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Continuum robot and satellite fueling system

A robot and continuum technology, applied in the field of robotics, can solve the problem that robots are difficult to operate in small spaces, achieve high spatial manipulation accuracy and resolution, reduce quality and cost, and achieve precise spatial docking effects.

Pending Publication Date: 2020-09-08
中国星网网络应用有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the technical problems existing in the prior art. The first purpose of the present invention is to provide a continuum robot to solve the technical problem that existing robots are difficult to operate in a narrow space

Method used

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  • Continuum robot and satellite fueling system
  • Continuum robot and satellite fueling system

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Embodiment 1

[0032] This embodiment provides a continuum robot, such as figure 1 and figure 2 As shown, in a preferred embodiment, it comprises a support module, a drive module and an actuator 6 mounted at the end of the support module (shown above in the figure). The support module includes N series-connected hinges 5, where N is an integer greater than 1, figure 1 As shown in the figure, five hinges 5 are provided, and the hinges 5 may be ball hinges or Hooke hinges in the prior art. The drive module drives the five hinges 5 to move, so that the support module is bent to adjust the posture of the continuum robot, and then the posture of the actuator 6 is adjusted. The number of hinged parts 5 can be selected according to actual requirements, and in practice, the length of the support module can be changed by increasing or decreasing the number of hinged parts 5 .

[0033] The support module of the present invention includes N series-connected hinges 5, that is, it has N movable joint...

Embodiment 2

[0044] This embodiment provides a satellite fueling system using the continuum robot of the above-mentioned first embodiment, which includes a satellite platform with a fuel supply system, the continuum robot is installed on the satellite platform, the actuator 6 is a gripper, and the fuel The filler nipple of the supply system is held by the gripper.

[0045] According to the bending deformation of the support module, the posture of the continuum robot can be changed, so as to realize the dexterous operations such as oil pipeline movement and oil pipeline docking of the continuum robot, which can meet the requirements of control response flexibility and docking accuracy during filling and manipulation.

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Abstract

The invention discloses a continuum robot and a satellite fueling system. The continuum robot comprises a support module, a driving module, and an actuator mounted at the tail end of the support module; the support module comprises N hinge joint pieces connected in series and N+1 connecting plates arranged at intervals; the connecting plates and the hinge joint pieces are arranged in a staggered manner; the actuator is mounted on a connecting plate at the tail end of the support module; the driving module comprises three ropes connected in parallel; the connecting plates are connected in series through the ropes; the tail end of each of the ropes is fixedly connected with the connecting plate at the tail end of the support module; each of the ropes is connected with a driving mechanism capable of winding and paying-off the rope; and the driving mechanism drives the ropes to be wound or paid off to bend the support module, so that the posture of the actuator is adjusted. Through controlling the curvature of the support module, posture variation and flexible motion of the continuum robot are realized, response flexibility and precision requirements from an end effector are met, and narrow and small space operation is realized.

Description

technical field [0001] The invention belongs to the field of robots, and relates to a continuum robot, in particular to an on-orbit service robot for space fueling and a satellite fueling system having the same. Background technique [0002] At present, one of the important reasons for the failure of satellites is that the propulsion fuel is exhausted. Generally, the space robot carried by other satellite platforms approaches the target star, and then the space robot uses its own attitude control ability to realize the docking of the fuel nozzle to the target star's fuel storage tank. fuel injection. The space robot realizes dexterous operations such as oil pipeline operation and oil pipeline docking through motion control, and improves the on-orbit working life of the satellite. [0003] Traditional robots are generally composed of offset rigid joints connected with rigid links. When completing satellite fueling, the body needs to take up a lot of space to meet the large a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/06B25J9/12B25J17/02
CPCB25J9/104B25J9/065B25J9/106B25J9/12B25J17/0266
Inventor 崔翔李杰张明欢王静陶利民
Owner 中国星网网络应用有限公司
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