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Foldable space manipulator

A technology of manipulators and space, applied in the field of manipulators, can solve problems such as the folding characteristics of manipulator systems in difficult spaces, poor performance, and threat to astronauts’ lives.

Inactive Publication Date: 2006-08-16
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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specific Embodiment approach 1

[0005] Specific implementation mode one: (referring to Fig. 1~ image 3 ) This embodiment consists of the first modular joint 1, the second modular joint 6, the third modular joint 8, the fourth modular joint 13, the fifth modular joint 15, the sixth modular joint 19, single degree of freedom Claw 4, lead wire 12, the first joint shell 2, the second joint shell 5, the third joint shell 7, the fourth joint shell 9, the fifth joint shell 14, the sixth joint shell 16, the seventh joint shell 17, the The eight-joint shell 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 is fixedly connected to the inner wall at one end of the eighth joint shell 20, and the sixth modular joint 19 The outer wall at the other end is fixedly connected to the outer wall at one end of the seventh joint shell 17, the outer wall at one end of the first modular joint 1 is fixedly connected to the inner wall at the other end of the seventh ...

specific Embodiment approach 2

[0006] Specific implementation mode two: (see Figure 4~7) The first modular joint 1 , the second modular joint 6 , the third modular joint 8 , the fourth modular joint 13 , the fifth modular joint 15 and the sixth modular joint 19 of this embodiment are respectively controlled by the joint mechanism , a motor device and a sleeve 31; the joint mechanism is composed of a torque sensor 1-1, a position sensor, a harmonic reducer, a bearing 1-4, a bearing inner ring seat 1-5, a 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, and the motor device is composed of DC Brush motor, magnetic encoder 2-2, drive circuit board 2-3, control circuit board 2-4, power circuit board 2-5, interface circuit board 2-6, first bracket 2-7, second bracket 2- 8. The third bracket 2-9 and the pressure ring 2-10 are composed, and the brushless DC motor is composed of a motor shaft 2-1-1, a motor ...

specific Embodiment approach 3

[0008] Specific implementation mode three: (see Figure 5 ) The difference between this embodiment and the specific embodiment one is: the motor device of this embodiment also has a digital Hall sensor 2-15; the digital Hall sensor 2-15 is 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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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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