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Foldable space manipulator

A manipulator and space technology, applied in the field of manipulators, can solve the problems of strong radiation, high temperature difference, bad and so on

Inactive Publication Date: 2007-10-10
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the environment of microgravity, strong radiation and high temperature difference in space, which is easy to cause threat to the lives of astronauts. It is very difficult to complete the tasks of space workstations only by manpower, and the folding characteristics of existing space manipulator systems are not good. Good question, provide a foldable space manipulator

Method used

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  • Foldable space manipulator
  • Foldable space manipulator
  • Foldable space manipulator

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Experimental program
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Effect test

specific Embodiment approach 1

[0005] Specific Embodiment 1: (See Figures 1 to 3) This embodiment consists of a first modular joint 1, a second modular joint 6, a third modular joint 8, a fourth modular joint 13, and a fifth modular joint 15. The sixth modular joint 19, the single-degree-of-freedom hand gripper 4, the wire 12, the first joint housing 2, the second joint housing 5, the third joint housing 7, the fourth joint housing 9, the fifth joint housing 14, the The six-joint housing 16, the seventh joint housing 17, the eighth joint housing 20, the first arm 3, the second arm 10 and the third arm 11; the outer wall at one end of the sixth modular joint 19 and the eighth joint housing The inner wall at one end of 20 is fixedly connected, the outer wall at the other end of the sixth modular joint 19 is fixedly connected with the outer wall at one end of the seventh joint shell 17, and the outer wall at one end of the first modular joint 1 is fixedly connected with the inner wall at the other end of the se...

specific Embodiment approach 2

[0006] Specific Embodiment 2: (See Figures 4-7) The first modular joint 1, the second modular joint 6, the third modular joint 8, the fourth modular joint 13, and the fifth modular joint 15 of this embodiment and the sixth modular joint 19 are made up of a joint mechanism, a motor device and a sleeve 31 respectively; -5. Bearing outer ring seat 1-6 and connecting flange 1-7, the harmonic reducer is composed of wave generator 1-3-1, rigid wheel 1-3-2 and flexible wheel 1-3- 3, the motor device is composed of a DC brushless motor, a magnetic encoder 2-2, a drive circuit board 2-3, a control circuit board 2-4, a power supply circuit board 2-5, an interface circuit board 2-6, a A bracket 2-7, a second bracket 2-8, a third bracket 2-9 and a pressure ring 2-10, the brushless DC motor is composed of a motor shaft 2-1-1, a motor housing 2-1-2 , motor bearing 2-1-3, end cover 2-1-4, motor rotor 2-1-5 and motor stator 2-1-6; motor casing 2-1-2 is fixed with motor stator 2-1 -6, the mo...

specific Embodiment approach 3

[0008] Specific embodiment three: (see Fig. 5) the difference between this embodiment and specific embodiment one is: the motor device of this embodiment is also added with digital Hall sensor 2-15; Described digital Hall sensor 2-15 Installed in the motor casing 2-1-2 and fixedly connected with the motor stator 2-1-6. Redundant measurement of the motor position: it can be measured separately through the digital Hall sensor 2-15 and the magnetic encoder 2-2, which can improve the reliability of the system. If one is broken, the other can work independently.

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Abstract

A foldable manipulator for space workstation features that the external surface of one end of the first modular joint is fixed to the internal surface of the casing at another end of the seventh joint, the electrically conducting lines are arranged in the through hole of said modular joint for protecting them, and one end of each line is connected to the single-freedom hand jaw.

Description

technical field [0001] The invention relates to a manipulator of a space robot. Background technique [0002] With the rapid development of space science and technology, the development and utilization of energy will expand to space in the future. But many space activities are inseparable from space robots, such as the construction and maintenance of space stations, and the release and recovery of satellites. At present, these tasks are mainly completed by astronauts. Due to the environment of microgravity, strong radiation, and high temperature difference in space, any slight negligence of astronauts may pose a serious threat to the lives of astronauts themselves. With the increase of space missions, it is very difficult to complete these tasks only by manpower, and the cost of manned spacecraft is very high. The replacement of astronauts by space robots can not only reduce the dangers and injuries of astronauts when they work in harsh space environments, but also reduce ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06
Inventor 刘宏史士财高晓辉金明河谢宗武
Owner HARBIN INST OF TECH
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