CN215471105U - Robotic arm for on-orbit maintenance of space station payloads - Google Patents
Robotic arm for on-orbit maintenance of space station payloads Download PDFInfo
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- CN215471105U CN215471105U CN202121646638.4U CN202121646638U CN215471105U CN 215471105 U CN215471105 U CN 215471105U CN 202121646638 U CN202121646638 U CN 202121646638U CN 215471105 U CN215471105 U CN 215471105U
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Abstract
The utility model relates to scientific experiment operation equipment for manned space stations, in particular to a mechanical arm for on-orbit maintenance of space station loads. Comprises a maintenance box and a load maintenance mechanical arm hung upside down in the maintenance box; the load maintenance mechanical arm has seven degrees of freedom, and the execution tail end is provided with a quick locking mechanism and a camera module, wherein the quick locking mechanism is used for connecting a maintenance tool, and the camera module is used for acquiring image information of a load to be maintained. The utility model can realize the minimum design of size, weight and energy consumption, meet the functional requirement of load maintenance on a space station, and autonomously or assist astronauts to finish the in-orbit in-place maintenance of the load.
Description
Technical Field
The utility model relates to scientific experiment operation equipment for manned space stations, in particular to a mechanical arm for on-orbit maintenance of space station loads.
Background
In order to explore the field of space, China is about to build a space station, and the space station can powerfully promote the research activity of space science. Due to the limitation of space and ground transportation capacity, China faces the difficulty of logistics supply of space stations like other countries, and a large amount of manpower and material resources are required to be invested for ascending and descending of the cargo ship every time, so that an operation platform is required to be established for the space stations to support on-orbit maintenance of scientific application loads.
In order to meet the operation requirement of on-orbit load maintenance, a load maintenance box is arranged in a space station in China, so that a working space and basic resources are provided for on-orbit maintenance operation, an astronaut is autonomously or assisted to carry out operations such as disassembling, assembling, cleaning, disinfecting and debugging of a load, and the on-orbit maintenance box can replace the astronaut to finish the work with high operation precision requirement, long operation time and severe operation environment. The on-orbit maintenance operation technology provides a maintenance function and a real-time observation function for the load of the space station application system, can realize efficient, quick, accurate and reliable maintenance operation tasks, improves the maintainability of on-orbit equipment on the one hand, effectively reduces the requirement of the application system on the number of maintenance and guarantee spare parts, obviously improves the utilization rate of the equipment, and reduces the heaven and earth transportation cost; on the other hand, the safety and the efficiency of the operation of the astronaut are improved, the working strength of the astronaut is greatly reduced, the fatigue of the astronaut caused by long-time operation is effectively relieved, and the astronaut has more time to invest in scientific research and the operation management of the space station.
To accomplish the task of on-track maintenance operations, a set of robotic arms is required to be deployed in the maintenance box for dexterous and delicate operations. The maintenance box is a narrow and irregular space, and robots commonly used in the industry at present cannot be directly moved into the maintenance box for use due to the characteristics of weight, volume, configuration and the like, so that a mechanical arm capable of meeting the requirements of special space and tasks in the maintenance box needs to be designed to meet the requirement of on-orbit load maintenance.
SUMMERY OF THE UTILITY MODEL
In view of the above problems, the present invention aims to provide a robot arm for space station load on-track maintenance, so as to meet the functional requirements of load maintenance on a space station, and autonomously or assist astronauts to complete on-track maintenance of loads.
In order to achieve the purpose, the utility model adopts the following technical scheme:
a mechanical arm for on-rail maintenance of space station loads comprises a maintenance box and a load maintenance mechanical arm inversely hung in the maintenance box; the load maintenance mechanical arm has seven degrees of freedom, and the execution tail end is provided with a quick locking mechanism and a camera module, wherein the quick locking mechanism is used for connecting a maintenance tool, and the camera module is used for acquiring image information of a load to be maintained.
The load maintenance mechanical arm comprises a joint I, a joint II, a joint III, a joint IV, a joint V, a joint VI and a joint VII which are sequentially connected, wherein the joint I is a linear motion joint, and the joint II, the joint III, the joint IV, the joint V, the joint VI and the joint VII are all modularized rotary motion joints; the camera module is arranged on the outer side of the joint VII; the quick lock mechanism is arranged at the output end of the joint VII.
The rotation axis of the joint II is vertical to the moving direction of the joint I;
the rotation axes of the joint III and the joint II are vertical to each other;
the output end of the joint III is connected with the joint IV through a connecting rod, and the rotation axes of the joint III and the joint IV are parallel to each other;
the rotation axis of the joint V is vertical to the rotation axes of the joint IV and the joint VI;
the rotation axes of the joint VII and the joint VI are perpendicular to each other.
The joint I comprises an installation frame, a guide rail A, a guide rail B, a screw rod assembly, a nut adapter plate and a driving assembly, wherein the guide rail A, the guide rail B and the screw rod assembly are arranged on the installation frame in parallel, and the screw rod assembly can rotate; the screw nut adapter plate is connected with a screw nut in the screw rod assembly, and two ends of the screw nut adapter plate are respectively connected with the guide rail A and the guide rail B in a sliding manner; the driving assembly is arranged at one end of the mounting rack, and the output end of the driving assembly is connected with the lead screw assembly and is used for driving the lead screw assembly to rotate;
the joint II is arranged on the nut adapter plate.
The joint I further comprises a driving controller assembly arranged on the mounting frame, the driving controller assembly is electrically connected with the driving assembly and used for controlling the driving assembly, and therefore motion control of the joint I is achieved.
The joint II, the joint III, the joint IV, the joint V, the joint VI and the joint VII are identical in structure and respectively comprise a base, a brushless direct current motor, a harmonic reducer and a torque sensor, wherein the brushless direct current motor, the harmonic reducer and the torque sensor are arranged on the base and are sequentially connected, and the torque sensor is used for measuring the load torque of the joint.
The rear part of the brushless direct current motor is provided with an incremental encoder, an absolute encoder and a joint driver, wherein the joint driver is electrically connected with the incremental encoder, the absolute encoder and the torque sensor; the incremental encoder is used for feeding back the position of the motor side; the absolute encoder is used for feeding back the position of the joint; the joint driver is used for controlling the brushless direct current motor, so that the joint motion is controlled.
And the joint II, the joint III, the joint IV, the joint V, the joint VI and the joint VII are all hollow structures which are convenient to walk.
The quick lock mechanism comprises a quick lock base, a threaded sleeve and a plurality of steel balls, wherein the quick lock base is connected with the output end of the joint VII, and the threaded sleeve is sleeved on the outer side of the quick lock base and is in threaded connection with the quick lock base; through holes are formed in the quick lock base at equal intervals along the circumferential direction, and a plurality of steel balls are placed in the through holes; when the threaded sleeve moves upwards, the steel ball is extruded to be embedded into the groove of the tool, so that the tool is connected and locked.
The inner side of the end part of the threaded sleeve is of an inclined plane structure, and the steel ball is extruded or released through the inclined plane structure.
Compared with the prior art, the utility model has the advantages and beneficial effects that:
the optimized configuration suitable for the space in the space station load maintenance box is as follows: the space station load maintenance box is an irregular space, if an industrial robot configuration is adopted, a connecting rod with a longer size has to be selected for achieving the global accessibility, so that the size and the weight of the mechanical arm are too large, the operation flexibility is reduced, and even the mechanical arm cannot be used. By adopting the mechanical arm configuration and the structural scheme provided by the utility model, the minimized design of size, weight and energy consumption can be realized.
The operation is safer: the mechanical arm is provided with the torque sensor, and through the functions of compliance control and collision protection, the mechanical arm not only can set the magnitude of the operating force in the process of load maintenance to realize safe operation on the load, but also can avoid damage to astronauts.
Drawings
FIG. 1 is a schematic view of the working state of a robotic arm for on-track maintenance of space station loads in accordance with the present invention;
FIG. 2 is a schematic structural view of a robotic arm for in-orbit servicing of space station loads in accordance with the present invention;
FIG. 3 is a schematic structural view of a joint I according to the present invention;
FIG. 4 is a schematic structural view of a joint II according to the present invention;
FIG. 5 is a schematic view of the construction of the quick lock mechanism of the present invention;
in the figure: the device comprises a load maintenance mechanical arm 1, a joint I11, a guide rail A111, a guide rail B112, a lead screw assembly 113, a screw adapter plate 114, a driving assembly 115, a driving controller assembly 116, a joint II 12, a brushless direct current motor 121, a harmonic reducer 122, a crossed roller bearing 123, an incremental encoder 124, an absolute encoder 125, a torque sensor 126, a joint driver 127, a base 128, a joint III 13, a joint IV, a joint V, a joint VI, a joint VII, a connecting rod 18, a quick-locking base 191, a threaded sleeve 192, a steel ball 193, an inclined plane structure 194, a camera module 20, a maintenance tool 2, a load to be maintained 3 and a maintenance box 4.
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, the robot arm for on-rail maintenance of space station load provided by the utility model comprises a maintenance box 4 and a load maintenance robot arm 1 hung upside down in the maintenance box 4; the load maintenance mechanical arm 1 has seven degrees of freedom, and the execution end is provided with a quick locking mechanism 19 and a camera module 20, wherein the quick locking mechanism 19 is used for connecting a maintenance tool, and the camera module 20 is used for collecting image information of a load 3 to be maintained.
The utility model is suitable for the optimized configuration of the internal space of the load maintenance box of the space station and can realize the minimized design of size, weight and energy consumption.
As shown in fig. 2, in the embodiment of the present invention, the load maintenance robot arm 1 includes a joint i 11, a joint ii 12, a joint iii 13, a joint iv 14, a joint v 15, a joint vi 16, and a joint vii 17, which are connected in sequence, where the joint i 11 is a linear motion joint, and the joint ii 12, the joint iii 13, the joint iv 14, the joint v 15, the joint vi 16, and the joint vii 17 are all modular rotary motion joints; the camera module 20 is arranged on the outer side of the joint VII 17; the quick-locking mechanism 19 is arranged at the output end of the joint VII 17. The load maintenance mechanical arm 1 has a 1P6R configuration as a whole, and variables of each joint are respectively marked as d1、θ2、θ3、θ4、θ5、θ6And theta7。
In the embodiment of the utility model, the rotation axis of the joint II 12 is vertical to the moving direction of the joint I11, the rotation axes of the joint III 13 and the joint II 12 are vertical to each other, the output end of the joint III 13 is connected with the joint IV 14 through the connecting rod 18, the rotation axes of the joint III 13 and the joint IV 14 are parallel to each other, and the connecting rod 18 is used for connecting the joint III 13 with the joint IV 14, so that the mechanical arm meets the requirement of an operation space. The rotation axis of the joint V15 is vertical to the rotation axes of the joint IV 14 and the joint VI 16, and the rotation axes of the joint VII 17 and the joint VI 16 are vertical to each other.
As shown in fig. 3, in the embodiment of the present invention, the joint i 11 includes a mounting bracket, a guide rail a111, a guide rail B112, a screw assembly 113, a nut adapter plate 114 and a driving assembly 115, wherein the mounting bracket is connected to the top of the inner side of the maintenance box 4, the guide rail a111 and the guide rail B112 are disposed parallel to each other on both sides of the mounting bracket, and the screw assembly 113 is rotatably disposed at the middle position of the mounting bracket and parallel to the guide rail a111 and the guide rail B112. The nut adapter plate 114 is connected with a nut in the screw assembly 113, and two ends of the nut adapter plate are respectively connected with the guide rail A111 and the guide rail B112 in a sliding manner; the driving assembly 115 is arranged at one end of the mounting frame, and the output end of the driving assembly is connected with the screw rod assembly 113 and used for driving the screw rod assembly 113 to rotate; the joint II 12 is arranged on the nut adapter plate 114.
Further, the joint i 11 further comprises a driving controller assembly 116 disposed on the mounting bracket, and the driving controller assembly 116 is electrically connected to the driving assembly 115, and is used for controlling the driving assembly 115, so as to realize motion control of the joint i 11.
Specifically, the driving assembly 115 is composed of a brushless dc motor, a planetary gear reducer, and a multi-turn absolute encoder, and can perform multi-turn rotational motion and feed back an absolute position. The driving assembly 115 is mounted at the end of the screw assembly 113 to drive the screw assembly 113 to move, and the screw assembly 113 is composed of a screw rod and a nut and can convert rotary motion into linear motion. The nut adapter plate 114 moves linearly along with the nut, two sides of the nut adapter plate 114 are respectively connected with the guide rail A111 and the guide rail B112 through slide blocks, and the slide blocks on the two sides support the nut adapter plate 114. The drive controller module 116 is comprised of an articulation driver, control box, and connector, etc., and is mounted in close proximity to the drive module 115. The joint driver of the joint I11 is electrically connected with the brushless direct current motor and the multi-turn absolute encoder, is in bus communication with the system controller, and is used for receiving a motion command sent by the system controller on the upper layer, driving the brushless direct current motor to move, driving the screw adapter plate 114 to do linear motion, and feeding back parameters of the joint I11 including parameters such as current, position, speed, fault mode and the like to the system controller. And threaded holes and positioning pin holes which are in butt joint with the joint II 12 are formed in the nut adapter plate 114, so that the high-precision positioning assembly of the joint I11 and the joint II 12 can be realized.
In the embodiment of the utility model, the joint I11 provides linear motion, so that the mechanical arm can reach a large range in the maintenance box 4, and the flexibility of a 6R configuration mechanism is enhanced. The joint I11 is supported by a double-row linear ball guide rail, so that the structural design with high rigidity is realized, and the functions of high-precision positioning and large-range accessibility can be realized by adopting a driving mode of driving a ball screw by a servo motor. The joint driver is installed nearby the joint motor, and wiring is facilitated.
As shown in fig. 4, in the embodiment of the present invention, the joint ii 12, the joint iii 13, the joint iv 14, the joint v 15, the joint vi 16, and the joint vii 17 have the same structure, and each of them includes a base 128, and a brushless dc motor 121, a harmonic speed reducer 122, and a torque sensor 126, which are disposed on the base 128 and connected in sequence, wherein an output end of the harmonic speed reducer 122 is supported by a cross roller bearing 123, and the torque sensor 126 is used for measuring a load torque of the joint.
Furthermore, the rear part of the brushless dc motor 121 is provided with an incremental encoder 124, an absolute encoder 125 and a joint driver 127, wherein the joint driver 127 is electrically connected with the incremental encoder 124, the absolute encoder 125 and the torque sensor 126; the incremental encoder 124 is used to feed back the motor-side position; absolute encoders 125 are used to feedback the position of the joint; the joint driver 127 is used to control the brushless dc motor 121, thereby realizing control of joint motion.
Furthermore, the joint II 12, the joint III 13, the joint IV 14, the joint V15, the joint VI 16 and the joint VII 17 are all hollow structures which are convenient to walk.
Specifically, the output shaft of the brushless dc motor 121 is connected to the wave generator of the harmonic reducer 122, and the brushless dc motor 121 moves to drive the joint output end to move after the torque is amplified by the reducer. The torque sensor 126 is installed at the output end of the harmonic reducer 122, and measures the load torque of the joint as feedback information of compliance control and collision protection. The incremental encoder 124, the absolute encoder 125 and the torque sensor 126 are all fed into a joint driver 127, and the joint driver 127 is in information communication with the system controller via a bus. Position servo control is built in the joint driver 127 using information from the incremental encoder 124 and the absolute encoder 125, and the joints are controlled to move in accordance with commands received from the system controller via the bus. The system controller acquires information fed back by the torque sensor 126 through the bus to construct compliance control of the mechanical arm. The crossed roller bearing 123 is used for supporting the load of the output end, hollow wiring is adopted in the joint structure design, and the cable of the mechanical arm penetrates through the center hole of the joint, so that +/-180-degree rotary motion can be realized. The base 128 of the joint II 12 is provided with a feature which is in butt joint with the joint I11 and comprises a pin hole for positioning and a through hole for mounting a screw, and the lower part of the base 128 of the joint II 12 is mounted on the nut adapter plate 114 of the joint I11. The output end of the joint II 12 is connected with the base of the joint III 13, the output end of the joint III 13 is connected with one end of a connecting rod 18, the other end of the connecting rod 18 is connected with the base of a joint IV 14, the output end of the joint IV 14 is connected with the base of a joint V15, the output end of the joint V15 is connected with the base of a joint VI 16, and the output end of the joint VI 16 is connected with the base of a joint VII 17. The quick lock mechanism 19 is arranged at the output end of the joint VII 17, the camera module 20 is arranged outside the base of the joint VII 17, and the camera axis in the camera module 20 is parallel to the axis of the joint VII 17.
In the embodiment of the utility model, the joints II 12 to VII 17 are modular joints for providing rotary motion, the design principle is the same, brushless direct current motors and harmonic reducers are adopted as driving devices, incremental encoders and absolute encoders are respectively configured on the motor side and the joint output side as feedback devices, in addition, a torque sensor is installed on the joint output part for measuring the joint torque, and torque measurement is provided for flexible control and collision protection. The joint drivers are arranged inside the joints from the II 12 to the VII 17, and the mechanical arm cable penetrates through the joints, so that the structural attractive appearance and high-reliability design are realized.
As shown in fig. 5, in the embodiment of the present invention, the quick lock mechanism 19 includes a quick lock base 191, a threaded sleeve 192 and a plurality of steel balls 193, wherein the quick lock base 191 is connected to the output end of the joint vii 17, and the threaded sleeve 192 is sleeved outside the quick lock base 191 and is in threaded connection with the quick lock base 191; through holes are formed in the quick lock base 191 at equal intervals along the circumferential direction, and a plurality of steel balls 193 are placed in the through holes; when the threaded sleeve 192 moves upward, the steel ball 193 is pressed into the groove of the tool, and the tool is connected and locked.
Further, inside the end of the threaded sleeve 192 is a ramp structure 194, by which ramp structure 194 the steel ball 193 is pressed or released.
In this embodiment, the quick-locking mechanism is not limited to the above structure, and the quick-locking mechanism may further lock the tool by a threaded connection manner, wherein an internal threaded sleeve capable of rotating is installed at the end of the mechanical arm, and an external thread feature is processed on the outer surface of the end of the tool.
The quick locking mechanism 19 provides a standard mechanical installation interface for the tail end of the mechanical arm, can realize the standardized installation of different maintenance tools, and can realize the high-precision and high-rigidity connection between the tail end of the mechanical arm and the tools through a threaded knob type locking connection mode. The camera module 20 is installed on the base of the joint VII 17 and used for observing an operation target and providing visual feedback for the autonomous operation and the teleoperation of the mechanical arm.
The space station load on-rail maintenance mechanical arm provided by the utility model realizes on-rail in-place maintenance of scientific loads in a cabin, and can avoid huge cost for returning the loads to the ground and maintaining the loads again. Because the weight, the volume and the configuration of the existing industrial robot are difficult to meet the requirement of on-orbit maintenance operation, the utility model provides the seven-degree-of-freedom mechanical arm suitable for the special inner space of the maintenance box of the space station, and a safe and reliable operation control mode is constructed, so that the mechanical arm not only can autonomously complete on-orbit maintenance operation tasks, but also can greatly facilitate the cooperative operation of astronauts and the mechanical arm.
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)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121646638.4U CN215471105U (en) | 2021-07-20 | 2021-07-20 | Robotic arm for on-orbit maintenance of space station payloads |
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| CN202121646638.4U CN215471105U (en) | 2021-07-20 | 2021-07-20 | Robotic arm for on-orbit maintenance of space station payloads |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459068A (en) * | 2021-07-20 | 2021-10-01 | 中国科学院沈阳自动化研究所 | Mechanical arm for space station load on-orbit maintenance |
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2021
- 2021-07-20 CN CN202121646638.4U patent/CN215471105U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113459068A (en) * | 2021-07-20 | 2021-10-01 | 中国科学院沈阳自动化研究所 | Mechanical arm for space station load on-orbit maintenance |
| CN113459068B (en) * | 2021-07-20 | 2024-11-19 | 中国科学院沈阳自动化研究所 | A robotic arm for on-orbit maintenance of space station payloads |
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