like, and the System mainly serves to assist in on-track assembly of the Space Station, carrying of large loads, assisting in the outbound activities of astronauts, and the like. The SSRMS is a seven-degree-of-freedom operation mechanical arm and has the capability of crawling outside a cabin. The extravehicular mechanical arm configured in the manned space station under construction in China comprises a core cabin mechanical arm and an experiment cabin mechanical arm, and can crawl outside the space station cabin by means of interfaces at two ends of the mechanical arm.

The circuit of the robot outside the cabin of the crawling type space station needs to be switched continuously in the crawling process, so that the problems of poor circuit contact, low reliability and the like can be caused, and the path of the robot cannot be reached continuously. Therefore, there is a need for a robot system for moving outside of a space station cabin, which uses a circular arc guide rail and a moving platform to make the robot continuously accessible in four quadrants of an exposed platform.

SUMMERY OF THE UTILITY MODEL

In view of the above problems, it is an object of the present invention to provide an extra-cabin mobile robotic system for a space station with redundant power supply as an operating mechanism for exposing a platform load outside the space station cabin to achieve smart and fine manipulation of the load outside the space station cabin.

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

a space station extra-cabin mobile robot system with redundant power supply comprises a mobile platform, an arc-shaped track system, a take-up and pay-off mechanism, a space station exposure platform cabin section and six mechanical arms, wherein the arc-shaped track system is arranged between a space station main cabin section and the space station exposure platform cabin section; the take-up and pay-off mechanism is arranged at the bottom of the arc-shaped track system, is connected with the mobile platform and is used for supplying power to the mobile platform.

The take-up and pay-off mechanism comprises a take-up and pay-off mechanism I and a take-up and pay-off mechanism II which are symmetrically arranged; the take-up and pay-off mechanism I and the take-up and pay-off mechanism II are respectively connected with two sides of the mobile platform through two groups of cables;

the winding and unwinding mechanism I and the winding and unwinding mechanism II are identical in structure and respectively comprise a winding arm, a force measuring assembly, a cable positioning assembly, a cable, a winding drum and a bracket, wherein the cable positioning assembly and the winding drum are arranged on the bracket; the winding arm is used for winding and releasing the cable, and the cable positioning assembly is used for positioning the cable; the force measuring assembly is arranged at the front end of the cable positioning assembly and used for measuring the tension of the cable in real time.

The winding arm comprises a linear motion platform and a rotating arm connected with the output end of the linear motion platform, and the linear motion platform is arranged on the inner wall of the winding drum and has a degree of freedom for moving along the axial direction of the winding drum; the rotating arm has a degree of freedom of rotation about an axis of the bobbin.

The rotating arm comprises a motor II, an encoder II, a planet wheel reducer, a rotating connecting rod, a direction-adjusting connecting rod, a groove roller wheel assembly I and a limiting ring, wherein the planet wheel reducer is arranged on the linear motion platform, the input end of the planet wheel reducer is connected with the output shaft of the motor II, and the encoder II is arranged at the rear end of the motor II;

one end of the rotating connecting rod is connected with an output shaft of the planet wheel speed reducer, the other end of the rotating connecting rod is connected with a direction adjusting connecting rod, and the direction adjusting connecting rod is positioned on the outer side of the winding reel;

the direction-adjusting connecting rod is provided with a plurality of groups of groove roller assemblies I and a plurality of limiting rings positioned on the outer sides of the plurality of groups of groove roller assemblies I; the cable sequentially passes through the plurality of groove roller assemblies I and is prevented from falling off through the plurality of limiting rings;

the front end of the direction-adjusting connecting rod is provided with two cylindrical roller assemblies I, and the cable is clamped between the two cylindrical roller assemblies I.

The cable positioning assembly comprises a lower bracket, a front bracket and a rear bracket, wherein the lower end of the lower bracket is connected with the bracket, and the top of the lower bracket is provided with the front bracket and the rear bracket;

the front support and the rear support are respectively provided with four cylindrical roller assemblies II, and the four cylindrical roller assemblies II are arranged in a square shape, so that a wire passing hole is formed.

The force measuring assembly comprises a bottom plate, a pressure sensor, a left upright post, a right upright post, a pressing plate assembly and a groove roller assembly II, wherein the bottom plate is connected with the cable positioning assembly, and the left upright post and the right upright post are connected with the bottom plate; the pressure sensor is arranged on the bottom plate and is positioned between the left upright post and the right upright post;

the pressure plate assembly comprises a pressure plate, a left pressure spring, a right pressure spring and a sliding pressure plate, wherein the pressure plate and the sliding pressure plate are both connected with the left upright post and the right upright post in a sliding manner, and the pressure plate is connected with the pressure sensor;

the left pressure spring and the right pressure spring are respectively sleeved on the left upright post and the right upright post and are limited between the sliding pressure plate and the pressure plate;

and the groove roller assembly II is arranged on the pressing plate assembly and used for guiding the cable.

The mobile platform comprises a base, an upper driving assembly and a lower driving assembly which are arranged on the base in parallel;

the arc-shaped track system comprises a right arc track and a left arc track which are arranged in parallel, and two ends of the upper driving assembly are respectively abutted against the upper sides of the right arc track and the left arc track; two ends of the lower driving assembly are respectively abutted against the lower sides of the right circular arc track and the left circular arc track;

the upper driving assembly and the lower driving assembly are connected through an elastic connecting assembly;

the upper driving assembly and the lower driving assembly push the moving platform to move forwards or backwards through reaction friction force generated by reverse movement.

The upper driving assembly comprises a motor I, a driving gear I, a driven gear I, an upper rotating shaft, an upper left friction wheel, an upper right friction wheel, an upper left support and an upper right support, wherein two ends of the upper rotating shaft are rotatably connected with the upper left support and the upper right support;

the upper left friction wheel and the upper right friction wheel are respectively arranged at two ends of the upper rotating shaft; the upper left friction wheel is abutted with the upper side of the left arc track, and the upper right friction wheel is abutted with the upper side of the right arc track;

the lower driving assembly comprises a motor II, a driving gear II, a driven gear II, a lower rotating shaft, a left lower friction wheel, a right lower friction wheel, a left lower support and a right lower support, wherein two ends of the lower rotating shaft are respectively and rotatably connected with the left lower support and the right lower support;

the left lower friction wheel and the right lower friction wheel are respectively arranged at two ends of the lower rotating shaft, the left lower friction wheel is abutted with the lower side of the left arc track, and the right lower friction wheel is abutted with the lower side of the right arc track;

the left lower bracket corresponds to the left upper bracket and is connected with the left upper bracket through two groups of elastic connecting components; the right lower support corresponds to the right upper support and is connected with the elastic connecting assembly through the other two groups.

The mobile platform also comprises a locking assembly I and a locking assembly II which are respectively arranged at the rear end and the front end of the base;

the locking assembly I and the locking assembly II are identical in structure and respectively comprise a locking motor, a bidirectional screw rod, a left bolt, a right bolt, a left sleeve and a right sleeve, wherein the left sleeve and the right sleeve are coaxially arranged on the left side and the right side of the base; the bidirectional screw is rotatably connected with the base and is coaxial with the left sleeve and the right sleeve; the left bolt and the right bolt are connected with reverse threads at two ends of the bidirectional screw rod, the left bolt is in sliding fit with the left sleeve, and the right bolt is in sliding fit with the right sleeve;

the locking motor is arranged on the base, and the output end of the locking motor is connected with the bidirectional screw rod through a gear transmission mechanism.

The base is of a square structure, and four corners of the base are respectively provided with four groups of supporting components; the support assembly comprises a support bracket, and a roller I, a roller II and a roller III which are arranged on the support bracket, wherein the roller I and the roller II are clamped on the upper side and the lower side of the arc-shaped track system; and the roller III is abutted against the inner side wall of the arc-shaped track system.

The utility model has the advantages and beneficial effects that:

the global space high-precision position can be reached continuously: traditional space station extravehicular mobile robot adopts the mode of crawling, need pass through plug-in components again when changing the position at every turn and connect circuit system, and the robot can only crawl at a plurality of discrete points on the cabin section, can not realize continuous space positioning. In addition, after the crawl point is replaced every time, the coordinate system needs to be replaced again to calculate the position, the process is complex, and the precision is difficult to guarantee. The utility model adopts the moving platform driven by the friction wheel as the base of the mechanical arm, so that the mechanical arm can be continuously reached and positioned in the full quadrant of the exposed platform, the reference point does not need to be replaced again in the operation process, and the precision is easy to ensure.

Reliability and safety are higher: the utility model adopts a dual redundant power supply mechanism, even if one power supply system is damaged, the other power supply system can still ensure the system to work, and the reliability of the system is greatly improved. In addition, a force measuring device is arranged in the winding and unwinding mechanism, and the tension of the cable is measured in real time, so that the real-time dynamic following control capability is ensured, and the safety of cable power supply is also ensured.

Drawings

FIG. 1 is a schematic structural diagram of a mobile robot system outside a space station cabin with redundant power supply according to the present invention;

FIG. 2 is a side view of an extra-cabin mobile robotic system of a space station with redundant power supply of the present invention;

FIG. 3 is an isometric view of a take-up and pay-off mechanism of the present invention;

FIG. 4 is a schematic view of a winding arm according to the present invention;

FIG. 5 is a schematic structural view of the linear motion stage of the present invention;

FIG. 6 is a schematic structural view of a winding mechanism according to the present invention;

FIG. 7 is a schematic structural view of a grooved roller assembly according to the present invention;

FIG. 8 is a schematic structural view of a cylindrical roller assembly according to the present invention;

FIG. 9 is a schematic view of a force measuring assembly according to the present invention;

FIG. 10 is a schematic view of the cable positioning assembly of the present invention;

FIG. 11 is a schematic view of the mounting of the mobile platform of the present invention;

FIG. 12 is a schematic structural diagram of a mobile platform according to the present invention;

FIG. 13 is a second schematic structural view of a mobile platform according to the present invention;

FIG. 14 is a schematic structural view of an upper drive assembly according to the present invention;

FIG. 15 is a schematic structural view of a lower driving assembly according to the present invention;

FIG. 16 is a schematic view of the assembled structure of the upper and lower drive assemblies of the present invention;

FIG. 17 is a sectional view showing a coupling structure of an upper driving assembly and a lower driving assembly in the present invention;

FIG. 18 is a schematic view of the locking assembly of the present invention;

FIG. 19 is a schematic view of the support assembly of the present invention;

FIG. 20 is a schematic view of the structure of the present invention showing the engagement between the movable platform and the rail;

in the figure: 1 is a winding arm, 2 is a force measuring component, 3 is a cable positioning component, 4 is a cable, 5 is a winding drum, 6 is a bracket, 7 is a cable I, 8 is a cable II, 10 is a left beam, 11 is a right beam, 12 is a forward approach switch, 13 is a backward approach switch, 14 is a controller, 15 is a screw rod, 16 is an upper spring, 17 is a lower spring, 18 is a nut, 20 is an upper driving component, 21 is a bottom plate, 22 is a pressure sensor, 23 is a pressing plate, 24 is a left upright post, 25 is a left pressure spring, 26 is a right upright post, 27 is a right pressure spring, 28 is a sliding pressing plate, 29 is a groove roller component II, 30 is a lower driving component, 31 is a lower bracket, 32 is a front bracket, 33 is a rear bracket, 34 is a cylindrical roller component II, 35 is a cable clamp I, 36 is a cable clamp II, 37 is a base, 40 is a locking component I, 50 is a take-up mechanism I, 60 is a take-up mechanism II, 70 is a locking component II, 90 is a supporting component, 100 is a moving platform, 110 is a linear motion platform, 111 is a motor I, 112 is an encoder I, 113 is a driving gear, 114 is a driven gear, 115 is a lead screw, 116 is a nut, 117 is a sliding table, 118 is a base, 120 is a rotating arm, 121 is a motor II, 122 is an encoder II, 123 is a planetary reducer, 124 is a rotating connecting rod, 125 is a direction adjusting connecting rod, 1251 is an L-shaped rod, 1252 is an arc-shaped rod, 126 is a groove roller component I, 1261 is a groove roller, 1262 is a rotating shaft I, 1263 is a bearing I, 1264 is a retainer ring I, 127 is a limiting ring, 128 is a cylindrical roller component I, 1281 is a cylindrical roller, 1282 is a rotating shaft II, 1283 is a bearing II, 1284 is a retainer ring II, 201 is a motor I, 202 is a driving gear I, 203 is a driven gear I, 204 is an upper rotating shaft, 205 is an upper left friction wheel, 206 is an upper friction wheel, 207 is an upper left bracket, 208 is an upper right bracket, 301 is a motor iii, 302 is a driving gear ii, 303 is a driven gear ii, 304 is a lower rotating shaft, 305 is a lower left friction wheel, 306 is a lower right friction wheel, 307 is a lower left bracket, 308 is a lower right bracket, 401 is a locking motor, 402 is a locking driving gear, 403 is a locking driven gear, 404 is a bidirectional screw rod, 405 is a left bolt, 406 is a right bolt, 407 is a left sleeve, 408 is a right sleeve, 409 is a left bearing, 4010 is a right bearing, 901 is a supporting bracket, 902 is a roller i, 903 is a roller ii, 904 is a roller iii, 200 is a right circular arc rail, 300 is a left circular arc rail, 400 is a space station exposed platform cabin section, and 500 is a six-axis mechanical arm.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-2, the space station extra-cabin mobile robot system with redundant power supply provided by the present invention includes a mobile platform 100, an arc track system, a take-up and pay-off mechanism, a space station exposed platform cabin section 400 and a six-axis robot arm 500, wherein the arc track system is disposed between the space station main cabin section and the space station exposed platform cabin section 400, the mobile platform 100 is disposed on the arc track system, the six-axis robot arm 500 is disposed on the mobile platform 100, and the mobile platform 100 can move along the arc track system, so that the six-axis robot arm 500 can be continuously reached in all quadrants of the space station exposed platform cabin section 400; the take-up and pay-off mechanism is arranged at the bottom of the arc-shaped track system, is connected with the mobile platform 100 and is used for supplying power to the mobile platform 100.

As shown in fig. 2, in the embodiment of the present invention, the take-up and pay-off mechanism includes a take-up and pay-off mechanism i 50 and a take-up and pay-off mechanism ii 60 which are symmetrically arranged; receive paying out machine structure I50 and receive paying out machine structure II 60 and be connected with moving platform 100's both sides through two sets of cables 4 respectively, give moving platform 100 power supply from both sides through receiving paying out machine structure I50 and receiving paying out machine structure II 60, effectively guaranteed the high reliability of system's power supply. Specifically, the two groups of cables 4 are a cable I7 and a cable II 8 respectively, one end of the cable I7 is wound on the take-up and pay-off mechanism I50, the other end of the cable I7 is connected with one side of the mobile platform 100, and the cable I7 is taken up and paid off through the take-up and pay-off mechanism I50; one end of the cable II 8 is wound on the take-up and pay-off mechanism II 60, the other end of the cable II 8 is connected with the other side of the moving platform 100, and the cable II 8 is taken up and paid off through the take-up and pay-off mechanism II 60. In the moving process of the mobile platform 100, the cable on one side is in a wire-defense state, the cable on the other side is in a wire-take-up state, force control can be realized in the wire-take-up and pay-off process, and dynamic following of a moving target can also be realized.

As shown in fig. 3, in the embodiment of the present invention, the take-up and pay-off mechanism i 50 and the take-up and pay-off mechanism ii 60 have the same structure, and both include a winding arm 1, a force measuring assembly 2, a cable positioning assembly 3, a cable 4, a winding drum 5 and a bracket 6, wherein the cable positioning assembly 3 and the winding drum 5 are arranged on the bracket 6, a base of the winding arm 1 is arranged at an end of the winding drum 5, one end of the cable 4 is wound on the winding drum 5, and the other end sequentially passes through the winding arm 1 and the cable positioning assembly 3; the winding arm 1 has two degrees of freedom of winding and winding displacement and is respectively used for winding, unwinding and arranging the cables 4, and the cable positioning component 3 is used for positioning the cables 4; the force measuring assembly 2 is arranged at the front end of the cable positioning assembly 3 and used for measuring the tension of the cable 4 in real time.

As shown in fig. 4, in the embodiment of the present invention, the winding arm 1 includes a linear motion platform 110 and a rotating arm 120 connected to an output end of the linear motion platform 110, the linear motion platform 110 is disposed on an inner wall of the winding drum 5, and has a degree of freedom of movement along an axial direction of the winding drum 5, that is, a winding displacement degree of freedom; the rotating arm 120 has a degree of freedom of rotation about the axis of the bobbin 5, i.e., a winding degree of freedom. The linear motion platform 110 and the rotating arm 120 together form a two-degree-of-freedom tandem mechanism. The bobbin 5 is a hollow cylindrical structure, a bobbin arm base is mounted inside, and cables can be discharged outside.

As shown in fig. 5, in the embodiment of the present invention, the linear motion platform 110 includes a motor i 111, an encoder i 112, a lead screw 115, a nut 116, a sliding table 117, and a base 118, wherein the base 118 is connected to an inner wall of the bobbin 5, and the lead screw 115 is rotatably disposed on the base 118 and is parallel to an axis of the bobbin 5; the nut 116 is in threaded connection with the lead screw 115, and the sliding table 117 is connected with the nut 116; the motor I111 is arranged on the base 118, and the output end of the motor is connected with the lead screw 115 through a gear transmission mechanism; the encoder i 112 is provided at an end of the motor i 111.

Specifically, the gear transmission mechanism comprises a driving gear 113 and a driven gear 114, wherein the driving gear 113 is arranged at the output end of the motor i 111, the driven gear 114 is arranged at the end part of the screw 115 and is meshed with the driving gear 113, and the motor i 111 drives the screw 115 to rotate through the driving gear 113 and the driven gear 114, so as to drive the screw nut 116 and the sliding table 117 to move along the axial direction.

In the embodiment of the utility model, the encoder I112 is coaxially arranged at the rear end of the motor I111 and is used for feeding back the movement position of the motor I111. The surface of the slide 117 is designed with a threaded interface for mounting the rotating arm 120. The front and back positions of the lower part of the base 118 are both designed with screw interfaces connected with the bobbin 5, and the screw interfaces are used for installing the winding arm 1 in the bobbin 5, but part of the structure of the winding arm 1 is positioned outside the bobbin 5 to realize the winding function.

As shown in fig. 6, in the embodiment of the present invention, the rotating arm 120 includes a motor ii 121, an encoder ii 122, a planetary reducer 123, a rotating link 124, a direction adjusting link 125, a groove roller assembly i 126, and a limit ring 127, where the planetary reducer 123 is disposed on the sliding table 117 of the linear motion platform 110, an input end of the planetary reducer is connected to an output shaft of the motor ii 121, and the encoder ii 122 is disposed at a rear end of the motor ii 121; one end of the rotating connecting rod 124 is connected with an output shaft of the planetary reducer 123, and the other end is connected with a direction adjusting connecting rod 125, and the direction adjusting connecting rod 125 is positioned on the outer side of the bobbin 5; the direction-adjusting connecting rod 125 is provided with a plurality of groups of groove roller assemblies I126 and a plurality of limiting rings 127 positioned on the outer sides of the plurality of groups of groove roller assemblies I126; the cable 4 passes through a plurality of groove roller assemblies I126 in sequence and is prevented from falling off through a plurality of limiting rings 127.

Further, two cylindrical roller assemblies I128 are arranged at the front end of the direction adjusting connecting rod 125, and the cable 4 is clamped between the two cylindrical roller assemblies I128.

In the embodiment of the present invention, the direction-adjusting link 125 includes an L-shaped rod 1251 and an arc-shaped rod 1252, wherein one end of the L-shaped rod 1251 is connected to the rotating link 124, and the other end is detachably connected to the arc-shaped rod 1252, and the connection position is adjustable. Two cylindrical roller assemblies I128 are arranged at the front end of the L-shaped rod 1251, and a plurality of groove roller assemblies I126 are arranged at the tops of the L-shaped rod 1251 and the arc-shaped rod 1252.

In the embodiment of the utility model, the encoder II 122 is coaxially arranged at the rear end of the motor II 121 and is used for feeding back the movement position of the motor II 121. The planetary reducer 123 is coaxially and fixedly mounted on an output shaft of the motor II 121, and is used for amplifying output torque of the motor and driving the rotating connecting rod 124 to rotate, so that the cable 4 is wound. In addition, the output shaft of the planetary gear reducer 123 coincides with the axis of the bobbin 5. The direction adjusting link 125 is fixedly installed at one end of the rotating link 124, and during assembly, the direction of the direction adjusting link 125 can be adjusted so that the outgoing direction of the cable 4 is tangential to the circumferential direction of the bobbin 5. A groove-shaped feature for the cable to pass through is designed at the upper parts of the rotating connecting rod 124 and the direction adjusting connecting rod 125, a plurality of groove roller assemblies I126 are installed in the middle of the groove-shaped feature to reduce the resistance of the cable 4 during movement, a plurality of limiting rings 127 are installed at the upper part of the groove-shaped feature, and the cable 4 is limited through the limiting rings 127.

As shown in fig. 7, in the embodiment of the present invention, the grooved roller assembly i 126 includes a grooved roller 1261, a rotating shaft i 1262, a bearing i 1263 and a retainer ring i 1264, wherein the middle portion of the outer surface of the grooved roller 1261 is a grooved feature which can limit the position of the cylindrical cable 4, two bearings i 1263 are installed in the inner hole of the grooved roller 1261, the two bearings i 1263 are coaxially installed on the rotating shaft i 1262, and the grooved roller 1261 can freely rotate around the rotating shaft i 1262. A retainer ring I1264 is arranged at the outer ends of the two bearings I1263 respectively to limit the bearings I1263. Both ends design of pivot I1262 have certain length allowance for fix pivot I1262. Because of the adoption of the rolling bearing support, the grooved roller 1261 can rotate around the rotating shaft I1262 with extremely low friction. The groove roller assembly is designed as a modular assembly for use in a number of locations in the system.

As shown in fig. 8, in the embodiment of the present invention, the cylindrical roller assembly i 128 includes a cylindrical roller 1281, a rotating shaft ii 1282, a bearing ii 1283, and a retainer ring ii 1284, wherein two bearings ii 1283 are installed in an inner center hole of the cylindrical roller 1281, the two bearings ii 1283 are coaxially installed on the rotating shaft ii 1282, the cylindrical roller 1281 can freely rotate around the rotating shaft ii 1282, and the cylindrical roller 1281 is used for rolling and supporting the operation of the cable 4, so as to reduce the operation resistance of the cable 4. And the outer ends of the two bearings II 1283 are respectively provided with a check ring II 1284 for limiting the bearings II 1283. And a certain length allowance is designed at two ends of the rotating shaft II 1282 and is used for installing and fixing the rotating shaft II 1282. Due to the adoption of the rolling bearing support, the cylindrical roller 1281 can rotate around the rotating shaft II 1282 with extremely small friction force. The cylindrical roller assembly is designed as a modular assembly for use in a number of locations in the system.

As shown in fig. 10, in the embodiment of the present invention, the cable positioning assembly 3 includes a lower bracket 31, a front bracket 32 and a rear bracket 33, wherein the lower end of the lower bracket 31 is connected to the bracket 6, and the top of the lower bracket 31 is provided with the front bracket 32 and the rear bracket 33; four cylindrical roller assemblies II 34 are arranged on the front support 32 and the rear support 33, the four cylindrical roller assemblies II 34 are arranged in a square shape, so that a wire passing hole is formed, and the four cylindrical roller assemblies II 34 are used for guiding and limiting the cable 4.

In the embodiment of the present invention, the main function of the cable positioning assembly 3 is to pre-position the winding of the cable 4 so that the cable entry point to enter the winding is on the axis of the reel 5. In order to position the cable 4 in four directions, namely, up, down, left and right, four groups of cylindrical roller assemblies II 34 are arranged on the front support 32, a wire passing hole with a certain space is reserved in the middle of each group of cylindrical roller assemblies II 34, the cable 4 can pass through the wire passing hole in the middle, and the cylindrical roller assemblies II 34 in the four directions are used for limiting. In order to ensure the smoothness of the cable 4, four groups of cylindrical roller assemblies II 34 are also arranged on the rear bracket 33 to limit the cable 4 in the same way, and the design can ensure that one section of cable between the front bracket and the rear bracket is in a linear state, thereby realizing the functions of arranging and positioning the wound cable in advance.

As shown in fig. 9, in the embodiment of the present invention, the force measuring assembly 2 includes a bottom plate 21, a pressure sensor 22, a left pillar 24, a right pillar 26, a pressure plate assembly and a groove roller assembly ii 29, wherein the bottom plate 21 is connected with the cable positioning assembly 3, and the left pillar 24 and the right pillar 26 are connected with the bottom plate 21; the pressure sensor 22 is arranged on the bottom plate 21 and is positioned between the left upright post 24 and the right upright post 26; the pressure plate assembly comprises a pressure plate 23, a left pressure spring 25, a right pressure spring 27 and a sliding pressure plate 28, wherein the pressure plate 23 and the sliding pressure plate 28 are both connected with the left upright post 24 and the right upright post 26 in a sliding manner, and the pressure plate 23 is connected with the pressure sensor 22; the left compression spring 25 and the right compression spring 27 are respectively sleeved on the left upright post 24 and the right upright post 26 and are limited between the sliding pressure plate 28 and the pressure plate 23; the groove roller assembly II 29 is arranged on the pressing plate assembly and used for guiding the cable 4.

Specifically, through holes are designed on both sides of the sliding pressure plate 28, and are respectively matched with the left upright column 24 and the right upright column 26 in a hole and shaft sliding manner, that is, the sliding pressure plate 28 can slide up and down along the left upright column 24 and the right upright column 26 and can generate positive pressure on the left compression spring 25 and the right compression spring 27. When the cable 4 passes through the middle groove characteristic of the groove roller assembly II 29 and certain tension exists in the cable 4, the cable 4 generates downward pressure on the groove roller assembly II 29, the sliding pressing plate 28 moves downward to generate positive pressure on the left pressing spring 25 and the right pressing spring 27, the left pressing spring 25 and the right pressing spring 27 transmit the pressure to the pressing plate 23, the pressure sensor 22 arranged on the lower portion of the pressing plate 23 can measure the pressure born by the pressing plate 23, and the tension value in the cable 4 can be obtained through certain conversion. Because the pressure spring has a buffering effect, the position following of the two ends of the cable 4 can be allowed to have a certain error, and the requirement on the accuracy of the dynamic following control of the cable of the mobile robot is lowered.

The tension in the cable 4 is converted into the pressure value of the pressure sensor by the force measuring component 2 through the roller and the spring mechanism, the tension in the cable 4 can be measured in real time, the control system can change the motion direction of the winding arm 1 in real time according to the tension of the cable, when the tension of the cable is greater than a set value, the winding arm 1 conducts the wire, and when the tension of the cable is less than the set value, the winding arm 1 conducts the wire. Therefore, dynamic following type winding and unwinding control of the moving target can be realized.

In the embodiment of the utility model, the winding arm 1 is a two-free-motion mechanism, can realize the winding and unwinding and the arrangement of the cables 4, and is realized by the combined motion of the linear motion freedom degree and the rotary freedom degree. The two degrees of freedom are both driven by servo motors, and high-precision position control can be performed. By adjusting the movement speeds of the two groups of motors, the cable winding and unwinding device can adapt to the arrangement and the unwinding of cables with different wire diameters, and achieves the multiple purposes of one machine. Traditional drum-type receive paying out machine constructs utilizes motor drive bobbin to rotate and receive the unwrapping wire, because the bobbin is in motion state always, consequently need be connected the circuit of stationary end cable and motion end cable with the help of the sliding ring device. The utility model adopts the winding arm 1 to actively wind the cable 4 on the winding drum 5, the winding drum 5 is always in a static state, so that the use of a slip ring device can be avoided, the whole cable 4 is a complete and unsegmented cable from a static end to a mobile robot end, and the power supply reliability and the service life are greatly improved. At the position of certain distance from bobbin 5, arrange cable locating component 3, with the spacing on the axis of bobbin 5 of cable input point, the winding of the cable of being convenient for. In addition, the force measuring assembly 2 is arranged for measuring the tension in the cable, and the force measuring assembly 2 adopts a spring for buffering, so that a certain position difference can be allowed to exist at two ends of the cable. The winding mechanism with force measurement sensing capability can carry out dynamic following type winding and unwinding on the mobile robot.

As shown in fig. 11-13, in an embodiment of the present invention, the arcuate rail system includes a right arcuate rail 200 and a left arcuate rail 300 arranged in parallel; the mobile platform 100 includes a base 37, and an upper driving assembly 20 and a lower driving assembly 30 disposed on the base 37 in parallel, wherein two ends of the upper driving assembly 20 are respectively abutted to upper sides of the right circular arc track 200 and the left circular arc track 300, and two ends of the lower driving assembly 30 are respectively abutted to lower sides of the right circular arc track 200 and the left circular arc track 300.

Further, the upper driving assembly 20 and the lower driving assembly 30 are connected by an elastic connection assembly, and the upper driving assembly 20 and the lower driving assembly 30 push the moving platform 100 to move forward or backward by a reaction friction force generated by the reverse movement.

As shown in fig. 14 and 20, in the embodiment of the present invention, the upper driving assembly 20 includes a motor i 201, a driving gear i 202, a driven gear i 203, an upper rotating shaft 204, an upper left friction wheel 205, an upper right friction wheel 206, an upper left bracket 207, and an upper right bracket 208, wherein two ends of the upper rotating shaft 204 are rotatably connected to the upper left bracket 207 and the upper right bracket 208, the motor i 201 is disposed on the upper right bracket 208, and an output end thereof is connected to the driving gear i 202, and the driven gear i 203 is disposed on the upper rotating shaft 204 and is engaged with the driving gear i 202; the upper left friction wheel 205 and the upper right friction wheel 206 are respectively arranged at two ends of the upper rotating shaft 204; the upper left friction wheel 205 abuts on the upper side of the left circular arc rail 300, and the upper right friction wheel 206 abuts on the upper side of the right circular arc rail 200. The motor I201 drives the driving gear I202 to rotate, and the driving gear I202 drives the driven gear I203 and the upper rotating shaft 204 to rotate, so that the upper left friction wheel 205 and the upper right friction wheel 206 are driven to synchronously rotate. The upper and lower friction wheels move in opposite directions, and the moving platform 100 is pushed to move by the reaction friction force of the arc-shaped guide rail to the friction wheels.

As shown in fig. 15 and 20, in the embodiment of the present invention, the lower driving assembly 30 includes a motor iii 301, a driving gear ii 302, a driven gear ii 303, a lower shaft 304, a left lower friction wheel 305, a right lower friction wheel 306, a left lower bracket 307 and a right lower bracket 308, wherein two ends of the lower shaft 304 are rotatably connected to the left lower bracket 307 and the right lower bracket 308, respectively, the motor iii 301 is disposed on the right lower bracket 308, and an output end thereof is connected to the driving gear ii 302, and the driven gear ii 303 is disposed on the lower shaft 304 and is engaged with the driving gear ii 302. The left lower friction wheel 305 and the right lower friction wheel 306 are respectively provided at both ends of the lower rotating shaft 304, the left lower friction wheel 305 abuts against the lower side of the left arc rail 300, and the right lower friction wheel 306 abuts against the lower side of the right arc rail 200.

As shown in fig. 16, in the embodiment of the present invention, the left lower bracket 307 corresponds to the left upper bracket 207 and is connected by two sets of elastic connection components, and the right lower bracket 308 corresponds to the right upper bracket 208 and is connected by another two sets of elastic connection components. The motor III 301 drives the driving gear II 302 to rotate, and the driving gear II 302 drives the driven gear II 303 and the lower rotating shaft 304 to rotate, so that the left lower friction wheel 305 and the right lower friction wheel 306 are driven to synchronously rotate.

Further, gear accommodating cavities are formed in the right upper support 208 and the right lower support 308, the driving gear I202 and the driven gear I203 are accommodated in the gear accommodating cavities of the right upper support 208, and the driving gear II 302 and the driven gear II 303 are accommodated in the gear accommodating cavities of the right lower support 308. It should be noted that gear receiving cavities may also be provided on the left lower bracket 307 and the left upper bracket 207, and are not particularly limited herein.

As shown in fig. 17, in the embodiment of the present invention, the elastic connection assembly includes a screw rod 15, an upper spring 16, a lower spring 17 and a nut 18, wherein the screw rod 15 penetrates through the upper driving assembly 20 and the lower driving assembly 30, and the end portion is locked by the nut 18; specifically, on the left side, the screw 15 sequentially penetrates through the left upper bracket 207, the left cross beam 10 and the left lower bracket 307 from top to bottom; on the right side, the screw 15 penetrates the right upper bracket 208, the right beam 11, and the right lower bracket 308 from top to bottom in sequence. The upper spring 16 and the lower spring 17 are both sleeved on the screw rod 15, the upper spring 16 is accommodated in a groove arranged on the left upper bracket 207 or the right upper bracket 208 and is axially limited by the head of the screw rod 15; the lower spring 17 is accommodated in a groove arranged on the left lower bracket 307 or the right lower bracket 308, and is axially limited by a nut 18, and the upper spring 16 and the lower spring 17 respectively press the upper friction wheel and the lower friction wheel against the arc-shaped track.

When the upper and lower friction wheels are respectively attached to the upper and lower surfaces of the arc-shaped guide rail, the upper and lower springs can generate certain pre-tightening compression force, so that the upper and lower friction wheels can be tightly pressed on the surface of the arc-shaped guide rail. The reserved gap between the upper friction wheel and the lower friction wheel can be adjusted by screwing the screw 15 and the nut 18, so that the positive pressure after the friction wheels are assembled with the arc-shaped guide rail is adjusted.

Specifically, four screws 15 all pass through the via holes on the beams (left and right beams), the screws 15 and the via holes are in small clearance fit, the screws can freely move relatively in the axial direction, and the clearance in the radial direction is small. When the friction wheel rolls on the surface of the arc-shaped guide rail, the screw rod 15 is driven to move, the screw rod 15 pushes the cross beam to move by utilizing the radial cylindrical surface, the front end and the rear end of the left cross beam and the right cross beam are provided with connecting interfaces with the base 1, and the left cross beam and the right cross beam are fixedly connected with the base 1, so that the base 1 can synchronously move along with the left cross beam and the right cross beam.

As shown in fig. 12, in the embodiment of the present invention, the mobile platform 100 further includes a locking assembly i 40 and a locking assembly ii 70 respectively disposed at the rear end and the front end of the base 37, and the locking assembly i 40 and the locking assembly ii 70 are connected to the circular arc rail system to lock the mobile platform 100.

As shown in fig. 18, in the embodiment of the present invention, the locking assembly i 40 and the locking assembly ii 70 have the same structure, and each of them includes a locking motor 401, a two-way screw 404, a left bolt 405, a right bolt 406, a left sleeve 407 and a right sleeve 408, where the left sleeve 407 and the right sleeve 408 are coaxially disposed on the left and right sides of the base 37; the bidirectional screw rod 404 is rotatably connected with the base 37 and is coaxial with the left sleeve 407 and the right sleeve 408; the left bolt 405 and the right bolt 406 are connected with the reverse threads at the two ends of the bidirectional screw rod 404, the left bolt 405 is in sliding fit with the left sleeve 407, and the right bolt 406 is in sliding fit with the right sleeve 408; the locking motor 401 is disposed on the base 37, and the output end is connected to the bidirectional screw 404 through a gear transmission mechanism.

In this embodiment, the gear transmission mechanism includes a lock driving gear 402 and a lock driven gear 403, wherein the lock driving gear 402 is provided at the output end of the lock motor 401, and the lock driven gear 403 is provided on the bidirectional screw 404 and is engaged with the lock driving gear 402. The locking motor 401 drives the locking driving gear 402 to rotate, the locking driving gear 402 drives the locking driven gear 403 and the bidirectional screw 404 to rotate, and the bidirectional screw 404 can drive the left bolt 405 and the right bolt 406 to linearly move in opposite directions when rotating, so that the left bolt 405 and the right bolt 406 can be synchronously inserted into or withdrawn from the reserved locking holes on the left circular arc track 300 and the right circular arc track 200, and the mobile platform 100 can be locked or released.

As shown in fig. 12 and 19, in the embodiment of the present invention, a mounting interface with the space robot is provided on the base 37. The base 37 is a square structure, and four groups of supporting components 90 are respectively arranged at four corners; the supporting component 90 comprises a supporting bracket 901, and a roller I902, a roller II 903 and a roller III 904 which are arranged on the supporting bracket 901, wherein the roller I902 and the roller II 903 are clamped on the upper side and the lower side of the arc-shaped track system; the roller III 904 is abutted against the inner side wall of the arc-shaped track system, and the roller I902, the roller II 903 and the roller III 904 jointly restrict the other five degrees of freedom of the mobile platform 100 except the motion direction.

The front and back positions of the mobile platform 100 are respectively provided with a cable I7 and a cable II 8 through a cable clamp I35 and a cable clamp II 36, and power and communication lines are provided for the mobile platform 100 and the six-axis mechanical arm 500. Cable I7 and cable II 8 are two sets of identical cables, including power and communication cable, and each other is the backup, even one set of cable damages, another set still can guarantee the system normal work.

In the embodiment of the utility model, the mobile platform 100 can move along the arc track, and the arc track is arranged on the end surface of the cylindrical cabin section of the space station, so that the six-axis mechanical arm 500 arranged on the platform can reach in the full quadrant space. Under the space environment, if the gear pair is adopted to move in a large range, the movement clearance cannot be avoided, and the gear ring pair of the large-scale mechanism is difficult to process and difficult to realize. The friction wheel drive utilizes the friction rolling principle, can realize high-precision gapless transmission, is relatively suitable for precision drive, and can change the driving force by adjusting the pressure of the pre-tightening spring. The locking assembly drives the bidirectional screw rod by using the motor so as to drive the locking bolt to do linear motion, and the locking bolt can be inserted into or withdrawn from the locking hole on the guide rail. When the mobile platform is in a launching stage or the mechanical arm is in a heavy-load operation stage, the bolt needs to be inserted into the locking hole in the rail, so that the mobile platform can be firmly connected to a certain position. The supporting components are respectively arranged at four corners of the moving platform, each supporting component utilizes three rollers to make rolling contact with three surfaces of the guide rail, and under the combined action of the four supporting components, five degrees of freedom of the moving platform can be restrained, so that the moving platform stably runs on the track. The proximity switch has the effects that when the mobile platform needs to be locked at a certain position, the stop piece on the track is used for touching the travel switch, a switch signal is sent to the controller, and after the controller receives the signal, the motor of the driving assembly is stopped, and meanwhile, the motor of the locking assembly is started, and the bolt is locked. The forward proximity switch and the backward proximity switch are respectively used for locking signal feedback during forward movement and backward movement. The controller is mainly used for receiving related signals, driving or stopping the moving platform to move, and inserting or withdrawing the locking bolt.

In an embodiment of the utility model, the space station exposure platform bay 400 is used as a mounting platform for a system, and an extravehicular load is arranged on the surface to perform a space exposure scientific experiment. The robot system needs to have the capability of carrying and mounting the surface load thereof. The six-axis mechanical arm 500 is a load operation mechanism, realizes control of three positions and three postures at the tail end through combined motion of six degrees of freedom, can be used for operating and exposing loads on the platform, and realizes carrying and mounting of the loads. The mobile platform 100 is used for expanding the reachable working space of the six-axis mechanical arm 500, a friction wheel driving technology is utilized to perform high-precision position control, and a set of power supply cables (an envelope power supply and a communication cable) are respectively installed on two sides of the mobile platform, namely, the mobile platform 100 has the capacity of dual redundant power supply. The mobile platform 100 can also be mechanically locked at a position requiring heavy-load operation by using a locking mechanism, so that the system rigidity is effectively ensured. The guide rail system adopts a double-row guide rail arrangement mode and is used for supporting the movement of the mobile platform 100 and the arrangement and the tidying of the power supply cables. The take-up and pay-off mechanism is used for carrying out cable take-up and pay-off control on the mobile platform 100, and the active winding technology of the winding arm 1 is adopted, so that the use of a conductive slip ring is avoided, and the requirements on the reliability and the service life of a circuit under an extreme environment outside a cabin are met. In addition, the take-up and pay-off mechanism is provided with a cable tension measuring device, so that the cable tension can be measured in real time, and the cable tension measuring device is used for carrying out signal feedback of dynamic following take-up and pay-off control on the mobile platform 100.

The space station extra-cabin mobile robot system with redundant power supply, provided by the utility model, can be used for load operation of an exposed platform outside a space station extra-cabin, has the advantages of compact structure, small volume and light weight, and has the functions of large-range zero-clearance transmission, locking reinforcement of specific position points, adjustable friction force, self-adaption to thickness change of guide rails and the like. The system is suitable for the wire reeling and unreeling operation of the mobile robot in an extreme environment, has the cable tension measurement and the self-adaptive dynamic following capability of a moving target, avoids the use of a conductive slip ring, and ensures that the system has the characteristics of high reliability and long service life. The robot is particularly suitable for occasions with harsh environments, extremely high requirements on reliability and service life, such as space extravehicular robots and underwater robots. And a redundant backup cable power supply system is designed, so that the problems that the traditional extravehicular mobile robot is low in reliability and difficult to ensure precision in the crawling process are solved, and the high-reliability design of extravehicular mobile power supply of a space station is realized.

The above description is only an 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 included in the protection scope of the present invention.

Claims (10)

1. The space station extra-cabin mobile robot system with redundant power supply is characterized by comprising a mobile platform (100), an arc-shaped track system, a take-up and pay-off mechanism, a space station exposed platform cabin section (400) and a six-axis mechanical arm (500), wherein the arc-shaped track system is arranged between a space station main cabin section and the space station exposed platform cabin section (400), the mobile platform (100) is arranged on the arc-shaped track system, the six-axis mechanical arm (500) is arranged on the mobile platform (100), and the mobile platform (100) can move along the arc-shaped track system, so that the six-axis mechanical arm (500) can be continuously reached in all quadrants of the space station exposed platform cabin section (400); the take-up and pay-off mechanism is arranged at the bottom of the arc-shaped track system, is connected with the mobile platform (100) and is used for supplying power to the mobile platform (100).

2. The space station extra-cabin mobile robotic system with redundant power supply of claim 1, wherein the take-up and pay-off mechanism comprises a take-up and pay-off mechanism I (50) and a take-up and pay-off mechanism II (60) which are symmetrically arranged; the take-up and pay-off mechanism I (50) and the take-up and pay-off mechanism II (60) are respectively connected with two sides of the mobile platform (100) through two groups of cables (4);

the winding and unwinding mechanism I (50) and the winding and unwinding mechanism II (60) are identical in structure and respectively comprise a winding arm (1), a force measuring component (2), a cable positioning component (3), a cable (4), a winding drum (5) and a support (6), wherein the cable positioning component (3) and the winding drum (5) are arranged on the support (6), the base of the winding arm (1) is arranged at the end part of the winding drum (5), one end of the cable (4) is wound on the winding drum (5), and the other end of the cable passes through the winding arm (1) and the cable positioning component (3) in sequence; the winding arm (1) has two degrees of freedom of winding and winding displacement and is used for winding, unwinding and arranging the cables (4), and the cable positioning assembly (3) is used for positioning the cables (4); the force measuring assembly (2) is arranged at the front end of the cable positioning assembly (3) and is used for measuring the tension of the cable (4) in real time.

3. The space station extra-cabin mobile robot system with redundant power supply according to claim 2, characterized in that the spooling arm (1) comprises a linear motion platform (110) and a rotating arm (120) connected to the output of the linear motion platform (110), the linear motion platform (110) being arranged on the inner wall of the reel (5) with freedom to move in the axial direction of the reel (5); the rotating arm (120) has a degree of freedom of rotation about the axis of the bobbin (5).

4. The space station extra-cabin mobile robot system with redundant power supply of claim 3, wherein the rotating arm (120) comprises a motor II (121), an encoder II (122), a planetary reducer (123), a rotating connecting rod (124), a direction adjusting connecting rod (125), a groove roller assembly I (126) and a limiting ring (127), wherein the planetary reducer (123) is arranged on the linear motion platform (110), the input end of the planetary reducer is connected with the output shaft of the motor II (121), and the encoder II (122) is arranged at the rear end of the motor II (121);

one end of the rotating connecting rod (124) is connected with an output shaft of the planetary gear reducer (123), the other end of the rotating connecting rod is connected with a direction adjusting connecting rod (125), and the direction adjusting connecting rod (125) is positioned on the outer side of the bobbin (5);

a plurality of groups of groove roller assemblies I (126) and a plurality of limiting rings (127) positioned on the outer sides of the plurality of groups of groove roller assemblies I (126) are arranged on the direction-adjusting connecting rod (125); the cable (4) sequentially passes through a plurality of groups of groove roller assemblies I (126) and is prevented from falling off through a plurality of limiting rings (127);

the front end of the direction-adjusting connecting rod (125) is provided with two cylindrical roller assemblies I (128), and the cable (4) is clamped between the two cylindrical roller assemblies I (128).

5. The space station extra-cabin mobile robotic system with redundant power supply of claim 2, characterized in that the cable positioning assembly (3) comprises a lower bracket (31), a front bracket (32) and a rear bracket (33), wherein the lower end of the lower bracket (31) is connected with the bracket (6), and the top of the lower bracket (31) is provided with the front bracket (32) and the rear bracket (33);

the front support (32) and the rear support (33) are respectively provided with four cylindrical roller assemblies II (34), and the four cylindrical roller assemblies II (34) are arranged in a square shape, so that a wire passing hole is formed.

6. The space station extra-cabin mobile robotic system with redundant power supply of claim 2, wherein the force-measuring assembly (2) comprises a base plate (21), a pressure sensor (22), a left post (24), a right post (26), a pressure plate assembly and a groove roller assembly ii (29), wherein the base plate (21) is connected with the cable positioning assembly (3), and the left post (24) and the right post (26) are connected with the base plate (21); the pressure sensor (22) is arranged on the bottom plate (21) and is positioned between the left upright post (24) and the right upright post (26);

the pressure plate assembly comprises a pressure plate (23), a left pressure spring (25), a right pressure spring (27) and a sliding pressure plate (28), wherein the pressure plate (23) and the sliding pressure plate (28) are both in sliding connection with the left upright post (24) and the right upright post (26), and the pressure plate (23) is connected with the pressure sensor (22);

the left compression spring (25) and the right compression spring (27) are respectively sleeved on the left upright post (24) and the right upright post (26) and are limited between the sliding pressing plate (28) and the pressing plate (23);

and the groove roller assembly II (29) is arranged on the pressing plate assembly and used for guiding the cable (4).

7. The space station extra-cabin mobile robotic system with redundant power supply of claim 1, characterized in that the mobile platform (100) comprises a base (37) and upper and lower drive assemblies (20, 30) disposed in parallel on the base (37);

the arc-shaped track system comprises a right arc-shaped track (200) and a left arc-shaped track (300) which are arranged in parallel, and two ends of the upper driving assembly (20) are respectively abutted against the upper sides of the right arc-shaped track (200) and the left arc-shaped track (300); two ends of the lower driving assembly (30) are respectively abutted against the lower sides of the right circular arc track (200) and the left circular arc track (300);

the upper driving assembly (20) and the lower driving assembly (30) are connected through an elastic connecting assembly;

the upper driving assembly (20) and the lower driving assembly (30) push the moving platform (100) to move forwards or backwards through the reaction friction force generated by the reverse movement.

8. The spatial station extra-cabin mobile robot system with redundant power supply according to claim 7, wherein the upper driving assembly (20) comprises a motor I (201), a driving gear I (202), a driven gear I (203), an upper rotating shaft (204), a left upper friction wheel (205), a right upper friction wheel (206), a left upper bracket (207) and a right upper bracket (208), wherein two ends of the upper rotating shaft (204) are rotatably connected with the left upper bracket (207) and the right upper bracket (208), the motor I (201) is arranged on the right upper bracket (208), an output end of the motor I is connected with the driving gear I (202), the driven gear I (203) is arranged on the upper rotating shaft (204) and is meshed with the driving gear I (202);

the left upper friction wheel (205) and the right upper friction wheel (206) are respectively arranged at two ends of the upper rotating shaft (204); the upper left friction wheel (205) is abutted with the upper side of the left arc track (300), and the upper right friction wheel (206) is abutted with the upper side of the right arc track (200);

the lower driving assembly (30) comprises a motor III (301), a driving gear II (302), a driven gear II (303), a lower rotating shaft (304), a left lower friction wheel (305), a right lower friction wheel (306), a left lower support (307) and a right lower support (308), wherein two ends of the lower rotating shaft (304) are respectively rotatably connected with the left lower support (307) and the right lower support (308), the motor III (301) is arranged on the right lower support (308), the output end of the motor III is connected with the driving gear II (302), the driven gear II (303) is arranged on the lower rotating shaft (304) and is meshed with the driving gear II (302);

the left lower friction wheel (305) and the right lower friction wheel (306) are respectively arranged at two ends of the lower rotating shaft (304), the left lower friction wheel (305) is abutted with the lower side of the left arc track (300), and the right lower friction wheel (306) is abutted with the lower side of the right arc track (200);

the left lower bracket (307) corresponds to the left upper bracket (207) and is connected through two groups of elastic connecting components; the right lower bracket (308) corresponds to the right upper bracket (208) and is connected through the other two groups of elastic connecting components.

9. The space station extra-cabin mobile robotic system with redundant power supply of claim 7, wherein the mobile platform (100) further comprises a locking assembly i (40) and a locking assembly ii (70) disposed at the rear end and the front end of the base (37), respectively;

the locking assembly I (40) and the locking assembly II (70) are identical in structure and respectively comprise a locking motor (401), a bidirectional screw (404), a left bolt (405), a right bolt (406), a left sleeve (407) and a right sleeve (408), wherein the left sleeve (407) and the right sleeve (408) are coaxially arranged on the left side and the right side of the base (37); the bidirectional screw (404) is rotatably connected with the base (37) and is coaxial with the left sleeve (407) and the right sleeve (408); the left bolt (405) and the right bolt (406) are connected with the reverse threads at the two ends of the bidirectional screw rod (404), the left bolt (405) is in sliding fit with the left sleeve (407), and the right bolt (406) is in sliding fit with the right sleeve (408);

the locking motor (401) is arranged on the base (37), and the output end of the locking motor is connected with the bidirectional screw rod (404) through a gear transmission mechanism.

10. The space station extra-cabin mobile robotic system with redundant power supply of claim 7, wherein the base (37) is a square structure with four sets of support assemblies (90) at each corner; the supporting assembly (90) comprises a supporting bracket (901), and a roller I (902), a roller II (903) and a roller III (904) which are arranged on the supporting bracket (901), wherein the roller I (902) and the roller II (903) are clamped on the upper side and the lower side of the arc-shaped track system; the roller III (904) is abutted against the inner side wall of the arc-shaped track system.

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