WO2019128823A1

WO2019128823A1 - Modularized extensible space manipulator type ground experiment platform

Info

Publication number: WO2019128823A1
Application number: PCT/CN2018/122221
Authority: WO
Inventors: 刘金国; 张鑫
Original assignee: 中国科学院沈阳自动化研究所
Priority date: 2017-12-30
Filing date: 2018-12-20
Publication date: 2019-07-04
Also published as: CN108161990A; CN108161990B

Abstract

A modularized extensible space manipulator type ground experiment platform. An air bearing table (1) is located at the lower end, and can enable the experimental platform to be floated on a horizontal plane due to the anti-thrust effect of a high-pressure gas; an objective table (2) is fixed to the upper end of the air bearing table (1) by means of a supporting rod (103) and can bear a load of a set weight; a duct propelling assembly (4) is fixed on the supporting rod (103) of the air bearing table by means of a supporting frame (402), and is used for controlling the movement of the air bearing table (1) on the horizontal plane; a modularized manipulator (3) is mounted on the objective table (2) and can achieve a set operation task. The modularized extensible space manipulator type ground experiment platform has a novel structure, flexibility of movement, and extensibility, and is suitable for ground simulation experiment of a space robot.

Description

Modular and expandable space manipulator ground experimental platform

Technical field

The invention relates to a space robot simulation platform, in particular to a modular and expandable space manipulator ground experimental platform.

Background technique

With the development of space technology, artificial satellites play an important role in scientific and technological experiments, weather prediction, earth resource exploration, regional tracking and navigation, and communications. Compared with the past, the functions of current satellites have gradually increased, and their structures have become increasingly complex. The safety and reliability of satellite orbit operations have become a major concern of various countries. In response to the harsh environment of outer space, humans invented space robots to achieve maintenance and maintenance of on-orbit satellites. The space robot consists of a satellite and a robotic arm mounted on a satellite. It is a type of on-orbit service that can fly autonomously in outer space and perform mission detection, on-orbit maintenance and auxiliary attitude maneuvering. When the space robot is working, it is necessary to ensure the position and posture of the satellite base, and then operate the robot arm to complete the fine operation task. As the complexity and diversity of space missions increase, so does the functional requirements for space robots.

Before the space robot launches, a lot of ground experiments are needed to ensure its reliability. Therefore, in the development of space robots, the ground experimental simulation platform supporting the space robot also plays a very important role. Current space robot platforms include air-floating, water-floating, and hanging wire counterweights. Compared with the above three types, there are excessive external disturbances in the water floating type and the hanging wire weight type, and the simulation precision is not high; while the air floating type can guarantee a certain simulation precision and low maintenance cost; but most of the current simulation platforms Designs are designed for individual, specific tasks and are not scalable.

Summary of the invention

In view of the above problems existing in existing space robot platforms, an object of the present invention is to provide a modular and expandable space manipulator ground experimental platform. The ground-based experimental simulation platform uses modular robotic joints that are scalable and can be applied to a variety of on-orbit service mission ground simulations.

The object of the present invention is achieved by the following technical solutions:

The invention comprises an air floating platform, a loading platform, a modular mechanical arm, a ducted propulsion assembly and a fan positioning plate, wherein the air floating platform comprises a frame, a gas cylinder group, a control valve group and an air floating cushion, and the gas cylinder group is installed a plurality of air floating mats are evenly mounted on the bottom of the frame, and the cylinder groups are respectively connected to the air supply source and the air floating mats through the intake passage and the air passage, and are disposed in the intake passage and The control valve group on the gas passage controls intake or gas delivery to form a gas film between each of the air floating mat and the horizontal plane; the stage is mounted above the frame, and the modular robot arm includes a base , an end connector and a plurality of modular joints, one end of the base being mounted on the stage, and the other end being connected to the end connector for mounting the end effector by a plurality of modular joints connected in sequence; The ducted propulsion assembly comprises a support frame, a ducted fan, a fan fixed upper pressing plate and a fan fixed lower pressing plate, one end of the supporting frame is detachably connected to the frame, and a pair of fans are fixed on both sides of the other end. Platen and The fan is fixed to the lower pressing plate, and the fan fixing fan is clamped between the fan fixing upper pressing plate and the fan fixing lower pressing plate on each side, and the fan fixing fixed upper plate on each side and the same side fan in the adjacent duct feeding propulsion assembly fixing the upper pressing plate Connected by the fan positioning plate;

Wherein: the control valve group comprises a pressure reducing valve, a manual valve, a quick joint fixing seat, a quick joint, a shut-off valve, a pressure regulating valve, a three-way joint and a five-way joint, and the quick joint is installed under the stage The surface quick connector mount is connected to one end of the manual valve, and the other end of the manual valve is connected to one port of the three-way joint through a pipeline, and the second port of the three-way joint passes through the conduit and the cylinder group Connected, a third port is connected to the inlet of the pressure reducing valve, and an outlet of the pressure reducing valve is connected to an inlet of the pressure regulating valve through a conduit, and an outlet of the pressure regulating valve is connected to an inlet of the shutoff valve, An outlet of the shutoff valve is connected to a port of the five-way joint through a conduit, the five-way joint leaving a spare port, and the remaining ports are respectively connected to the air floating mats;

The quick joint, the manual valve and the three-way joint form an intake passage, and the gas source is input into the cylinder group to realize inflation of the air floating platform; during the inflation process, the pressure reducing valve is in a closed state;

The gas cylinder set, the three-way joint, the pressure reducing valve, the pressure regulating valve, the shut-off valve and the five-way joint form a gas passage, and the internal gas source in the gas cylinder group is transported to each air floating mat to realize the gas film Supporting the floating platform to float; during the gas delivery process, the manual valve is in a closed state;

The frame includes a bottom plate and a plurality of support rods, each of the support rods has internal threads at both ends, the lower end is fixed to the bottom plate by bolts, and the upper end is fixed to the lower surface of the stage; the cylinder group The gas cylinder fixing seat is mounted on the bottom plate, the shut-off valve is mounted on the bottom plate through the connecting seat, the pressure reducing valve and the five-way joint are respectively mounted on the bottom plate, and the three-way joint is mounted on any one of the support rods; Each of the air floating mats is located below the bottom plate, and is fixed to the lower surface of the bottom plate by bolts and nuts;

The loading platform includes a load panel, a support base and a guard rail. The upper surface of the load panel is mounted with a plurality of support seats, and a guard rail is arranged between adjacent support seats, and any two adjacent support seats are disposed between a slit for inserting the base, the base being mounted on the load panel;

The modular joint includes a joint rear seat, a servo steering gear, a fixed shaft, a steering wheel upper fixed seat, a sleeve, a steering wheel and a steering wheel lower fixed seat, and the joint rear seat is connected with the servo steering gear for the base or a lower steering wheel mount in the adjacent modular joint, the output shaft of the servo steering gear is connected with a steering wheel; the sleeve is mounted above the servo steering gear, and the fixed shaft is inserted in the sleeve, And connected to the servo steering gear, the inner cylindrical surface of the sleeve is interference fit with the fixed shaft; one end of the lower fixed seat of the steering wheel is connected with the steering wheel, and the other end is connected with one end of the fixed seat on the steering wheel, The other end of the fixed seat on the steering wheel is in clearance with the outer cylindrical surface of the sleeve; the servo steering gear drives the upper and lower fixed seats of the steering wheel to rotate around the fixed axis through the steering wheel;

The inner surface of the joint rear seat is provided with a nut mounting hole for connecting with the servo steering gear, and a mounting bracket with a through hole is arranged around the inner surface of the joint rear seat, and the mounting bracket is fixed to the servo motor by bolts The bottom surface of one end of the fixed seat on the steering wheel is provided with a rib, and the inner surface of the lower seat of the steering wheel is provided with a guiding groove matched with the rib, and the rib is inserted into the guiding groove and passes through the bolt Fasten

One end of the support frame is clamped on the frame of the air floating platform by bolts and nuts and the support frame pressing plate, and the fan fixed upper pressing plate, the fan fixed lower pressing plate and the fan positioning plate are all fastened to the support frame by bolts;

The ducted fans on both sides of the support frame are orthogonally arranged, that is, the axial centerlines of the ducted fans on both sides are perpendicular.

The advantages and positive effects of the present invention are:

1. The air floating platform of the invention adopts three air floating mats, so that the air floating platform and the horizontal plane are in three places, and the floating can be stably achieved.

2. The mechanical arm of the present invention adopts a modular joint design, is expandable, can expand the mechanical joint according to the task requirements, and the end joint seat can be equipped with a specific end effector.

3. The modular mechanical arm and the ducted propulsion system of the invention are all manufactured by 3D printing technology, and have the advantages of simple structure, light weight and high production efficiency.

4. The joint joint of the modular joint of the present invention, the steering wheel seat and the connecting rod are provided with through holes for internal routing; and the rear seat of the joint is provided with four nut mounting holes, which can be fixed when fixed with other components. It is directly stabilized by bolts, making the robot arm more compact and convenient to assemble.

5. The mechanical arm of the invention adopts a servo steering gear as a joint drive, and a reducer is internally provided to generate a large torque, and on the other hand, a servo steering gear can ensure a compact modular joint structure.

6. The invention adopts ducted fan propulsion, which generates greater thrust and safety than the isolated propeller of the same diameter. At the same time, since the ducted fan group adopts orthogonal configuration, the thrust of adjacent sides can be ensured to be positive. Crossing makes motion control more free.

DRAWINGS

Figure 1 is a schematic view of the overall assembly of the present invention;

2 is a schematic perspective view of the air floating platform of the present invention;

Figure 3 is a plan view showing the structure of the air floating platform of the present invention;

Figure 4 is a schematic view showing the installation of the bottom plate and the five-way joint in the air floating platform of the present invention;

Figure 5 is a bottom plan view showing the structure of the air floating platform of the present invention;

Figure 6 is a perspective view showing the structure of the stage of the present invention;

Figure 7 is a perspective view showing the structure of the modular robot arm of the present invention;

Figure 8 is a perspective view showing the three-dimensional structure of the modular joint in the modular robot arm of the present invention;

Figure 9 is an exploded view of Figure 8;

Figure 10 is a perspective view showing the three-dimensional structure of the joint rear seat of Figures 8 and 9;

Figure 11 is a perspective view showing the structure of a connecting rod in a modular robot arm of the present invention;

Figure 12 is a perspective view showing the structure of the ducted propulsion assembly of the present invention;

13 is a schematic structural view of a fan positioning according to the present invention;

Figure 14 is a second schematic view of the overall assembly of the present invention;

Among them: 1 is the air floating platform, 101 is the air floating cushion, 102 is the bottom plate, 103 is the support rod, 104 is the pressure reducing valve, 105 is the manual valve, 106 is the gas cylinder set, 107 is the gas cylinder fixed seat, 108 is fast Joint fixing seat, 109 is a quick joint, 110 is a shut-off valve, 111 is a pressure regulating valve, 112 is a pressure gauge, 113 is a three-way joint, 114 is a five-way joint, and 115 is a joint;

2 is a stage, 201 is a load panel, 202 is a support base, 203 is a gap, 204 is a moment guardrail, and 205 is a long guard rail;

3 is a modular robotic arm, 301 is the base, 302 is the first modular joint, 303 is the second modular joint, 304 is the connecting rod, 305 is the third modular joint, 306 is the end joint, and 321 is the joint Block, 322 is the servo servo, 323 is the fixed shaft, 324 is the fixed seat on the steering wheel, 325 is the sleeve, 326 is the steering wheel, 327 is the fixed seat under the steering wheel, 328 is the nut mounting hole, 329 is the through hole, 330 is a mounting bracket, and 331 is a guiding slot;

4 is a ducted propulsion component, 401 is a support frame press plate, 402 is a support frame, 403 is a ducted fan, 404 is a fan fixed upper press plate, and 405 is a fan fixed lower press plate;

5 is the fan positioning plate.

Detailed ways

The invention will be further described in detail below with reference to the accompanying drawings.

As shown in FIG. 1, the present invention includes an air floating platform 1, a carrier 2, a modular robot arm 3, a ducted propulsion assembly 4, and a fan positioning plate 5, wherein the air floating platform 1 is mounted below the stage 2, Pneumatic equipment is provided to keep the experimental platform as a whole floating on the horizontal plane; one end of the modular robot arm 3 is fixed on the stage 2, and the other end is equipped with an end effector, and a plurality of air compressors are installed around the air floating platform 1 The ducted propulsion assembly 4 and the adjacent duct propulsion components 4 are connected by a fan positioning plate 5 to ensure the orientation of the ducted propulsion.

As shown in FIGS. 2 to 5, the air floating platform 1 includes a frame, a cylinder group 106, a control valve group, and an air floating cushion 101. The cylinder group 106 is mounted on the frame, and a plurality of air floating cushions are uniformly installed at the bottom of the frame. 101. The cylinder group 106 is respectively connected to the air supply source and the air floating mats 101 through the intake passage and the gas passage, and controls the intake or the air through the control valve group disposed on the intake passage and the air passage. A gas film is formed between each of the air floating mats 101 and the horizontal plane. The frame includes a bottom plate 102 and a plurality of support rods 103. The bottom plate 102 has a square shape. Each of the four corners of the square is provided with a support rod 103. Both ends of each support rod 103 are internally threaded, and the lower end is fixed to the bottom plate 102 by bolts. The upper end is fixed to the lower surface of the stage 2 for supporting the load bar 2. The cylinder holder 107 is fixed to the bottom plate 102 by bolts, and the cylinder group 106 is mounted on the cylinder holder 107. The control valve group includes a pressure reducing valve 104, a manual valve 105, a quick joint fixing seat 108, a quick joint 109, a shutoff valve 110, a pressure regulating valve 111, a barometer 112, a three-way joint 113 and a five-way joint 114, and a quick joint fixing seat. 108 is fixed to the lower surface of the load panel 201 by bolts, and the quick connector 109 is mounted in the quick connector mount 108; the pressure reducing valve 104 is fixed to the bottom plate 102 by bolts, and the air pressure gauge 112 is mounted on the pressure reducing valve 104. The connecting seat 115 is fixed to the bottom plate 102 by bolts, and the shutoff valve 110 is fixed to the connecting seat 115 by bolts; the five-way joint 114 is fixed to the bottom plate 102 by bolts, and the three-way joint 113 is mounted on any of the supporting rods 103. Each of the air floating mats 101 is located below the bottom plate 102 and is fixed to the lower surface of the bottom plate 102 by bolts and nuts. The quick connector 109 is connected to one end of the manual valve 105 through the quick connector holder 108, and the other end of the manual valve 105 is connected to one port of the three-way connector 113 through a pipe, and the second port of the three-way connector is passed through the pipe and the gas cylinder group. The 106 port is connected, the third port is connected to the inlet of the pressure reducing valve 104, the outlet of the pressure reducing valve 104 is connected to the inlet of the pressure regulating valve 111 through a conduit, and the outlet of the pressure regulating valve 111 is connected to the inlet of the shutoff valve 110, the shutoff valve 110 The outlet is connected to one port of the five-way joint 114 through a conduit, and the five-way joint 114 has a spare port, and the remaining ports are respectively connected to the respective air floating mats 101. The intake passage is: a quick joint 109 intake air, is connected to the manual valve 105 through a conduit, and then connected to the tee joint 113 through a conduit, and is connected to the cylinder group 106 through a conduit from the upper end port of the tee joint 113 to input the gas source. In the cylinder group 106, the air floating platform 1 is inflated; during the inflation process, the pressure reducing valve 104 is in a closed state. The gas transmission passage is: the gas flow of the gas cylinder group 106 is connected to the three-way joint 113 through a conduit, and then the lower end port of the three-way joint 113 is connected to the pressure reducing valve 104 through a conduit, and then connected to the pressure regulating valve 111 through a conduit, and then adjusted The pressure valve 111 is connected to the shutoff valve 110, and then the shutoff valve 110 is connected to one port of the five-way joint 114 through a conduit, and the last five-way joint 114 is connected to the air floating cushion 101 through the conduit to transport the internal gas source in the gas cylinder set 106 to each gas. The floating pad 101 realizes the floating of the air film supporting air floating table 1; during the gas conveying process, the manual valve 105 is in a closed state. The three air floating mats 101 of the present embodiment are respectively connected to the three ports on the five-way joint 114 through a conduit; the five-way joint 114 has a spare port, which is blocked when not in use.

As shown in FIG. 6, the stage 2 includes a load panel 201, a support base 202 and a guard rail. The load panel 201 is square and has a uniform threaded through hole. The four corners of the upper surface are respectively mounted by bolts. The support bar 202 is divided into a short guard rail 204 and a long guard rail 205. A short guard rail 204 or a long guard rail 205 is disposed between adjacent support seats 202. The short guard rail 204 or the long guard rail 205 can be mounted on the support base 202 by bolts and nuts. . A gap 301 for inserting the base 301 is provided between two adjacent support seats 202 on one side of the square, and the base 301 is mounted on the load panel 201.

As shown in Figures 7-11, the components of the modular robot arm 3 of the present invention are manufactured by 3D printing, including a base 301, a link 304, an end connector 306, and a plurality of modular joints. The modular joint of this embodiment is Three, respectively a first modular joint 302, a second modular joint 303 and a third modular joint 305, the base 301 being fixed to the load panel 201 of the stage 2 by bolts, and then the first modular joint 301 Connected to the second modular joint 302 by bolts, the second modular joint 302 is connected to the connecting rod 304 by bolts, and then the connecting rod 304 is connected to the third modular joint 305 by bolts, and finally the third modular joint 305 is bolted with End joints 306 are connected and end joints 306 are used to mount the end effector. The modular joint includes a joint rear seat 321 , a servo steering gear 322 , a fixed shaft 323 , a steering wheel upper fixing seat 324 , a sleeve 325 , a steering wheel 326 and a steering wheel lower fixing seat 327 . The inner surface of the joint rear seat 321 is opened for The nut mounting hole 322 is connected to the nut mounting hole 328. The mounting bracket 330 is provided with a through hole 329 around the inner surface of the joint rear seat 321 . The mounting bracket 330 is fixed to the servo motor 322 by bolts. The joint rear seat 321 is for connection with the base 301 or the under-steering mount 327 in an adjacent modular joint. The output shaft of the servo steering gear 322 is connected to the steering wheel 326 by bolts; the sleeve 325 is mounted above the servo steering gear 322, and the fixed shaft 323 is inserted into the sleeve 325 and fixed to the servo steering gear 322 by bolts. The cylindrical surface of the barrel 325 has an interference fit with the fixed shaft 323. One end of the under-rudder mount 327 is connected to the steering wheel 326 by bolts, and the other end is connected to one end of the fixed seat 324 on the steering wheel. The other end of the fixed seat 324 on the steering wheel is in clearance with the outer cylindrical surface of the sleeve 325. When the servo steering gear 322 rotates, the steering gear shaft drives the upper and lower fixed

seats

324, 327 of the steering wheel to rotate around the fixed shaft 323 through the steering wheel 326. A bottom surface of one end of the fixing base 324 of the steering wheel is provided with a rib. The inner surface of the lower fixing base 327 of the steering wheel is provided with a guiding groove 331 which cooperates with the rib. The rib is inserted into the guiding groove 331 for positioning. And then both are fastened by bolts.

The modular robot arm 3 can be expanded as needed by adding modular joints or connecting rods.

The ducted propulsion assembly 4 of the present invention has four groups which are respectively mounted on the four support rods 103. As shown in FIGS. 12-14, the components of the ducted propulsion assembly 4 of the present invention are manufactured by 3D printing, including a support frame pressing plate 401, a support frame 402, a ducted fan 403, a fan fixed upper platen 404, and a fan fixed lower pressing plate 405. One end of the support plate 401 and the support frame 402 is clamped on the outer cylindrical surface of the support rod 103 by bolts and nuts, and is detachable. The top of the support frame reinforcement rib is provided with a mounting hole, the fan fixed upper platen 404 and the fan fixed lower pressing plate. One side of the 405 is bolted to the mounting hole of the support frame. That is, a pair of fan fixing upper pressing plate 404 and a fan fixing lower pressing plate 405 are connected to both sides of the other end of the supporting frame 402, and the holes formed between the fan fixing upper pressing plate 404 and the fan fixing lower pressing plate 405 on each side are clamped. The ducted fan 403 is connected between the fan-fixed upper platen 404 on each side and the same-side fan-fixed upper platen 404 in the adjacent ducted propulsion unit 4 via the fan positioning plate 5. The fan fixing upper pressing plate 404, the fan fixing lower pressing plate 405 and the fan positioning plate 5 are all fastened to the support frame 402 by bolts. The ducted fan 403 is divided into four groups with respect to the four sides of the air-floating platform 1, and the ducted fans of each group can be arranged orthogonally, that is, the axial centerlines of the ducted fans 403 on both sides are perpendicular.

The working principle of the invention is:

The air floating platform 1 is used to simulate the base satellite of the space robot. When the external air source is connected to the quick connector 109, the pressure reducing valve 104 is closed, the manual valve 105 is opened, the air flow is connected to the manual valve 105 through the conduit, and then connected to the tee through the conduit. The joint 113 is inflated from the upper end of the three-way joint 113 through the conduit into the cylinder group 106. When the cylinder group 106 is full of gas, the manual valve 105 is closed, the pressure reducing valve 104, the pressure regulating valve 111 and the shutoff valve 110 are opened, the airflow is output from the cylinder group 106, connected to the tee joint 113 through the conduit, and then the tee joint The lower end of 113 is connected to the pressure reducing valve 14 through a conduit, and then connected to the pressure regulating valve 111 through a conduit, and then the pressure regulating valve 111 is connected to the shutoff valve 110, and then the shutoff valve 110 is connected to the five-way joint 114 through a conduit, and the last five-way joint 114 The air floating mat 101 is connected through a conduit. The pressure reducing valve 104 can realize coarse adjustment of the output air pressure, and the pressure regulating valve 111 can realize fine adjustment of the output air pressure, thereby forming a stable air film between the air floating platform 1 and a horizontal plane (such as a marble level). The entire platform is floating. The ducted propulsion assembly 4 is distributed on the four support rods 103 of the air floating platform 1, and is orthogonally arranged by the fan positioning plate 5, and can be divided into four groups, namely: front, rear, left, and right. There are two ducted fans 103 on each side. When the fans on the four faces are respectively opened, the translation in the front, back, left and right directions in the plane can be realized; when the two directions in the diagonal direction are simultaneously turned on The fan can realize the clockwise and counterclockwise rotation of the plane. The modular robot arm 3 is fixed on the stage 2, and the end connecting seat 306 is provided with a connecting hole for connecting the end effector and controlling the joint angle of the servo steering gear 322 to realize an operation task.

Claims

A modular and expandable space manipulator ground experimental platform, comprising: an air floating platform (1), a carrier (2), a modular robot arm (3), a ducted propulsion assembly (4) and a fan positioning a plate (5), wherein the air floating platform (1) comprises a frame, a cylinder group (106), a control valve group and an air floating cushion (101), the cylinder group (106) being mounted on the frame, the bottom of the frame A plurality of air floating mats (101) are evenly mounted, and the cylinder group (106) is respectively connected to the air supply source and the air floating mats (101) through the intake passage and the air passage, and is disposed in the intake passage And the control valve group on the gas passage controls the intake or the gas to realize the formation of a gas film between the air floating mat (101) and the horizontal plane; the stage (2) is installed above the frame. The modular robot arm (3) comprises a base (301), an end connecting base (306) and a plurality of modular joints, one end of the base (301) is mounted on the stage (2), and the other end is sequentially A plurality of modular joints are coupled to the end connector (306) for mounting an end effector; the ducted propulsion assembly (4) includes a support frame (402), a ducted fan (403), The fan fixing upper pressing plate (404) and the fan fixing lower pressing plate (405), one end of the supporting frame (402) is detachably connected to the frame, and the other end is connected with a set of fan fixing upper pressing plates (404) and The fan fixes the lower pressing plate (405), and the ducted fan (403) is clamped between the fan fixed upper pressing plate (404) and the fan fixed lower pressing plate (405) on each side, and the fan on each side fixes the upper pressing plate (404) The fan positioning plate (5) is connected between the same side fan fixed upper platen (404) in the adjacent ducted propulsion assembly (4).
The modular expandable space manipulator ground experimental platform according to claim 1, wherein the control valve group comprises a pressure reducing valve (104), a manual valve (105), a quick joint fixing seat (108), and a quick a joint (109), a shutoff valve (110), a pressure regulating valve (111), a three-way joint (113), and a five-way joint (114), the quick joint (109) being mounted under the stage (2) The surface quick connector mount (108) is connected to one end of the manual valve (105), and the other end of the manual valve (105) is connected to a port of the three-way joint (113) through a pipe, the three-way joint a second port is connected to the cylinder group (106) via a conduit, a third port is connected to the inlet of the pressure reducing valve (104), an outlet of the pressure reducing valve (104) is passed through the conduit and the pressure regulating An inlet of the valve (111) is connected, an outlet of the pressure regulating valve (111) is connected to an inlet of the shutoff valve (110), and an outlet of the shutoff valve (110) is passed through a conduit and a one of the five-way joint (114) The ports are connected, and the five-way connector (114) has a spare port, and the remaining ports are respectively connected to the air floating mats (101).
The modular expandable space manipulator ground experimental platform according to claim 2, wherein the quick joint (109), the manual valve (105) and the three-way joint (113) constitute an intake passage, and the air source is provided. It is input into the cylinder group (106) to inflate the air floating platform (1); during the inflation process, the pressure reducing valve (104) is in a closed state.
The modular expandable space manipulator ground experimental platform according to claim 2, characterized in that: the gas cylinder set (106), the three-way joint (113), the pressure reducing valve (104), the pressure regulating valve (11) The shut-off valve (110) and the five-way joint (114) constitute a gas passage, and the internal gas source in the gas cylinder set (106) is sent to each air floating mat (101) to realize the gas film supporting air floating platform. (1) Floating; during the gas delivery, the manual valve (105) is in a closed state.
The modular expandable space manipulator ground experimental platform according to claim 2, wherein the frame comprises a bottom plate (102) and a plurality of support rods (103), and two ends of each of the support rods (103) Both are internally threaded, the lower end is fixed to the bottom plate (102) by bolts, and the upper end is fixed to the lower surface of the stage (2); the cylinder set (106) is mounted on the cylinder holder (107) On the bottom plate (102), the shutoff valve (110) is mounted on the bottom plate (102) through a connecting seat (115), and the pressure reducing valve (104) and the five-way joint (114) are respectively mounted on the bottom plate (102). The three-way joint (113) is mounted on any one of the support rods (103); each of the air floating mats (101) is located below the bottom plate (102), and is fixed to the bottom plate (102) by bolts and nuts. The lower surface.
The modular expandable space manipulator ground experimental platform according to claim 1, wherein the stage (2) comprises a load panel (201), a support base (202) and a guardrail, and the load panel A plurality of support seats (202) are mounted on the upper surface of the (201), a guard rail is disposed between the adjacent support seats (202), and a gap for inserting the base (301) is disposed between any two adjacent support seats. (301), the base (301) is mounted on the load panel (201).
The modular expandable space manipulator ground experimental platform according to claim 1, wherein the modular joint comprises a joint rear seat (321), a servo steering gear (322), a fixed shaft (323), and a steering wheel. An upper mount (324), a sleeve (325), a steering wheel (326) and a lower steering wheel mount (327), the joint rear seat (321) is connected to the servo steering gear (322) for use with the base (301) Or connected to the under-steering mount (327) in the adjacent modular joint, the output shaft of the servo steering gear (322) is connected to the steering wheel (326); the sleeve (325) is mounted on the servo steering gear Above the (322), the fixed shaft (323) is inserted into the sleeve (325) and connected to the servo steering gear (322), and the inner cylindrical surface of the sleeve (325) and the fixed shaft (323) An interference fit; one end of the steering wheel lower mount (327) is connected to the steering wheel (326), and the other end is connected to one end of the steering wheel upper mount (324), and the steering wheel upper mount (324) The other end is in clearance with the outer cylindrical surface of the sleeve (325); the servo steering gear (322) drives the upper and lower fixed seats (324, 327) of the steering wheel to guide the shaft through the steering wheel (326) (323) ) Rotate.
The modular expandable space manipulator ground experimental platform according to claim 7, wherein the inner surface of the joint rear seat (321) is provided with a nut mounting hole (328) for connecting with the servo steering gear (322). a mounting bracket (330) having a through hole (329) is provided around the inner surface of the joint rear seat (321), and the mounting bracket (330) is fixed to the servo motor (322) by a bolt; the rudder A bottom surface of one end of the upper fixing base (324) is provided with a rib, and an inner surface of the lower guard base (327) is provided with a guiding groove (331) matched with the rib, and the rib is inserted into the guiding groove. (331) Medium and fastened by bolts.
The modular expandable space manipulator ground experimental platform according to claim 1, wherein one end of the support frame (402) is clamped to the air floating platform by a bolt and a nut and a support frame pressing plate (401) (1) The fan fixing upper pressing plate (404), the fan fixing lower pressing plate (405) and the fan positioning plate (5) are all fastened to the support frame (402) by bolts.
The modular expandable space manipulator ground experimental platform according to claim 1, wherein the ducted fans (403) on both sides of the support frame (402) are orthogonally arranged, that is, the ducted fans on both sides ( The axial centerline of 403) is vertical.