CN-121989217-A - Thin-wall telescopic space mechanical arm

CN121989217ACN 121989217 ACN121989217 ACN 121989217ACN-121989217-A

Abstract

The invention relates to the technical field of space robots, in particular to a thin-wall telescopic space mechanical arm. The mechanical arm comprises a base, a lower joint support driving assembly, a lower section thin-wall telescopic rod, an upper joint support driving assembly, an upper section thin-wall telescopic rod and an end effector which are sequentially connected, wherein the lower section thin-wall telescopic rod and the upper section thin-wall telescopic rod are of winding type thin-wall strip telescopic structures with limiting mechanisms, the thin-wall strips are wound and stored in a furled state, the thin-wall strips are guided and shaped to form tubular rod bodies in the extending process, and are limited and restrained through the limiting mechanisms in the extending process, so that the structural stability of the mechanical arm is improved, and the lower joint support driving assembly and the upper joint support driving assembly jointly provide the multi-degree-of-freedom posture adjusting capability of the mechanical arm. The invention has small folding volume, large expansion ratio, light structure and large working space, and is suitable for the tasks of space station on-orbit operation, maintenance, assembly, scientific load deployment, deep space sampling and the like.

Inventors

ZHANG ZHAOWEI
ZHANG QUANSHENG
FANG LIANG
ZHOU WEIJIA
ZHANG WEI

Assignees

中国科学院沈阳自动化研究所
沈阳中科新宇空间智能装备有限公司

Dates

Publication Date: 20260508
Application Date: 20260408

Claims (10)

1. A thin-wall telescopic space mechanical arm is characterized by comprising a base (1), a lower joint support driving assembly, a lower section thin-wall telescopic rod (4), an upper joint support driving assembly, an upper section thin-wall telescopic rod (7) and an end effector (8) which are sequentially connected, wherein the lower section thin-wall telescopic rod (4) and the upper section thin-wall telescopic rod (7) are of a winding type thin-wall strip telescopic structure with a limiting mechanism, the thin-wall strips are wound and stored in a furled state, a tubular rod body is formed by guiding and shaping through the limiting mechanism in the extending process, and the thin-wall strips are limited and restrained through the limiting mechanism in the extending process so as to improve the structural stability of the thin-wall strips, and the lower joint support driving assembly and the upper joint support driving assembly jointly provide the multi-degree-of-freedom posture adjusting capability of the mechanical arm.
2. The thin-wall telescopic space mechanical arm according to claim 1, wherein the lower thin-wall telescopic rod (4) and the upper thin-wall telescopic rod (7) have the same structure and comprise a thin-wall strip (47) and a thin-wall strip telescopic driving structure, one end of the thin-wall strip (47) is wound in the thin-wall strip telescopic driving structure, the other end of the thin-wall strip extends out of the thin-wall strip telescopic driving structure, a fixing hoop (412) is arranged at the end of the thin-wall strip telescopic driving structure, the fixing hoop (412) enables the thin-wall strip (47) to extend out through an arc-shaped structure and then keep a tubular rod body structure, and the thin-wall strip telescopic driving structure is used for driving the thin-wall strip (47) to be wound, stored or released.
3. The thin-wall telescopic space mechanical arm according to claim 2, wherein the thin-wall strip telescopic driving structure comprises a winding drum (45), a guide pulley (46), a winding drum mounting frame (413), a gear transmission assembly and a winding drum driving motor, wherein the winding drum (45) is mounted on the winding drum mounting frame (413) through a support bearing (44), a plurality of guide pulleys (46) are circumferentially arranged on the outer side of the winding drum (45), two ends of the guide pulleys (46) are rotationally connected with the winding drum mounting frame (413) and the axis is parallel to the axis of the winding drum (45), the winding drum driving motor is mounted on the winding drum mounting frame (413) and the output end is connected with the winding drum (45) through the gear transmission assembly, and the winding drum driving motor is used for driving the winding drum (45) to rotate, and the guide pulleys (46) guide winding of the thin-wall strip (47).
4. A thin-walled telescopic space manipulator according to claim 3, characterized in that the thin-walled strip telescopic drive further comprises a roller platen (41), the roller platen (41) being mounted on the spool mount (413) parallel to the axis of the spool (45), the roller platen (41) being adapted to press the thin-walled strip (47).
5. A thin-walled telescopic space manipulator according to claim 3, characterized in that the gear transmission assembly comprises a driving transmission gear (42) and a driven gearwheel (43), wherein the driving transmission gear (42) is arranged at the output end of the winding drum drive motor and the driven gearwheel (43) is arranged at the end of the winding drum (45) and is in engagement with the driving transmission gear (42).
6. The thin-walled telescopic spatial manipulator according to claim 2, characterized in that the thin-walled strip (47) is a thin strip of metal elastic or fiber reinforced composite material.
7. The thin-wall telescopic space mechanical arm according to claim 2, wherein the limiting mechanism comprises an upper limiting block (48), a lower limiting block (49), a pressing pulley (410) and a fixed support (411), wherein the fixed support (411) is connected with the thin-wall strip telescopic driving structure, the upper limiting block (48) and the lower limiting block (49) are of arc structures and are concentrically arranged on the fixed support (411), a plurality of pressing pulleys (410) clamped on two sides of the thin-wall strip (47) are respectively arranged on opposite surfaces of the upper limiting block (48) and the lower limiting block (49), and the thin-wall strip (47) is guided and shaped into a tubular rod body through the pressing pulleys (410) on two sides in the extending process.
8. The thin-walled telescopic spatial manipulator according to claim 1, characterized in that the lower joint support drive assembly comprises a lower joint support structure (2) and a lower joint drive module (3), wherein the lower joint support structure (2) is arranged on the base (1); The lower joint driving module (3) comprises a first driving motor (31), a lower joint supporting frame (32) and a second driving motor (34), wherein the first driving motor (31) is installed on the lower joint supporting structure (2), the output end rotating axis of the first driving motor (31) is perpendicular to the base (1), one end of the lower joint supporting frame (32) is connected with the output end of the first driving motor (31), the second driving motor (34) is installed at the other end of the lower joint supporting frame, and the output end rotating axis of the second driving motor (34) is perpendicular to the output end rotating axis of the first driving motor (31).
9. The thin-walled telescopic space manipulator according to claim 8, characterized in that the first drive motor (31) and the second drive motor (34) are each provided with a limiting structure (33) controlling the rotation angle.
10. The thin-walled telescopic spatial manipulator according to claim 1, characterized in that the upper joint support drive assembly comprises a middle rotary joint (5) and an upper joint drive module (6), wherein the middle rotary joint (5) is connected with the lower thin-walled telescopic rod (4), and the upper joint drive module (6) is mounted on the middle rotary joint (5) and has two degrees of freedom of rotation in the vertical direction.

Description

Thin-wall telescopic space mechanical arm Technical Field The invention relates to the technical field of space robots, in particular to a thin-wall telescopic space mechanical arm. Background The existing space mechanical arm mostly adopts a rigid series rod member structure, the rod member length is usually fixed, so that the mechanical arm occupies a larger envelope space in the launching stage, which is unfavorable for launching, storage and transportation, and meanwhile, the working radius is limited by the rod length, and the space coverage range is limited. In order to improve the working capacity, the number of the rods is generally required to be increased or the length of the rods is generally required to be prolonged, which brings about the problems of increased system quality, complex structural arrangement, increased control difficulty and the like. For light long arm structures, it is often difficult to achieve both structural rigidity and operational accuracy. Therefore, there is a need for a space manipulator that can be reduced in volume in a collapsed state, and that can achieve a large working range in an expanded state, and that has good attitude adjustment capability and structural rigidity. Disclosure of Invention Aiming at the problems, the invention aims to provide a thin-wall telescopic space mechanical arm so as to solve the problems that the existing space mechanical arm is large in folding volume, limited in working radius, high in structural quality and difficult to consider rigidity and precision. In order to achieve the above purpose, the present invention adopts the following technical scheme: The invention provides a thin-wall telescopic space mechanical arm which comprises a base, a lower joint support driving assembly, a lower section thin-wall telescopic rod, an upper joint support driving assembly, an upper section thin-wall telescopic rod and an end effector which are sequentially connected, wherein the lower section thin-wall telescopic rod and the upper section thin-wall telescopic rod are of coiled thin-wall strip telescopic structures with limiting mechanisms, the thin-wall strips are coiled and stored in a furled state, the thin-wall strips are guided and shaped through the limiting mechanisms in the extending process to form tubular rod bodies, and are limited and restrained through the limiting mechanisms in the extending process, and the lower joint support driving assembly and the upper joint support driving assembly jointly provide the multi-degree-of-freedom posture adjusting capability of the mechanical arm. The lower section thin-wall telescopic rod and the upper section thin-wall telescopic rod have the same structure and both comprise a thin-wall strip and a thin-wall strip telescopic driving structure, one end of the thin-wall strip is wound in the thin-wall strip telescopic driving structure, the other end of the thin-wall strip extends out of the thin-wall strip telescopic driving structure, a fixing hoop is arranged at the end of the thin-wall strip, the fixing hoop enables the thin-wall strip to extend out through an arc-shaped structure and then to keep a tubular rod body structure, and the thin-wall strip telescopic driving structure is used for driving the thin-wall strip to be wound, stored or released. The thin-wall strip telescopic driving structure comprises a winding drum, guide pulleys, a winding drum mounting frame, a gear transmission assembly and a winding drum driving motor, wherein the winding drum is mounted on the winding drum mounting frame through a supporting bearing, a plurality of guide pulleys are circumferentially arranged on the outer side of the winding drum, two ends of each guide pulley are rotationally connected with the winding drum mounting frame, the axis of each guide pulley is parallel to the axis of the winding drum, the winding drum driving motor is mounted on the winding drum mounting frame, the output end of each guide pulley is connected with the winding drum through the gear transmission assembly, the winding drum driving motor is used for driving the winding drum to rotate, and the guide pulleys guide winding of the thin-wall strip. The thin-wall strip telescopic driving structure further comprises a roller pressing plate, wherein the roller pressing plate is installed on the winding drum installation frame and is parallel to the axis of the winding drum, and the roller pressing plate is used for pressing the thin-wall strip. The gear transmission assembly comprises a driving transmission gear and a driven gear wheel, wherein the driving transmission gear is arranged at the output end of the winding drum driving motor, and the driven gear wheel is arranged at the end part of the winding drum and meshed with the driving transmission gear. The thin-wall strip is a metal elastic thin strip or a fiber reinforced composite thin strip. The limiting mechanism comprises an upper limiting block, a lower limiting block,