A portable extravehicular astronaut assistant robotic arm system

Abstract

The application relates to a portable astronaut extravehicular auxiliary mechanical arm system, and relates to a mechanical arm system.The application is used for solving the problem that the operation object and execution efficiency of an astronaut extravehicular operation are influenced due to the reachability space and pose limitation of an existing space station mechanical arm, and the flexibility of single-hand operation of the astronaut.The one end of a modular joint is rotationally connected with the one end of a fixed clamp jaw, the other end of the fixed clamp jaw is connected with a space station extravehicular handrail;the other end of the one modular joint is connected with the one end of a power transmission chain to form a roll freedom degree unit;an azimuth freedom degree unit and a pitch freedom degree unit are sequentially connected to form a mechanical arm unit;the roll freedom degree unit is sequentially connected with at least one mechanical arm unit from right to left, a quick plug-in buckle is connected with the tail end of the mechanical arm unit, and the quick plug-in buckle is connected with a waist central fixed hanging point of a space suit.The application is used for assisting an astronaut extravehicular operation.

Description

TECHNICAL FIELD

[0001] The application relates to a mechanical arm system, in particular to a portable astronaut extravehicular assisting mechanical arm system, and belongs to the technical field of manned spaceflight and space robots. BACKGROUND

[0002] A space station is an important infrastructure for carrying out space science research and verifying technical application, has the characteristics of large scale and long design life, and effective on-orbit maintenance measures are the key to the long-term safe operation of the space station in orbit. With the completion of the main cabin section of the Chinese space station, a large number of astronauts need to perform extravehicular work to complete the installation, maintenance and repair of complex loads. There are currently two ways for astronauts to perform extravehicular work, one is to operate on the end of the space station's extravehicular mechanical arm platform with one or both hands, and the other is to fix the body with one hand by holding the space station's extravehicular handrail and complete the load operation with the other hand. However, due to the limitations of the reachable space and pose of the space station's mechanical arm, the flexibility of the astronaut's single-handed operation, the operation object and execution efficiency of the astronaut's extravehicular work are all affected to a certain extent. SUMMARY

[0003] The purpose of the present application is to solve the problem that due to the limitations of the reachable space and pose of the space station's mechanical arm, the flexibility of the astronaut's single-handed operation, the operation object and execution efficiency of the astronaut's extravehicular work are all affected to a certain extent. Further, a portable astronaut extravehicular assisting mechanical arm system is provided.

[0004] The technical scheme of the present application is: a portable astronaut extravehicular assisting mechanical arm system comprises a fixed gripper, further comprises n modular joints, a plurality of power transmission chains and a quick plug-in fastener, one end of one of the n modular joints is rotatably connected to one end of the fixed gripper, the other end of the fixed gripper is connected to the space station's extravehicular handrail; the other end of the one modular joint is connected to one end of one power transmission chain to form a roll degree of freedom unit; one modular joint is arranged horizontally and connected to one power transmission chain to form a yaw degree of freedom unit; one modular joint is arranged vertically and connected to one power transmission chain to form a pitch degree of freedom unit; the yaw degree of freedom unit and the pitch degree of freedom unit are connected in sequence to form a mechanical arm unit; the roll degree of freedom unit is connected to at least one mechanical arm unit from right to left, the quick plug-in fastener is connected to the end of the mechanical arm unit, and the quick plug-in fastener is connected to the central fixed hanging point of the waist of the space suit.

[0005] Further, the fixed gripper comprises a wrench mechanism and a gripper body, the wrench mechanism is installed on the gripper body, the gripper body extrudes or releases the elastic body in the gripper body under the action of the wrench mechanism, and whether the gripper on the gripper body is opened or not is realized.

[0006] Further, the modular joint comprises a brake end cover, a power-off brake, a transmission shaft, a cross roller bearing, a rotor end cover and a transmission flange; the brake end cover is sleeved on the power-off brake, the transmission shaft is an integrated flange shaft, the flange side of the transmission shaft is connected with the rotor side of the power-off brake through bolts, the cross roller bearing is sleeved on the shaft section of the transmission shaft, the rotor end cover is sleeved on the transmission shaft and the cross roller bearing and abuts against the brake end cover, and the transmission flange is installed on the shaft section end of the transmission shaft extending out of the rotor end cover.

[0007] Further, the power-off brake comprises a stator, a stator coil, an armature, an outer ring gear, a ring gear, an elastic retainer, a coil spring, a threaded pin, a washer and a sleeve; the stator coil is embedded in the stator in the circumferential direction, the threaded pin is installed in the stator along the axial direction of the stator, the washer is installed on the end of the threaded pin, one end of the coil spring abuts against the washer, the sleeve is coaxially sleeved in the stator, the elastic retainer is sleeved on the outer circumferential surface of the sleeve, the armature and the outer ring gear are coaxially and successively sleeved on the sleeve from inside to outside, the other end of the coil spring abuts against the side end face of the armature, and one side of the ring gear is engaged with the outer ring gear, and the other side of the ring gear is connected with the transmission shaft; when the stator coil is electrified, the stator coil in the stator generates electromagnetic force, the armature is axially slid and attracted to one side of the stator, the coil spring is compressed, and the outer ring gear on the armature is disengaged from the ring gear, at this time, the brake is in an active state; when the stator coil is de-energized, the outer ring gear is engaged with the ring gear under the elastic force of the coil spring, at this time, the brake is in a locked state.

[0008] Further, the power transmission chain comprises a joint fixing rod, a joint output rod and a rod connecting piece, the joint fixing rod and the joint output rod are connected through the rod connecting piece, and the rectangular rod bodies between the joint fixing rod and the joint output rod are vertically arranged in the width direction.

[0009] Further, the joint fixing rod comprises a fixing cover body and a fixing rod body, the fixing rod body is a “Z”-shaped rod body, and the fixing rod body is connected with the fixing cover body.

[0010] Further, the joint output rod comprises an output cover body and an output rod body, the output rod body is a “Z”-shaped rod body, and the output rod body is connected with the output cover body.

[0011] Further, the rod connecting piece comprises a main block body, a first protrusion and a second protrusion, the main block body is a rectangular block body, the first protrusion and the second protrusion are fixedly installed on the upper end face and the lower end face of the main block body respectively, and the first protrusion and the second protrusion are arranged at 90 degrees.

[0012] Further, the quick plug-in and plug-out fastener comprises a base, a torsion spring and a movable piece, and the base and the movable piece are connected through the torsion spring.

[0013] Compared with the prior art, the present application has the following effects:

[0014] 1. The present application is a portable multi-degree-of-freedom passive support mechanical arm, one end of which is connected to the waist central fixed hanging point of a space suit through a quick docking interface, and the other end is connected to a space station extravehicular handrail through a gripper with self-locking function. The mechanical arm body has multiple passive rotation degrees of freedom. When the astronaut needs to adjust his / her posture, the astronaut can realize the unlocking of the mechanical arm joints through a button; when the astronaut is working, the astronaut can realize the locking of the mechanical arm joints through a button, so as to realize the fixation of the astronaut's own pose, thereby effectively freeing the astronaut's hands to complete complex and delicate operation tasks. After the astronaut completes the work, the quick plug-in buckle and the fixed gripper are released, and the astronaut carries them.

[0015] 2. The present application adopts a modular joint design scheme as a whole, considering that the astronaut operates inconveniently in the space environment, and the brake technology is skillfully applied to realize the one-key switching of the mechanical arm stiffness function. The whole mechanical arm system has simple electrical structure and convenient operation. The quick plug-in buckle and the fixed gripper designed in combination can realize the quick connection and fixation of the astronaut and the cabin, free the astronaut's hands, and provide an effective solution for realizing the transfer and assembly of large extravehicular loads.

[0016] 3. The astronaut extravehicular auxiliary mechanical arm of the present application designs a modular joint and adopts a brake scheme to realize the one-key switching of the mechanical arm stiffness function. In the case of power failure, the joint rotating shaft is locked by the brake, and the mechanical arm pose is fixed. In the case of power supply, the brake is unlocked, the joint rotating shaft is in an active state, and the mechanical arm pose can be adjusted arbitrarily according to the work requirements. When the mechanical arm is adjusted to the appropriate position, it can be fixed in the new pose after power failure, and the astronaut can work. At the same time, the power failure brake mode can effectively reduce the dependence of the mechanical arm on the power supply and improve the portability.

[0017] 4. The quick plug-in buckle of the present application, as a transmission medium between the mechanical arm and the astronaut, can realize the quick connection of the mechanical arm and the astronaut under the premise of bearing the work load. At the same time, the quick plug-in property of the buckle can help the astronaut escape when the mechanical arm fails, and the astronaut's personal safety is guaranteed to the greatest extent. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is the overall structure schematic diagram of the present application. Figure 2 is the front view of the fixed gripper 1. Figure 3 is the left view of Figure 2 . Figure 4 is the top view of Figure 2 . Figure 5 is the isometric view of Figure 2 . Figure 6 is the front view of the modular joint 2. Figure 7 isFigure 6 is a left view of Figure 8 is Figure 6 is a top view of Figure 9 is Figure 6 is an isometric view of Figure 10 is an exploded view of the modular joint 2. Figure 11 is a structural schematic view of the power-off brake 22. Figure 12 is a structural schematic view of the joint output rod 4. Figure 13 is a structural schematic view of the joint fixing rod 3. Figure 14 is a front view of the rod connector 5. Figure 15 is a left view of Figure 14 is a left view of

[0019] Figure 16 is a top view of Figure 14 is a top view of Figure 17 is an isometric view of Figure 14 is an isometric view of Figure 18 is a schematic view of the connection of two adjacent modular joints 2. Figure 19 is a left isometric view of the quick plug-in buckle 6. Figure 20 is a right isometric view of Figure 19 is a right isometric view of Figure 21 is an effect diagram during the connection of the quick plug-in buckle and the joint 7. Figure 22 is a matching effect diagram of Figure 21 is a matching effect diagram of Figure 23 is a schematic view of the whole process function effect of the mechanical arm of the present application. DETAILED DESCRIPTION

[0020] Embodiment one: in combination with Figures 1 to 23 This embodiment includes a fixed jaw 1, which further includes n modular joints 2, a plurality of power transmission chains and a quick plug-in buckle 6. One of the n modular joints 2 is rotationally connected to one end of the fixed jaw 1, and the other end of the fixed jaw 1 is connected to a space station outboard handrail. The other end of the one modular joint 2 is connected to one end of one power transmission chain to form a roll degree of freedom unit. One modular joint 2 is arranged horizontally and connected to one power transmission chain to form a yaw degree of freedom unit. One modular joint 2 is arranged vertically and connected to one power transmission chain to form a pitch degree of freedom unit. The yaw degree of freedom unit and the pitch degree of freedom unit are sequentially connected to form a mechanical arm unit. The roll degree of freedom unit is sequentially connected to at least one mechanical arm unit from right to left, the quick plug-in buckle 6 is connected to the end of the mechanical arm unit, and the quick plug-in buckle 6 is connected to the central fixed hanging point of the space suit waist.

[0021] In this embodiment, n in the n modular joints is a natural number, and n>3. The number of n is preferably 3 or 5 or 7.

[0022] The quick plug-in buckle 6 of the embodiment can be locked and separated with the central fixed hanging point of the astronaut suit waist under the manual operation of the astronauts; the fixed clamping jaw 1 can be locked and separated with the space station extravehicular handrail under the control of the astronauts.

[0023] The mechanical arm power supply is connected with each modular joint through the mechanical arm controller, and the astronauts can realize the unlocking or locking state of each joint by operating the mechanical arm controller button. When the mechanical arm joint is in the unlocking state, the mechanical arm can realize the pose adjustment under the manual pushing of the astronauts, and can also change the pose with the astronauts. When the mechanical arm joint is in the locking state, the whole arm of the mechanical arm is in the fixed connection state, which is used to fix the astronauts and the space station cabin pose, and provides support for the astronauts to work outside the cabin.

[0024] The passive mechanical arm of the application provides flexible pose support for astronauts to work outside the cabin, which can effectively free the hands of astronauts to complete complex and delicate operation tasks.

[0025] The embodiment starts from the fixed clamping jaw 1, the rear end of which is connected with the stator end cover of the first modular joint 2 through a bolt, the power transmission is completed between the modular joints 2 through the joint output rod 4, the rod connecting piece 5 and the stator fixing rod 3, the number and installation direction of the modular joints 2 can be customized, which depends on the required degrees of freedom of the task; the last modular joint 2 is connected with the quick plug-in buckle 6, the quick plug-in buckle 6 is connected with the astronaut suit waist central fixed hanging point joint, and the plug-in is completed through the manual mode; the power supply lead of the plurality of modular joints 2 is directly connected with the power supply in a parallel manner, the current loop contains a switch, the closing of the switch is controlled by the controller, when the switch is opened, the brake loses power and is locked, the mechanical arm is in the locking state, after the switch is closed, the brake is powered on and unlocked, the mechanical arm is in the active state, and the astronauts manually adjust the mechanical arm attitude according to the task requirements;

[0026] The modular joint 2 has simple electrical structure, and can switch the rigidity of the mechanical arm by one key with the power supply and the controller.

[0027] Specific implementation method two: combined Figures 2 to 5 The embodiment is described, the fixed clamping jaw 1 includes a wrench structure 11 and a clamping jaw body 12, the wrench structure 11 is installed on the clamping jaw body 12, the clamping jaw body 12 is pressed or released under the action of the wrench structure 11, and whether the clamping jaw on the clamping jaw body 12 is opened or not is realized.

[0028] In this way, the fixed clamping jaw 1 is connected with the modular joint 2, and the fixed clamping jaw 1 is clamped on the cabin body support by manually controlling the operation of the wrench structure 11. The other components and connection relationships are the same as those of the first embodiment.

[0029] Specific implementation three: combination Figures 6 to 10 In this embodiment, the modular joint 2 comprises a brake end cover 21, a power-off brake 22, a transmission shaft 24, a cross roller bearing 23, a rotor end cover 25 and a transmission flange 26; the brake end cover 21 is sleeved on the power-off brake 22, the transmission shaft 24 is an integrated flange shaft, the flange side of the transmission shaft 24 is connected to the rotor side of the power-off brake 22 through bolts, the cross roller bearing 23 is sleeved on the shaft segment of the transmission shaft 24, the rotor end cover 25 is sleeved on the transmission shaft 24 and the cross roller bearing 23 and abuts against the brake end cover 21, and the transmission flange 26 is installed at the end of the shaft segment of the transmission shaft 24 extending out of the rotor end cover 25. In this way, the motion state of each node is facilitated to control, and flexible operation of the mechanical arm system is achieved. The other components and connection relationships are the same as those in specific implementation one or two.

[0030] Specific implementation four: combination Figure 10 In this embodiment, the power-off brake 22 comprises a stator 221, a stator coil 222, an armature 223, an outer ring gear 224, a ring gear 225, an elastic retainer 226, a coil spring 227, a threaded pin 228, a washer 229 and a sleeve 230; the stator coil 222 is embedded in the stator 221 in the circumferential direction, the threaded pin 228 is installed in the stator 221 along the axis direction of the stator 221, the washer 229 is installed at the end of the threaded pin 228, one end of the coil spring 227 abuts against the washer 229, the sleeve 230 is coaxially sleeved in the stator 221, the elastic retainer 226 is sleeved on the outer circumferential surface of the sleeve 230, the armature 223 and the outer ring gear 224 are coaxially and successively sleeved on the sleeve 230 from inside to outside, the other end of the coil spring 227 abuts against the side end face of the armature 223, one side of the ring gear 225 is engaged with the outer ring gear 224, and the other side of the ring gear 225 is connected to the transmission shaft 24; when the stator coil 222 is electrified, the stator coil 222 in the stator 221 generates electromagnetic force to axially slide the armature 223 to the side of the stator 221, the coil spring 227 is compressed, and the outer ring gear 224 on the armature 223 is disengaged from the ring gear 225, at which time the brake 22 is in an active state; when the stator coil 222 is de-energized, the outer ring gear 224 is engaged with the ring gear 225 under the elastic force of the coil spring 227, at which time the brake 22 is in a locked state. The other components and connection relationships are the same as those in specific implementation one, two or three.

[0031] Specific implementation five: combination Figure 18In this embodiment, the power transmission chain comprises a joint fixing rod 3, a joint output rod 4 and a rod connecting piece 5, the joint fixing rod 3 and the joint output rod 4 are connected through the rod connecting piece 5, and the rectangular rod bodies between the joint fixing rod 3 and the joint output rod 4 are vertically arranged in the width direction.

[0032] In this way, the operation of the pitch and yaw degrees of freedom of the mechanical arm system is realized in the case of realizing the connection of two adjacent modular joints. The other components and connection relationships are the same as those in embodiments one, two, three or four.

[0033] Among them, the joint fixing rod 3, the joint output rod 4 and the rod connecting piece 5 together constitute a connection module, the joint output rod 4 is connected with the flange of the previous modular joint, the joint fixing rod 3 is connected with the stator end cover of the next modular joint, and the last two are connected through the rod connecting piece 5 to form a power transmission chain.

[0034] Embodiment six: in combination Figure 13 In this embodiment, the joint fixing rod 3 comprises a fixing cover 31 and a fixing rod body 32, the fixing rod body 32 is a "Z" shaped rod body, and the fixing rod body 32 is connected with the fixing cover 31. In this way, the connection is convenient and the adjustment of the pitch and yaw angles is facilitated. The other components and connection relationships are the same as those in any one of embodiments one to five.

[0035] Embodiment seven: in combination Figure 12 In this embodiment, the joint output rod 4 comprises an output cover 41 and an output rod body 42, the output rod body 42 is a "Z" shaped rod body, and the output rod body 42 is connected with the output cover 41.

[0036] In this way, the connection is convenient and the adjustment of the pitch and yaw angles is facilitated. The other components and connection relationships are the same as those in any one of embodiments one to six.

[0037] Embodiment eight: in combination Figures 14 to 17 In this embodiment, the rod connecting piece 5 comprises a main block 51, a first protrusion 52 and a second protrusion 53, the main block 51 is a rectangular block, the first protrusion 52 and the second protrusion 53 are respectively fixedly installed on the upper end face and the lower end face of the main block 51, and the first protrusion 52 and the second protrusion 53 are arranged at 90 degrees. In this way, the connection of the joint fixing rod 3 and the joint output rod 4 is facilitated. The other components and connection relationships are the same as those in any one of embodiments one to five.

[0038] Embodiment nine: in combination Figures 19 to 22The quick plug-in buckle 6 of the embodiment includes a base 61, a torsion spring 62 and a movable piece 63, and the base 61 and the movable piece 63 are connected through the torsion spring 62.

[0039] In this way, the quick plug-in buckle 6 has the characteristics of quick plug-in, and is connected to the joint on the spacesuit waistband in a manual manner, and can be quickly detached from the buckle to complete escape when necessary (for example, when the mechanical arm fails). The other components and connection relationships are the same as any one of the first to ninth embodiments.

[0040] In the embodiment, the base 61 and the movable piece 63 are connected through the torsion spring 62, the base is connected to the last modular joint of the mechanical arm through a rod connector, the buckle is connected to the joint on the spacesuit waistband in a manual manner, the joint is in the shape of a cylinder, and a chamfering process is used at the joint to facilitate smooth insertion of the joint into the interface. During the plug-in process, the astronaut presses the buckle head, the movable piece is opened against the elastic force of the torsion spring, and then is inserted into the waistband joint. When the pressing force is released, the connection between the buckle and the joint is completed. The disconnection process is the same.

[0041] In combination Figures 1 to 23 The working principle of the present application is explained as follows:

[0042] The present application provides a portable astronaut extravehicular auxiliary mechanical arm system, which is designed in a modular joint scheme. The user can increase or decrease the number of joints and configure the degrees of freedom according to the task requirements. In this embodiment, five modular joints are used, and the degrees of freedom are configured as one roll degree of freedom, two pitch degrees of freedom and two yaw degrees of freedom. The above-mentioned modular joint adopts a brake locking / unlocking scheme, which can control the stiffness of the mechanical arm with one key. In the case of power failure, the brake is locked, and the mechanical arm is in a fixed state. When powered on, the brake is unlocked, and the mechanical arm is in an active state. The user can adjust the posture of the mechanical arm to better assist the work. The end of the mechanical arm is also configured with a quick plug-in buckle, which can quickly and effectively connect the astronaut and the mechanical arm.

[0043] For example, Figure 1As shown, the portable astronaut extravehicular assisting mechanical arm of the present embodiment comprises a fixed clamp jaw 1 for connecting with the cabin, a modular joint 2, a joint fixing rod 3, a joint output rod 4, a rod connector 5, a quick plug-in fastener 6, a mechanical arm controller and a power supply; one end of the fixed clamp jaw 1 is connected with the space station cabin, and the other end is connected with the stator housing of the first modular joint 2 through a bolt; the first joint is a roll freedom degree, the rotating shaft is connected to the output rod through a transmission flange, and the output rod 3 of the first joint is connected with the fixing rod 4 of the second joint through the rod connector 5 and a bolt to transmit power, and the connection between each joint thereafter is as described above; the last modular joint 2 is connected with the quick plug-in fastener 6, the quick plug-in fastener 6 is manually plugged into the joint at the waist by the astronaut, and finally the connection path of the astronaut and the space station cabin is established.

[0044] As shown in Figures 2 to 5 The fixed clamp jaw 1 is composed of a wrench mechanism and a clamp jaw body, the wrench mechanism adopts a lever principle, and can greatly reduce the operating force of the user, and the clamp jaw body is extruded under the action of the force of the wrench, the angle of the clamp jaw is widened to clamp the supporting rod of the cabin; the wrench is loosened, the clamp jaw body clamps the supporting rod under the action of the elastic force, and the fixing of the mechanical arm is completed.

[0045] As shown in Figures 6 to 10 The modular joint 2 comprises a brake end cover 21, a brake 22, a cross roller bearing 23, a transmission shaft 24, a rotor end cover 25 and a transmission flange 26. Among them, the transmission shaft 24 is different from the conventional rotating shaft scheme, adopts an integrated flange forming process, one side of the flange is connected with the ring gear of the brake 22 through a bolt, and the other side is connected with the inner ring of the cross roller bearing 23; the cross roller bearing 23 can bear the force in each direction of the output end, and the cross roller bearing itself is provided with a mounting hole, without additional mounting flange and support seat, the outer ring of the cross roller bearing 23 is connected with the rotor end cover 25 through a bolt; the output end of the transmission shaft is processed with a plurality of threaded holes for connecting with the transmission flange 26; finally, the brake end cover 21 is connected with the stator of the brake 22 through a bolt.

[0046] As shown in Figure 11 As shown in When the brake 22 is powered off, the gear on the outer ring of the armature 222 is engaged with the ring gear 223 under the elastic force of the spiral spring 224, and the brake 22 is in a locked state; when powered on, the electromagnetic force generated by the coil inside the stator 221 attracts the armature 222 to the direction of the stator 221, the spiral spring 224 is compressed, the outer ring gear of the armature is disengaged from the ring gear 223, and the brake 22 is in a movable state; connecting the brake line groups of the multiple joints of the mechanical arm to the same power supply, and controlling the on-off of the power supply by the controller can realize one-key switching of the rigidity of the mechanical arm.

[0047] AsFigures 12 to 18 As shown in the figure, the joint fixing rod 3 is connected with the brake end cover 21 of the modular joint 2 by bolts; the joint output rod 4 is connected with the transmission flange 26 at one end, and is connected with the joint fixing rod 3 of the next modular joint 2 at the other end through the rod connecting piece 5, the rod connecting piece 5 has protrusions at both ends, the size of the protrusions is consistent with the hole of the joint output rod 4 and the fixing rod 3, and the strength of the connection can be enhanced, so that the force transmission is stably and reliably completed.

[0048] As shown in the figure, Figures 19 to 22 As shown in the figure, the quick plug-in buckle 6 is composed of a base 61, a torsion spring 62 and a movable piece 63; the base 61 and the movable piece 63 are connected through the torsion spring 62, the base 61 is connected with the last modular joint 2 of the mechanical arm through the rod connecting piece 5, the quick plug-in buckle 6 is connected with the plug-in connector 7 on the waistband of the spacesuit in a manual mode, the plug-in connector 7 is in the shape of a cylinder, and a rounded corner process is adopted at the connector to facilitate the smooth insertion of the connector into the quick plug-in buckle 6, in the plug-in process, the astronaut presses the buckle head, the movable piece 63 overcomes the elastic force of the torsion spring 62 to open, and then is inserted into the waistband plug-in connector 7, and the connection between the quick plug-in buckle 6 and the plug-in connector 7 can be completed by relaxing the pressing force. The disconnection process is the same.

[0049] As shown in the figure, Figure 23 As shown in the figure, the whole process function effect of the mechanical arm is that: from the clamping of the fixed clamping jaw to the support of the cabin body, through a plurality of modular joints and connecting rods to the quick plug-in buckle, and finally connected to the astronaut's waistband connector, the connection path of the end load and the cabin body is completed, and through the respective actions of the pitch, roll and twist degrees of freedom of each joint, the mechanical arm can realize complex configuration changes to meet the needs of different tasks.

[0050] In addition, according to the actual operation of the astronauts, the fixed clamping jaw 1 can be grabbed on the handrail of the cabin body when needed or necessary, and can be taken away when not needed, so that the use is more flexible and convenient. When the astronauts complete the operation, the quick plug-in buckle on the waist and the fixed clamping jaw on the handrail of the cabin body are unfastened, and the carrying is carried out.

[0051] Although the present application has been disclosed with the above preferred embodiments, it is not intended to limit the present application, and those skilled in the art can make other changes within the spirit of the present application, and apply the present application to fields not mentioned in the present application, of course, these changes made according to the spirit of the present application should be included in the scope of protection claimed by the present application.

Claims

1. A portable extravehicular astronaut aiding manipulator system comprising a fixed gripper (1), characterized in that: It also comprises n modular joints (2), a plurality of power transmission chains and quick plug fasteners (6), One end of one of the n modular joints (2) is rotatably connected with one end of the fixed jaw (1), and the other end of the fixed jaw (1) is connected with the space station outboard handrail; the other end of the one modular joint (2) is connected with one end of a power transmission chain to form a roll degree of freedom unit; One modular joint (2) is arranged horizontally and connected with one power transmission chain to form a yaw degree of freedom unit; One modular joint (2) is arranged vertically and connected with one power transmission chain to form a pitch degree of freedom unit; The yaw degree of freedom unit and the pitch degree of freedom unit are connected in sequence to form a mechanical arm unit; The roll degree of freedom unit is connected with at least one mechanical arm unit from right to left, the quick plug fastener (6) is connected with the end of the mechanical arm unit, and the quick plug fastener (6) is connected with the waist central fixed hanging point of the space suit; The modular joint (2) comprises a brake end cover (21), a power-off brake (22), a transmission shaft (24), a cross roller bearing (23), a rotor end cover (25) and a transmission flange (26); the brake end cover (21) is sleeved on the power-off brake (22), the transmission shaft (24) is an integrated flange shaft, the flange side of the transmission shaft (24) is connected with the rotor side of the power-off brake (22) through bolts, the cross roller bearing (23) is sleeved on the shaft segment of the transmission shaft (24), the rotor end cover (25) is sleeved on the transmission shaft (24) and the cross roller bearing (23) and abuts against the brake end cover (21), and the transmission flange (26) is installed on the shaft segment end of the transmission shaft (24) extending out of the rotor end cover (25); The power-off brake (22) comprises a stator (221), a stator coil (222), an armature (223), an outer ring gear (224), a ring gear (225), an elastic retainer (226), a coil spring (227), a threaded pin (228), a washer (229) and a sleeve (230); the stator coil (222) is embedded in the stator (221) in the circumferential direction, the threaded pin (228) is installed in the stator (221) along the axial direction of the stator (221), the washer (229) is installed on the end of the threaded pin (228), one end of the coil spring (227) abuts against the washer (229), the sleeve (230) is coaxially sleeved in the stator (221), the elastic retainer (226) is sleeved on the outer circumferential surface of the sleeve (230), the armature (223) and the outer ring gear (224) are coaxially and successively sleeved on the sleeve (230) from inside to outside, the other end of the coil spring (227) abuts against the side end face of the armature (223), one side of the ring gear (225) is engaged with the outer ring gear (224), and the other side of the ring gear (225) is connected with the transmission shaft (24); when the stator coil (222) is electrified, the stator coil (222) in the stator (221) generates electromagnetic force, the armature (223) is axially slid to the side of the stator (221), the coil spring (227) is compressed, the outer ring gear (224) on the armature (223) is disengaged from the ring gear (225), and at this time, the brake (22) is in the active state; when the stator coil (222) is de-energized, the outer ring gear (224) is engaged with the ring gear (225) under the elastic force of the coil spring (227), and at this time, the brake (22) is in the locked state. The power transmission chain comprises a joint fixing rod (3), a joint output rod (4) and a rod connecting piece (5), the joint fixing rod (3) and the joint output rod (4) are connected through the rod connecting piece (5), and the rectangular rod bodies between the joint fixing rod (3) and the joint output rod (4) are vertically arranged in the width direction. The rod connecting piece (5) comprises a main block body (51), a first protrusion (52) and a second protrusion (53), the main block body (51) is a rectangular block body, the first protrusion (52) and the second protrusion (53) are fixedly installed on the upper end face and the lower end face of the main block body (51) respectively, and the first protrusion (52) and the second protrusion (53) are arranged at 90 degrees.

2. The portable extravehicular crew aid mechanical arm system of claim 1, wherein: The fixed clamping jaw (1) comprises a wrench mechanism (11) and a clamping jaw body (12), the wrench mechanism (11) is installed on the clamping jaw body (12), and the clamping jaw body (12) extrudes or releases the elastic body in the clamping jaw body (12) under the action of the wrench mechanism (11), so that the opening or closing of the clamping jaw on the clamping jaw body (12) is realized.

3. The portable extravehicular mobility assistance robotic arm system of claim 2, wherein: The joint fixing rod (3) comprises a fixing cover body (31) and a fixing rod body (32), the fixing rod body (32) is a "Z" shaped rod body, and the fixing rod body (32) is connected with the fixing cover body (31).

4. The portable extravehicular mobility assistance robotic arm system of claim 3, wherein: The joint output rod (4) comprises an output cover (41) and an output rod body (42), the output rod body (42) is a "Z" shaped rod body, and the output rod body (42) is connected with the output cover (41).

5. The portable extravehicular mobility assistance robotic arm system of claim 4, wherein: The quick plug-in buckle (6) comprises a base (61), a torsion spring (62) and a movable piece (63), and the base (61) and the movable piece (63) are connected through the torsion spring (62).

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