Transfer device for space robot arm maintenance products

Abstract

The present invention provides a transfer device for space manipulator maintenance products, including an armrest clamping mechanism and a flexible damping mechanism, wherein the flexible damping mechanism includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints, wherein a plurality of middle single ball joints are movably connected to each other to form a strip structure, wherein the two ends of the strip structure are movably connected to the end single ball joint and the end double ball joint, respectively, and the end single ball joint and the end double ball joint are connected to an armrest holding mechanism, respectively, to provide multi-degree-of-freedom adjustment for the armrest holding mechanism, and the armrest clamping mechanism is used to connect the interface armrest. The transfer device for space manipulator maintenance products described in the present invention solves the problem of large-scale unstable transfer when the space manipulator fails, and has the characteristics of rapid fixation, multi-degree-of-freedom rotation, and providing damping force.

Description

Technical Field

[0001] The invention belongs to the field of space technology, and in particular relates to a transfer device for space robot arm maintenance products. Background Art

[0002] At present, large space manipulators (such as the Canadian arm SSRMS) in orbit rarely carry out related on-orbit maintenance tasks due to the complexity of fault conditions and the low feasibility of maintenance operations. However, the successful case of the United States repairing the Hubble telescope has provided technical support for the on-orbit maintenance of large manipulators in countries around the world. As my country will gradually build space stations, large space manipulators such as manipulators will also operate in orbit to carry out more large-scale tasks. At present, there is no technical reference for the transfer device used for large space manipulator arm maintenance products in other countries. This transfer device is developed based on space manipulator arm maintenance products, and in the future it can fill the technical gap in astronauts transferring large mass and large volume products in orbit. Summary of the invention

[0003] In view of this, the present invention aims to propose a transfer device for space robot arm maintenance products to solve the problem of unstable large-scale transfer when the space robot arm fails.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] A transfer device for space robot arm maintenance products includes an armrest clamping mechanism and a flexible damping mechanism. The flexible damping mechanism includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints. A plurality of middle single ball joints are movably connected to each other to form a strip structure. Both ends of the strip structure are movably connected to the end single ball joint and the end double ball joint respectively. The end single ball joint and the end double ball joint are respectively connected to an armrest holding mechanism to provide multi-degree-of-freedom adjustment for the armrest holding mechanism. The armrest clamping mechanism is used to connect the interface armrest.

[0006] Furthermore, the armrest supporting mechanism includes a clamping mechanism body, the middle part of the clamping mechanism body is rotatably connected to the operating handle, a mounting hole is provided on the top of the clamping mechanism body, the mounting hole cooperates with the guide rod to form a sliding pair, a clamping block is fixedly installed at the end of the guide rod, and the guide rod is movably sleeved on the outside of the guide plate, No. 1 compression spring, paddle, No. 2 compression spring, unlocking plate and No. 3 compression spring from the end to the head end, and the guide plate is installed on the clamping structure body by screws, the lower end of the paddle acts on the upper part of the operating handle, so that the operating handle can drive the paddle to move, the unlocking plate is movably connected to the clamping mechanism body, the No. 1 compression spring acts on the paddle, and the No. 2 compression spring acts on the unlocking plate; an end cover is provided on the top of the clamping mechanism body, and a guide cover is also fixedly installed on the top of the clamping mechanism body, a reverse pressure plate is fixedly installed on the inner side of the guide cover, and a spring is installed between the reverse pressure plate and the guide cover, and the interface armrest is placed between the reverse cover and the clamping block.

[0007] Furthermore, a guide cover is installed above the clamping mechanism body, a reverse pressure plate is installed on the inner side of the guide cover through an anti-slip screw, and a slideway is formed between the reverse pressure plate and the guide cover, the slideway is used to install a spring, and the spring is movably sleeved on the outside of the anti-slip screw.

[0008] Furthermore, the operating handle includes an upper portion, a middle portion and a lower portion of an integrated structure, the lower portion is a handle, the middle portion is rotatably connected to the middle portion of the clamping mechanism body via a rotating shaft, and the upper portion is provided with a driving shaft.

[0009] Furthermore, the flexible damping mechanism includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints. The plurality of middle single ball joints are movably connected to each other to form a strip structure. The two ends of the strip structure are respectively rotatably connected to the end single ball joint and the end double ball joint. The end single ball joint and the end double ball joint are respectively connected to an armrest supporting mechanism, providing multi-degree-of-freedom adjustment for the armrest supporting mechanism.

[0010] Furthermore, the end single ball joint includes a No. 1 ball joint and a No. 1 ball socket assembly movably connected thereto.

[0011] Furthermore, the No. 1 ball joint includes an end sleeve, an intermediate sleeve and a top sleeve. The two ends of the intermediate sleeve are threadedly connected to the end sleeve and the top sleeve respectively. A ball socket is provided inside the top sleeve. The No. 1 ball socket assembly is clamped with the ball socket and can rotate along the ball socket to achieve connection with the handrail supporting mechanism. A compression spring is provided inside the intermediate sleeve to compress the ball socket above the compression spring. A gasket is placed inside the end sleeve, and the gasket is located at the lower end of the compression spring. Four threaded holes are provided on the lower end surface of the end sleeve, two of which are used to install tightening screws. The gasket is squeezed by the tightening screws to adjust the force of the compression spring, thereby achieving adjustment of the No. 1 ball socket assembly and the damping force of the ball socket.

[0012] Furthermore, the No. 1 ball socket assembly includes a No. 1 connecting rod and a No. 1 ball head fixedly connected thereto, the No. 1 ball head is snap-fitted to the ball socket and can rotate along the ball socket, and the No. 1 connecting rod is fixedly connected to the end cover of the armrest supporting mechanism.

[0013] Furthermore, the middle single ball joint includes a No. 2 ball joint and a No. 2 ball socket assembly movably connected above it, and the No. 2 ball joint is exactly the same as the No. 1 ball joint; the No. 2 ball socket assembly includes a No. 2 connecting rod and a No. 2 ball head, and one end of the No. 2 connecting rod passes through a connecting flange and is fixedly connected to the No. 2 ball head, and is fixedly connected to the connecting flange, and the connecting flange is connected to the end single ball joint or the lower end face of the end sleeve in the middle single ball joint, thereby realizing the connection between the middle single ball joint and the end single ball joint and the connection between two adjacent middle single ball joints.

[0014] Furthermore, the end double ball joint includes a No. 3 ball joint and a No. 3 ball socket assembly and a No. 4 ball socket assembly rotatably connected on both sides thereof. The structure of the No. 3 ball socket assembly is the same as that of the No. 2 ball socket assembly, and the structure of the No. 4 ball socket assembly is the same as that of the No. 1 ball socket assembly. The No. 1 connecting rod of the No. 4 ball socket assembly is fixedly connected to the end cover of the armrest supporting mechanism.

[0015] Compared with the prior art, the transfer device for space robot arm maintenance products of the present invention has the following advantages:

[0016] (1) The transfer device for space robot arm maintenance products described in the present invention temporarily fixes the handrails on the maintenance product, and then uses a flexible damping mechanism to provide a certain damping force, which can assist astronauts in stably transferring the maintenance product, avoiding the operational risks of astronauts caused by excessive product inertia, and solving the problem of unstable large-scale transfer when the space robot arm fails. It has the characteristics of rapid fixation, multi-degree-of-freedom rotation, and providing damping force.

[0017] (2) The transfer device for space robot arm maintenance products described in the present invention can meet the requirements of space human-machine ergonomics. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 Schematic diagram of the folded state of the transfer device for space robot arm maintenance product according to an embodiment of the present invention Figure 1 ;

[0020] Figure 2 Schematic diagram of the folded state of the transfer device for space robot arm maintenance product according to an embodiment of the present invention Figure 2 ;

[0021] Figure 3 A schematic diagram of a transfer device for a space robot arm maintenance product according to an embodiment of the present invention in an unfolded state;

[0022] Figure 4 for Figure 3 A cross-sectional view of

[0023] Figure 5 for Figure 4 Enlarged view of part A in the middle;

[0024] Figure 6 for Figure 4 Enlarged view of middle part B;

[0025] Figure 7 for Figure 4 Enlarged view of the middle C part;

[0026] Figure 8 A cross-sectional view of an end single ball joint according to an embodiment of the present invention;

[0027] Fig. 9 It is a cross-sectional view of the middle single ball hinge joint according to an embodiment of the present invention;

[0028] Fig.10 A cross-sectional view of the end double ball joint according to an embodiment of the present invention;

[0029] Fig.11 A cross-sectional view of a ball joint according to an embodiment of the present invention;

[0030] Fig.12 A cross-sectional view of the armrest clamping mechanism in a clamped state according to an embodiment of the present invention;

[0031] Fig.13 A cross-sectional view of the armrest clamping mechanism in a released state according to an embodiment of the present invention;

[0032] Fig.14 This is a flow chart of the operation actions of the transfer device for space robot arm maintenance products according to an embodiment of the present invention.

[0033] Description of reference numerals:

[0034] 1-armrest clamping mechanism; 101-anti-slip screw; 102-slideway; 103-conical rotation spring; 104-guide cover; 105-reverse pressure plate; 106-pressing block; 107-guide plate; 108-No. 1 compression spring; 109-pick; 110-clamping mechanism body; 111-No. 2 compression spring; 112-end cover; 113-No. 3 compression spring; 114-guide rod; 115-unlocking plate; 116-operating handle; 2-flexible damping mechanism; 21-No. 1 ball joint; 211-tightening screw; 212-end sleeve; 213-gasket; 214-compression spring; 215-middle sleeve; 216- Top sleeve; 217-ball socket; 22-No. 1 ball socket assembly; 221-No. 1 connecting rod; 222-No. 1 ball head; 23-No. 2 ball socket assembly; 231-No. 2 connecting rod; 232-No. 2 ball head; 233-connecting flange; 234-nut; 24-No. 3 ball socket assembly; 25-No. 4 ball socket assembly; 26-No. 2 ball hinge joint; 27-No. 3 ball hinge joint; 271-No. 1 sleeve; 272-No. 2 sleeve; 273-No. 3 sleeve; 274-No. 1 ball socket; 275-No. 2 ball socket; 276-adjusting gasket; 277-spring; 3-interface armrest; X-operating table; Y-interface position between transfer device and equipment to be transferred. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0038] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0039] Transfer device for space manipulator repair products, such as Figures 1 to 14 As shown, it includes an armrest clamping mechanism 1 and a flexible damping mechanism 2. The flexible damping mechanism 2 includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints. A plurality of middle single ball joints are movably connected to each other to form a strip structure. The two ends of the strip structure are movably connected to the end single ball joint and the end double ball joint, respectively. The end single ball joint and the end double ball joint are connected to an armrest holding mechanism 1, respectively, to provide multi-degree-of-freedom adjustment for the armrest holding mechanism 1. The armrest clamping mechanism 1 is used to connect the interface armrest 3. When astronauts transfer the maintenance product over a large range, the transfer device is used to temporarily fix the armrest on the maintenance product, and then the flexible damping mechanism of the transfer device is used to provide a certain damping force, which can assist astronauts in stably transferring the maintenance product, avoiding the risk of astronaut operation caused by the excessive inertia of the product, and solving the problem of unstable large-scale transfer when the space manipulator fails.

[0040] The armrest supporting mechanism 1 includes an anti-slip screw 101, a slide 102, a conical rotation spring 103, a guide cover 104, a reverse pressure plate 105, a clamping block 106, a guide piece 107, a No. 1 compression spring 108, a paddle 109, a clamping mechanism body 110, a No. 2 compression spring 111, an end cover 112, a No. 3 compression spring 113, a guide rod 114, an unlocking piece 115 and an operating handle 116. The middle part of the clamping mechanism body 110 is rotatably connected to the operating handle 116. A mounting hole is provided above the clamping mechanism body 110. The mounting hole cooperates with the guide rod 114 to form a sliding pair. The clamping block 106 is fixedly installed at the end of the guide rod 114 (the end close to the interface armrest 3). The guide rod 114 is movably sleeved with the guide piece 107, the No. 1 compression spring 108, the paddle 109, the No. 2 compression spring 111, the end cover 112, the No. 3 compression spring 113, the guide rod 114, the unlocking piece 115 and the operating handle 116. A compression spring 111, an unlocking piece 115 and a No. 3 compression spring 113, and a guide piece 107 are installed on the clamping structure body 110 by screws, the lower end of the paddle 109 acts on the upper part of the operating handle 116 (fixed connection), so that the operating handle 116 can drive the paddle 109 to move, the unlocking piece 115 is movably connected with the clamping mechanism body 110, the No. 1 compression spring 108 acts on the paddle 109, and the No. 2 compression spring 111 acts on the unlocking piece 115; an end cover 112 is provided on the top of the clamping mechanism body 110, and a guide cover 104 is also fixedly installed above the clamping mechanism body 110, a reverse pressure plate 105 is fixedly installed on the inner side of the guide cover 104, and a spring 103 is installed between the reverse pressure plate 105 and the guide cover 104, and an interface armrest 3 is placed between the reverse cover 104 and the clamping block 106.

[0041] Specifically, the guide cover 104 is installed on the top of the clamping mechanism body 110 by screws, the reverse pressure plate 105 is installed on the inner side of the guide cover 104 by anti-slip screws 101, and a slideway 102 is formed between the reverse pressure plate 105 and the guide cover 104, the slideway 102 is used to install the spring 103, and the spring 103 is movably sleeved on the outside of the anti-slip screw 101. Preferably, the spring 103 is a conical helical spring.

[0042] In one embodiment, a reverse wedge-shaped groove 1041 is formed above the reverse cover 104 ; a clamping wedge-shaped groove 1061 is formed above the clamping block 106 , and a V-shaped connection structure is formed therebetween to facilitate the interface handrail 3 to enter the slideway 102 .

[0043] The operating handle 116 includes an upper portion, a middle portion and a lower portion of an integrated structure, the lower portion is a handle 1161, the middle portion is rotatably connected to the middle portion of the clamping mechanism body 110 via a rotating shaft 1162, and the upper portion is provided with a driving shaft 1163. The driving shaft 1163 is rotatably connected to the operating handle 116, and the driving shaft 1163 is contact-connected or fixedly connected to the lower portion of the paddle 109, and is used to drive the paddle 109 to move. Since the paddle 109 is fixedly sleeved with the guide rod 114, the movement of the operating handle 116 can drive the guide rod 114 to move.

[0044] In one embodiment, the pressing block 106 is screwed to the end of the guide rod 114. Preferably, the unlocking piece 115 is rotatably connected to the clamping mechanism body 110 via a pin.

[0045] The top of the clamping mechanism body 110 is fixedly connected to the end cover 112 by screws, and the end cover 112 only provides a mounting interface for the flexible damping mechanism 2 .

[0046] The function of the flexible damping mechanism 2 is to provide damping force for the space manipulator maintenance product during the transfer process, to prevent the excessive inertia of the space manipulator maintenance product during the movement from causing difficulties for astronauts in operation, and to achieve multi-degree-of-freedom adjustment. The flexible damping mechanism 2 includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints. A plurality of middle single ball joints are movably connected to each other to form a strip structure. The two ends of the strip structure are movably connected (rotatably connected) to the end single ball joint and the end double ball joint. The end single ball joint and the end double ball joint are respectively connected to an armrest supporting mechanism 1, providing multi-degree-of-freedom adjustment for the armrest supporting mechanism 1. Preferably, a plurality of middle single ball joints can be provided according to demand.

[0047] The end single ball joint includes a No. 1 ball joint 21 and a No. 1 ball and socket assembly 22 movably connected thereto. The No. 1 ball joint 21 includes a fastening screw 211, an end sleeve 212, a gasket 213, a compression spring 214, an intermediate sleeve 215, a top sleeve 216 and a ball socket 217. The intermediate sleeve 215 is provided with an external thread, and the end sleeve 212 and the top sleeve 216 are both provided with internal threads. The two ends of the intermediate sleeve 215 are respectively threadedly connected to the end sleeve 212 and the top sleeve 216. The cross-sections of the top sleeve 216 and the end sleeve 212 are both H-shaped structures. The intermediate sleeve 215 is a cylindrical structure. The top sleeve 216 is provided with a ball socket 217. The No. 1 ball and socket assembly 22 and the ball socket 217 are connected to each other. 17 is clamped and can rotate along the ball socket 217, which is used to achieve connection with the armrest supporting mechanism 1. A compression spring 214 is provided inside the middle sleeve 215, and the ball socket 217 is compressed above the compression spring 214. A gasket 213 is placed inside the end sleeve 212, and the gasket 213 is located at the lower end of the compression spring 214. Four threaded holes are provided on the lower end surface of the end sleeve 212, two of which are used to install the tightening screws 211. The gasket 213 is squeezed by the tightening screws to adjust the force of the compression spring 214, thereby achieving the adjustment of the damping force of the No. 1 ball socket assembly 22 and the ball socket 217. The No. 1 ball socket assembly 22 includes a No. 1 connecting rod 221 and a No. 1 ball head 222 fixedly connected thereto. The No. 1 ball head 222 is clamped with the ball socket 217 and can rotate along the ball socket 217. The No. 1 connecting rod 221 is fixedly connected to the end cover 112 of the armrest supporting mechanism 1.

[0048] The middle single ball joint includes a No. 2 ball joint 26 and a No. 2 ball socket assembly 23 movably connected thereto. The No. 2 ball joint 26 is identical to the No. 1 ball joint 21. The No. 2 ball socket assembly 23 includes a No. 2 connecting rod 231, a No. 2 ball head 232, a connecting flange 233 and a nut 234. One end of the No. 2 connecting rod 231 passes through the connecting flange 233 and is fixedly connected to the No. 2 ball head 232, and is fixedly connected to the connecting flange 233 through a nut 234. The connecting flange 233 is provided with four through holes, two of which are used to avoid the fastening screws 211 of the end sleeve 212 in the end single ball joint or the middle single ball joint, and the other two through holes are connected to the threaded holes on the lower end surface of the end sleeve 212 through screws, thereby realizing the connection between the middle single ball joint and the end single ball joint and the connection between two adjacent middle single ball joints.

[0049] The end double ball joint includes a No. 3 ball joint 27 and a No. 3 ball socket assembly 24 and a No. 4 ball socket assembly 25 movably connected on both sides thereof. The No. 3 ball socket assembly 24 has the same structure as the No. 2 ball socket assembly 23. The No. 4 ball socket assembly 25 has the same structure as the No. 1 ball socket assembly 22. This makes the components in the transfer device highly versatile and less diverse, greatly reducing the production cost. The No. 3 ball joint 27 includes a No. 1 sleeve 271, a No. 2 sleeve 272, a No. 3 sleeve 273, a No. 1 ball socket 274, a No. 2 ball socket 275, an adjusting gasket 276 and a spring 277. The cross-sections of the No. 1 sleeve 271 and the No. 3 sleeve 273 are both H-shaped structures and are both provided with internal threads; the No. 2 sleeve 272 is a cylindrical structure and is provided with external threads. The two ends of the No. 2 sleeve 272 are threadedly connected with the No. 1 sleeve 271 and the No. 3 sleeve 273 respectively. The No. 1 sleeve 271 has a fixedly installed interior of the No. 1 ball socket 274, and the No. 2 ball socket 275 is fixedly installed inside the No. 3 sleeve 273. A spring 277 is placed inside the No. 2 sleeve 272. An adjusting gasket 276 is provided between the spring 277 and the No. 1 ball socket 274. The spring 277 presses the No. 1 ball socket 274 and the No. 2 ball socket 275, and the damping force is adjusted by presetting the adjusting gasket 276.

[0050] The principle is the same as above. The No. 3 ball socket assembly 24 is connected to the No. 1 ball socket 274 and can rotate along the No. 1 ball socket 274. The No. 4 ball socket assembly 25 is connected to the No. 2 ball socket 275 and can rotate along the No. 2 ball socket 275. Thereby, the armrest supporting mechanism 1 can be adjusted with multiple degrees of freedom. Four through holes are provided on the connecting flange 233 of the No. 3 ball socket assembly 24, two of which are used to avoid the fastening screws 211 of the end sleeve 212 in the middle single ball joint, and the other two through holes are connected to the threaded holes on the lower end surface of the end sleeve 212 through screws, thereby realizing the connection between the middle single ball joint and the end double ball joint. The No. 1 connecting rod of the No. 4 ball socket assembly 25 is fixedly connected to the end cover 112 of the armrest supporting mechanism 1.

[0051] The working principle of the transfer device for space manipulator repair products is:

[0052] Attached Fig.13 The figure shows the initial state of the armrest support mechanism. Fig.12 The armrest support mechanism is in the clamping state, and the armrest on the maintenance product is clamped. For the specific operation flow chart, see the attached Fig.14 .

[0053] When the armrest holding mechanism 1 is connected with the flexible damping mechanism 2, the armrest holding mechanism 1 is in an initial loose state, and the armrest interface 3 enters the slideway 102 through the reverse wedge groove 1041 on the guide cover 104 and the pressing wedge groove 1061 on the pressing block 106, and the handle 1161 of the operating handle 116 is pressed, and the operating handle 116 rotates around the rotating shaft 1162, and the pushing shaft 1163 on the operating handle 116 pushes the paddle 109 to move forward. The paddle 109 has a circular hole, and the guide The rod 114 passes through the circular hole, and the paddle 109 contacts the guide rod 114 under the action of the push shaft 1163, and uses the friction between the two to drive the guide rod 114 to move forward, thereby pushing the pressing block 106 to move forward. In this process, the force of the No. 2 compression spring 111 and the friction force of the unlocking piece 115 on the guide rod 114 are in the same direction, both of which are resistance. The operating force of pressing the handle 1161 needs to overcome the force of the No. 2 compression spring 111 and the friction force of the unlocking piece 115 on the guide rod 114. When the handle 1161 of the operating handle 116 is released, the No. 1 compression spring 108 drives the paddle 109 to reset and disengage from the guide rod 114. At this time, the guide rod 114 is only subjected to the force of the No. 2 compression spring 111 and the friction force of the unlocking piece 115 on the guide rod 114, and the two are in opposite directions. At the same time, the relevant parameters are reasonably set so that the friction force of the unlocking piece 115 on the guide rod 114 is greater than the force of the No. 2 compression spring 111, thereby preventing the guide rod 114 from rebounding. The operating handle 116 is pressed back and forth to realize the connection between the armrest holding mechanism 1 and the armrest interface 3. During this process, the unlocking piece 115 is always in contact with the guide rod 114.

[0054] The two sets of armrest support mechanisms 1 are respectively connected to the armrest interface 3 at the fixed end and the armrest interface 3 at the mobile end on the manipulator arm maintenance product. When the astronaut is transferring the manipulator arm maintenance product, the flexible damping mechanism 2 provides damping force for the ball joint under the action of the compression spring 214, offsetting the floating interference caused by the external force of the astronaut, and solving the unstable movement problem of the large-mass and large-volume manipulator arm maintenance product in the zero-gravity environment of on-orbit operation. At the same time, the multi-degree-of-freedom adjustment function of the flexible damping mechanism 2 can be used to preset the damping mechanism posture according to the transfer operation conditions.

[0055] When the manipulator arm maintenance product moves into place and the transfer device needs to be removed, press the ends of the unlocking pieces 115 on the two sets of armrest support structures 1 respectively to rotate the unlocking pieces 115, thereby disengaging from the guide rod 114, and the friction between the two disappears. Under the driving action of the No. 3 compression spring 113, the guide rod 114 rebounds to the initial state, realizing the disengagement of the armrest support structure 1 from the armrest interface 3. Release the unlocking piece 115, and under the action of the No. 2 compression spring 111, the unlocking piece 115 is reset and re-contacted with the guide rod 114, and the transfer device returns to its initial state. This set of transfer devices can realize the stable and large-scale transfer of space manipulator arm maintenance products by astronauts, and has the characteristics of rapid fixation, multi-degree-of-freedom rotation, and providing damping force. This set of transfer devices is designed according to the requirements of astronauts' on-orbit use and meets the requirements of space human-machine ergonomics, which is also one of the technical highlights of the device.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A transfer device for space robot arm maintenance products, characterized in that: It includes an armrest clamping mechanism and a flexible damping mechanism, wherein the flexible damping mechanism includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints, wherein the plurality of middle single ball joints are movably connected to each other to form a strip structure, wherein the two ends of the strip structure are movably connected to the end single ball joint and the end double ball joint, respectively, and the end single ball joint and the end double ball joint are respectively connected to an armrest clamping mechanism, so as to provide multi-degree-of-freedom adjustment for the armrest clamping mechanism, and the armrest clamping mechanism is used to connect the interface armrest; The armrest clamping mechanism comprises a clamping mechanism body, the middle part of the clamping mechanism body is rotatably connected with the operating handle, a mounting hole is provided on the top of the clamping mechanism body, the mounting hole cooperates with the guide rod to form a sliding pair, a clamping block is fixedly installed at the end of the guide rod, and the guide rod is movably sleeved with a guide piece, a No. 1 compression spring, a paddle, a No. 2 compression spring, an unlocking piece and a No. 3 compression spring in sequence from the end to the head end of the guide rod, and the guide piece is installed on the clamping structure body by a screw, and the lower end of the paddle acts on the upper part of the operating handle so that the operating handle can drive the paddle to move, and the unlocking piece is movably connected with the clamping mechanism body, the No. 1 compression spring acts on the paddle, and the No. 2 compression spring acts on the unlocking piece; an end cover is provided on the top of the clamping mechanism body, and a guide cover is also fixedly installed on the top of the clamping mechanism body, a reverse pressure plate is fixedly installed on the inner side of the guide cover, and a spring is installed between the reverse pressure plate and the guide cover, and the interface armrest is placed between the reverse cover and the clamping block; The two sets of armrest clamping mechanisms are respectively connected to the armrest interface at the fixed end and the armrest interface on the mobile end of the robotic arm maintenance product. When the astronauts are transferring the robotic arm maintenance product, the flexible damping mechanism provides damping force for the ball joint under the action of the compression spring, offsetting the floating interference caused by the external force of the astronauts, and solving the problem of unstable movement of large-mass and large-volume robotic arm maintenance products in the zero-gravity environment of on-orbit operation; at the same time, the multi-degree-of-freedom adjustment function of the flexible damping mechanism is utilized to preset the posture of the damping mechanism according to the transfer operation conditions.

2. The transfer device for space robot arm maintenance products according to claim 1, characterized in that: A guide cover is installed above the clamping mechanism body, a reverse pressure plate is installed on the inner side of the guide cover through an anti-slip screw, and a slideway is formed between the reverse pressure plate and the guide cover. The slideway is used to install a spring, and the spring is movably sleeved on the outside of the anti-slip screw.

3. The transfer device for space robot arm maintenance products according to claim 1, characterized in that: The operating handle comprises an upper part, a middle part and a lower part of an integrated structure, the lower part is a handle, the middle part is rotatably connected to the middle part of the clamping mechanism body through a rotating shaft, and the upper part is provided with a driving shaft.

4. The transfer device for space robot arm maintenance products according to claim 1, characterized in that: The flexible damping mechanism includes an end single ball joint, an end double ball joint and a plurality of middle single ball joints. The plurality of middle single ball joints are movably connected to each other to form a strip structure. The two ends of the strip structure are respectively rotatably connected to the end single ball joint and the end double ball joint. The end single ball joint and the end double ball joint are respectively connected to an armrest clamping mechanism, providing multi-degree-of-freedom adjustment for the armrest clamping mechanism.

5. The transfer device for space robot arm maintenance products according to claim 4, characterized in that: The end single ball joint comprises a No. 1 ball joint and a No. 1 ball socket assembly movably connected thereto.

6. The transfer device for space robot arm maintenance products according to claim 5, characterized in that: The No. 1 ball joint includes an end sleeve, an intermediate sleeve and a top sleeve. The two ends of the intermediate sleeve are threadedly connected to the end sleeve and the top sleeve respectively. A ball socket is provided inside the top sleeve. The No. 1 ball socket assembly is clamped with the ball socket and can rotate along the ball socket to achieve connection with the armrest clamping mechanism. A compression spring is provided inside the intermediate sleeve to compress the ball socket above the compression spring. A gasket is placed inside the end sleeve and the gasket is located at the lower end of the compression spring. Four threaded holes are provided on the lower end surface of the end sleeve, two of which are used to install tightening screws. The gaskets are squeezed by the tightening screws to adjust the force of the compression spring, thereby achieving adjustment of the No. 1 ball socket assembly and the damping force of the ball socket.

7. The transfer device for space robot arm maintenance products according to claim 5, characterized in that: The No. 1 ball socket assembly includes a No. 1 connecting rod and a No. 1 ball head fixedly connected thereto. The No. 1 ball head is clamped with the ball socket and can rotate along the ball socket. The No. 1 connecting rod is fixedly connected to the end cover of the armrest clamping mechanism.

8. The transfer device for space robot arm maintenance products according to claim 6, characterized in that: The middle single ball joint includes a No. 2 ball joint and a No. 2 ball socket assembly movably connected above it. The No. 2 ball joint is exactly the same as the No. 1 ball joint; the No. 2 ball socket assembly includes a No. 2 connecting rod and a No. 2 ball head. One end of the No. 2 connecting rod passes through the connecting flange and is fixedly connected to the No. 2 ball head, and is fixedly connected to the connecting flange. The connecting flange is connected to the end single ball joint or the lower end face of the end sleeve in the middle single ball joint, thereby realizing the connection between the middle single ball joint and the end single ball joint and the connection between the two adjacent middle single ball joints.

9. The transfer device for space robot arm maintenance products according to claim 8, characterized in that: The end double ball joint includes a No. 3 ball joint and a No. 3 ball socket assembly and a No. 4 ball socket assembly rotatably connected on both sides thereof. The structure of the No. 3 ball socket assembly is the same as that of the No. 2 ball socket assembly, and the structure of the No. 4 ball socket assembly is the same as that of the No. 1 ball socket assembly. The No. 1 connecting rod of the No. 4 ball socket assembly is fixedly connected to the end cover of the armrest clamping mechanism.

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