Space robot extravehicular tail end shearing tool and robot system

Abstract

The invention provides a space robot outboard tail end shearing tool and a robot system, and relates to the technical field, the space robot outboard tail end shearing tool comprises a shell assembly, a transmission assembly is arranged on the shell assembly, the shell assembly is fixedly connected with an adapter, the transmission assembly is in driving connection with the adapter, and the tail end of a mechanical arm is in driving connection with the adapter. The shell assembly forms a tool main body structure, the shell assembly limits and protects the transmission assembly, the shell assembly and the adapter are fixedly installed through screws, meanwhile, the shell assembly provides an installation interface at the tail end of the mechanical arm, and the tail end of the mechanical arm is in driving connection with the adapter, so that disassembly and assembly of the shearing tool and the tail end of the mechanical arm are facilitated; input of the tail end of the robot is converted into shearing motion of the tail end of a tool through mechanism motion, power output is provided at the tail end of the robot outside a space cabin, and flexible shearing operation on cables, multiple layers and nylon cable ties is automatically completed.

Description

Technical Field

[0001] The present invention relates to the field of aerospace technology, and in particular to a space robot outboard terminal shearing tool and a robot system. Background Art

[0002] According to the planning of extravehicular maintenance tasks during the space station operation phase, in the future, space robots and space manipulators will replace or assist astronauts in completing complex operations such as on-orbit assembly, spacecraft capture, and satellite rescue. Common maintenance and rescue tasks include replacement and repair of extravehicular equipment and cable installation, which often involve cutting and removing equipment cables, pipe bundling and fixing ties, and multiple layers of the cabin. This is a highly refined and dexterous operation. For space robots to perform this task, they need to be equipped with special end cutting tools, which provide power output from the end of the robot to autonomously complete the smooth cutting operation.

[0003] At present, the use of mechanical arms and robots for mechanical operations has been applied to a certain extent in the production lines of the industrial field, but most of them are concentrated in packaging, transfer, and screw tightening, and they are all fixed stations. The coordinate position of the operation object is clear and unchanged, and there is no need for the end of the mechanical arm to autonomously search, locate, and dock. In contrast, the space station's extravehicular mechanical arm operation tasks face a complex space environment. The power input that the mechanical arm can provide to the tool is a single rotation, and the input torque is limited. It is necessary to amplify the torque through the movement of the mechanism according to the shearing task object to complete the smooth shearing task. The tool needs a clever mechanism design inside to achieve complex and refined movement at the end. At present, there are no special tools for cutting cables, multiple layers, and nylon ties inside or even outside the space station cabin.

[0004] Therefore, in summary, facing the potential application needs of future space missions and deep space exploration, it is necessary to design a space robot extravehicular end shearing tool and robot system. Summary of the invention

[0005] The invention provides a space robot outboard terminal shearing tool and a robot system, which are used to solve the defects in the prior art.

[0006] The present invention provides a space robot outboard terminal shearing tool, comprising: a shell assembly, on which a transmission assembly is arranged, the shell assembly is fixedly connected to an adapter, the transmission assembly is drivingly connected to the adapter, and the end of a robot arm is drivingly connected to the adapter.

[0007] Preferably, the shell assembly includes an upper shell, one side of the upper shell is fixedly connected to the adapter, the other side of the upper shell is fixedly connected to the lower shell, the lower shell is fixedly connected to the bracket, both ends of the lower shell are provided with sliding grooves for accommodating the movement of the transmission assembly, and a part of the transmission assembly is rotatably connected to the bracket.

[0008] Preferably, the transmission assembly includes a connecting rod assembly and a cutter head assembly, the connecting rod assembly is transmission-connected to the cutter head assembly, and the cutter head assembly is installed in the bracket.

[0009] Preferably, the connecting rod assembly includes a central lead screw, bearings and sleeves are respectively provided at both ends of the central lead screw, a sliding nut is rotatably provided on the central lead screw, ears are respectively fixedly provided at both ends of the sliding nut, the two ears slide in the slide groove, and the two ears are respectively hinged to one end of the left connecting rod and one end of the right connecting rod.

[0010] Preferably, the cutter head assembly includes a left cutter head, a right cutter head, and a cutter head clamping assembly. One end of the left cutter head and one end of the right cutter head are rotatably arranged on the bracket. The cutter head clamping assembly is arranged at the center of the left cutter head, the right cutter head and the bracket. The other end of the left connecting rod and the other end of the right connecting rod are hinged to the other end of the left cutter head and the other end of the right cutter head respectively.

[0011] Preferably, the cutter head clamping assembly includes a large axle pin, which is inserted into the center holes of the left cutter head, the right cutter head and the bracket. The other end of the large axle pin is sleeved with a sleeve pressure block and a spring washer, and the outermost side of the other end of the large axle pin is threadedly connected with a clamping nut.

[0012] Preferably, the compatible shearing diameter of the scissor openings of the left and right cutter heads is 20 mm, the blades are designed in an arc shape, and bosses are designed on the shearing surfaces of the left and right cutter heads.

[0013] Preferably, a space robot extravehicular robot system comprises a space robot extravehicular end shearing tool as described above, characterized in that the space robot extravehicular robot system also comprises

[0014] Speed ​​detection module, used to measure the linear speed of the rolling elements in the bearing;

[0015] Pressure detection module 1 is used to measure the force exerted by the rolling element in the bearing on the inner race of the bearing;

[0016] Pressure detection module 2 is used to measure the force exerted by the rolling element inside the bearing on the outer roller ring of the bearing;

[0017] Speed ​​detection module, used to measure the speed of the bearing;

[0018] Oil film thickness detection module, used to measure the actual thickness of the oil film in the bearing in real time;

[0019] Calculation module 1, used to calculate the theoretical thickness of the oil film in the bearing based on the linear velocity of the rolling element;

[0020] A processing module, used for comparing the theoretical thickness of the oil film in the bearing obtained by the calculation module 1 with the actual thickness of the oil film in the bearing measured during the gas flow;

[0021] Control module, when the actual thickness of the oil film in the bearing is less than the theoretical thickness of the oil film in the bearing, the control alarm module sends an alarm to the robot system and controls the shearing tool to stop working. When the actual thickness of the oil film in the bearing is greater than or equal to the theoretical thickness of the oil film in the bearing, the shearing tool works normally.

[0022] Preferably, the calculation module 1 calculates based on the following formula 1:

[0023]

[0024] H is the theoretical thickness of the oil film in the bearing, a is the viscosity-pressure coefficient of the grease, β is the dynamic viscosity of the grease under normal pressure, D1 is the diameter of the rolling element pitch circle, γ is a dimensionless parameter, D2 is the diameter of the rolling element, E is the equivalent elastic modulus, d is the distance between the non-drive end bearing and the center of the center screw, c is the distance between the drive end bearing and the center of gravity of the shaft, F1 is the force exerted on the rolling element in the bearing by the inner race of the bearing, F2 is the force exerted on the rolling element in the bearing by the outer race of the bearing, e is a natural constant, k is the ratio of the major and minor axes of the contact ellipse, n is the speed of the bearing, and z is the number of rolling elements in the bearing.

[0025] The present invention has the following beneficial effects:

[0026] According to the technical solution provided in the example of this application, a space robot cabin end cutting tool is proposed. The tool end is docked and installed with the robot arm end adapter, and the power input is provided by the robot arm end. The tool is used to autonomously cut cables, multiple layers and nylon ties on the cabin. The space robot cabin end cutting tool includes a shell assembly and a transmission assembly. The shell assembly is fixedly installed with the robot arm end adapter using screws to provide mechanical limit for the transmission mechanism. The transmission assembly is connected to the drive shaft of the robot arm end adapter to realize power transmission and realize the smooth cutting of cables, multiple layers and nylon ties. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0028] Figure 1 This is a schematic diagram of the overall structure of a space robot's outboard terminal shearing tool according to an example of the present invention;

[0029] Figure 2 It is a schematic diagram of the overall structure provided by an embodiment of the present invention;

[0030] Figure 3 is a schematic structural diagram of a transmission assembly part provided by an embodiment of the present invention;

[0031] Figure 4 is a schematic structural diagram of a cutter head pressing assembly provided by an embodiment of the present invention;

[0032] Figure 5 Schematic diagram of a cutter head provided in an embodiment of the present invention.

[0033] Reference numerals:

[0034] 1-0, housing assembly; 2-0, transmission assembly; 1-1, upper housing; 1-2, lower housing; 1-2-1, slide groove; 1-3, bracket; 2-1, connecting rod assembly; 2-2, cutter head assembly; 2-1-1, bearing; 2-1-2, center lead screw; 2-1-3, sliding nut; 2-1-4, left connecting rod; 2-1-5, right connecting rod; 2-1-6, bushing; 2-2-1, left cutter head; 2-2-2, right cutter head; 2-2-3, cutter head clamping assembly; 2-2-3-1, clamping nut; 2-2-3-2, large shaft pin; 2-2-3-3, bushing pressure block; 2-2-3-4, spring washer; 3-0, adapter. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the present invention. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions and technical features between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0037] The present invention provides the following embodiments

[0038] Example 1

[0039] The embodiment of the present invention provides a space robot outboard terminal shearing tool, such as Figure 1-Figure 5 As shown, it includes: a shell component 1-0, a transmission component 2-0 is arranged on the shell component 1-0, the shell component 1-0 is fixedly connected to the adapter 3-0, the transmission component 2-0 is drivingly connected to the adapter 3-0, and the end of the robot arm is drivingly connected to the adapter 3-0.

[0040] The working principle and beneficial effects of the above technical solution are as follows: the shell component 1-0 constitutes the main structure of the tool, the shell component 1-0 limits and protects the transmission component 2-0, the shell component 1-0 is fixedly installed with the adapter 3-0 by screws, and at the same time provides an installation interface with the end of the robotic arm. The end of the robotic arm facilitates the disassembly and assembly of the shearing tool and the end of the robotic arm by virtue of the drive connection with the adapter 3-0, and converts the input of the robot end into the shearing movement of the tool end through the movement of the mechanism, thereby realizing the power output at the end of the robot outside the space cabin, and autonomously completing the smooth shearing operation of cables, multiple layers, and nylon ties.

[0041] Example 2

[0042] On the basis of Example 1, Figure 1-Figure 5 As shown, the shell assembly 1-0 includes an upper shell 1-1, one side of the upper shell 1-1 is fixedly connected to the adapter 3-0, the other side of the upper shell 1-1 is fixedly connected to the lower shell 1-2, the lower shell 1-2 is fixedly connected to the bracket 1-3, and both ends of the lower shell 1-2 are provided with sliding grooves 1-2-1 for accommodating the movement of the transmission assembly 2-0, and a part of the transmission assembly 2-0 is rotatably connected to the bracket 1-3.

[0043] The working principle and beneficial effects of the above technical scheme are as follows: the upper shell 1-1 is fixedly connected to the adapter 3-0 to connect the upper shell 1-1 and the adapter 3-0 as one, and when the end of the robotic arm is connected to the adapter 3-0, the robotic arm and the shearing tool are connected as one, the upper shell 1-1 is fixedly connected to the lower shell 1-2, and the lower shell 1-2 is fixedly connected to the bracket 1-3, and the bracket 1-3 limits the transmission component 2-0, and the slide groove 1-2-1 avoids and constrains the movement of the transmission component 2-0 during transmission to prevent failures caused by transmission interference.

[0044] Example 3

[0045] On the basis of Example 2, Figure 1-Figure 5 As shown, the transmission assembly 2-0 includes a connecting rod assembly 2-1 and a cutter head assembly 2-2. The connecting rod assembly 2-1 is transmission-connected to the cutter head assembly 2-2, and the cutter head assembly 2-2 is installed in the bracket 1-3.

[0046] The working principle and beneficial effects of the above technical solution are as follows: the end of the robotic arm drives the connecting rod assembly 2-1 to rotate through the adapter 3-0, and when the connecting rod assembly 2-1 rotates, it drives the cutter head assembly 2-2 to move, so that the cutter head assembly 2-2 completes the smooth shearing operation of cables, multi-layers, and nylon ties in the outer space environment.

[0047] Example 4

[0048] On the basis of Example 3, Figure 1-Figure 5 As shown, the connecting rod assembly 2-1 includes a central screw 2-1-2, and bearings 2-1-1 and sleeves 2-1-6 are respectively arranged at both ends of the central screw 2-1-2. A sliding nut 2-1-3 is rotatably arranged on the central screw 2-1-2, and ears are respectively fixedly arranged at both ends of the sliding nut 2-1-3. The two ears slide in the slide groove 1-2-1, and the two ears are respectively hinged to one end of the left connecting rod 2-1-4 and one end of the right connecting rod 2-1-5.

[0049] The cutter head assembly 2-2 includes a left cutter head 2-2-1, a right cutter head 2-2-2, and a cutter head clamping assembly 2-2-3. One end of the left cutter head 2-2-1 and one end of the right cutter head 2-2-2 are rotatably arranged on the bracket 1-3. The cutter head clamping assembly 2-2-3 is arranged at the center of the left cutter head 2-2-1, the right cutter head 2-2-2, and the bracket 1-3. The other end of the left connecting rod 2-1-4 and the other end of the right connecting rod 2-1-5 are hinged to the other end of the left cutter head 2-2-1 and the other end of the right cutter head 2-2-2, respectively.

[0050] The working principle and beneficial effects of the above technical solution are as follows: the end of the robot arm transmits the power torque to the center screw 2-1-2 through the adapter 3-0, and the bearing 2-1-1 and the sleeve 2-1-6 reduce the friction consumption during the rotation of the center screw 2-1-2. During the rotation of the center screw 2-1-2, the transmission nut moves up and down on the center screw 2-1-2. During the up and down movement of the transmission nut, the left connecting rod 2-1-4 and the right connecting rod 2-1-5 are hinged with the ear pieces at both ends thereof, thereby driving the left connecting rod 2-1-4 and the right connecting rod 2-1-5 to move up and down. When the connecting rod 2-1-5 moves up and down, it is hinged with the other end of the left cutter head 2-2-1 and the other end of the right cutter head 2-2-2, driving the left cutter head 2-2-1 and the right cutter head 2-2-2 to perform shearing movement with the center of the bracket 1-3 and the cutter head clamping assembly 2-2-3 as the center. The cutter head clamping assembly 2-2-3 hinges and clamps the left cutter head 2-2-1 and the right cutter head 2-2-2, preventing the left cutter head 2-2-1 and the right cutter head 2-2-2 from slipping during the handover process. The blade can complete the closing and opening operation normally, thereby completing the smooth shearing operation of cables, multiple layers, and nylon ties in space.

[0051] Example 5

[0052] On the basis of Example 4, Figure 1-Figure 5 As shown, the cutter head clamping assembly 2-2-3 includes a large axle pin 2-2-3-2, and the large axle pin 2-2-3-2 is inserted into the center holes of the left cutter head 2-2-1, the right cutter head 2-2-2 and the bracket 1-3. The other end of the large axle pin 2-2-3-2 is sleeved with a sleeve pressure block 2-2-3-3 and a spring washer 2-2-3-4, and the outermost side of the other end of the large axle pin 2-2-3-2 is threadedly connected with a clamping nut 2-2-3-1.

[0053] The working principle and beneficial effects of the above technical scheme are as follows: the large axle pin 2-2-3-2 limits the hinged shear of the left cutter head 2-2-1 and the right cutter head 2-2-2, the clamping nut 2-2-3-1 clamps the hinged shear of the left cutter head 2-2-1 and the right cutter head 2-2-2, the sleeve pressure block 2-2-3-3 and the spring washer 2-2-3-4 buffer and further clamp the clamping nut 2-2-3-1 and the left cutter head 2-2-1 and the right cutter head 2-2-2, so as to eliminate the installation gap between the left and right cutter heads 2-2-2, realize the installation pre-tightening of the left and right cutter heads 2-2-2, and ensure that the cutting edge is always closed during the shearing process of the tool.

[0054] Example 6

[0055] On the basis of Example 5, Figure 1-Figure 5As shown, the compatible shearing diameter of the scissor openings of the left cutter head 2-2-1 and the right cutter head 2-2-2 is 20 mm, the blades are designed in an arc shape, and bosses are designed on the shearing surfaces of the left cutter head 2-2-1 and the right cutter head 2-2-2.

[0056] The working principle and beneficial effects of the above technical solution are as follows: the left cutter head 2-2-1 and the right cutter head 2-2-2 are specially designed. The tool is compatible with cutting cables with a diameter of 20 mm, multiple layers, and nylon ties. The blade is designed in an arc shape to ensure that it is always located within the blade edge during the cable cutting process. The shearing surfaces of the left cutter head 2-2-1 and the right cutter head 2-2-2 are designed with bosses, which fully consider the machining accuracy error of the cutter head plane, reduce the contact area, and avoid as much as possible the blade opening caused by the machining error of the left and right cutter heads 2-2-2 during the shearing process, which makes it impossible to completely cut the cut object.

[0057] Example 7

[0058] A space robot extravehicular robot system, comprising the space robot extravehicular end shearing tool as described above, characterized in that the space robot extravehicular robot system also includes:

[0059] A speed detection module is used to measure the linear speed of the rolling element in the bearing 2-1-1;

[0060] Pressure detection module 1 is used to measure the force exerted by the inner rolling ring of bearing 2-1-1 on the inner rolling element of bearing 2-1-1;

[0061] Pressure detection module 2 is used to measure the force exerted by the inner rolling element of bearing 2-1-1 on the outer rolling ring of bearing 2-1-1;

[0062] The speed detection module is used to measure the speed of the bearing 2-1-1;

[0063] The oil film thickness detection module is used to measure the actual thickness of the oil film in the bearing 2-1-1 in real time;

[0064] Calculation module 1, used to calculate the theoretical thickness of the oil film in the bearing 2-1-1 based on the linear velocity of the rolling element;

[0065] A processing module, used for comparing the theoretical thickness of the oil film inside the bearing 2-1-1 obtained by the calculation module 1 with the actual thickness of the oil film inside the bearing 2-1-1 measured during the gas flow;

[0066] Control module, when the actual thickness of the oil film in the bearing 2-1-1 is less than the theoretical thickness of the oil film in the bearing 2-1-1, the control alarm module sends an alarm to the robot system and controls the shearing tool to stop working. When the actual thickness of the oil film in the bearing 2-1-1 is greater than or equal to the theoretical thickness of the oil film in the bearing 2-1-1, the shearing tool works normally.

[0067] The working principle and beneficial effects of the above technical solution are as follows: the speed detection module in the space robot extravehicular robot system measures the linear velocity of the rolling element in the bearing 2-1-1, the pressure detection module 1 measures the force exerted by the inner roller ring of the bearing 2-1-1 on the rolling element in the bearing 2-1-1, the pressure detection module 2 measures the force exerted by the outer roller ring of the bearing 2-1-1 on the inner rolling element in the bearing 2-1-1, the speed detection module measures the speed of the bearing 2-1-1, the oil film thickness detection module measures the actual thickness of the oil film in the bearing 2-1-1 in real time, and the calculation module 1 measures the linear velocity of the rolling element in the bearing 2-1-1 based on the linear velocity of the rolling element in the bearing 2-1-1. The theoretical thickness of the oil film inside the bearing 2-1-1 is calculated by the speed calculation module, and the processing module compares the theoretical thickness of the oil film inside the bearing 2-1-1 obtained by the calculation module with the actual thickness of the oil film inside the bearing 2-1-1 measured during the gas flow. When the actual thickness of the oil film inside the bearing 2-1-1 is less than the theoretical thickness of the oil film inside the bearing 2-1-1, the control module controls the alarm module to send an alarm to the robot system and control the shearing tool to stop working. When the actual thickness of the oil film inside the bearing 2-1-1 is greater than or equal to the theoretical thickness of the oil film inside the bearing 2-1-1, the shearing tool works normally.

[0068] Example 8

[0069] Based on Example 7, the calculation module 1 calculates based on the following formula 1:

[0070]

[0071] H is the theoretical thickness of the oil film in bearing 2-1-1, a is the viscosity-pressure coefficient of grease, β is the dynamic viscosity of grease under normal pressure, D1 is the diameter of the pitch circle of the rolling element, γ is a dimensionless parameter, D2 is the diameter of the rolling element, E is the equivalent elastic modulus, d is the distance between the non-drive end bearing 2-1-1 and the center of the center screw 2-1-2, c is the distance between the drive end bearing 2-1-1 and the center of gravity of the shaft, F1 is the force exerted on the inner rolling ring of the bearing by the inner rolling element of bearing 2-1-1, F2 is the force exerted on the outer rolling ring of the bearing by the inner rolling element of bearing 2-1-1, e is a natural constant, k is the ratio of the major and minor axes of the contact ellipse, n is the rotational speed of bearing 2-1-1, and z is the number of rolling elements in bearing 2-1-1.

[0072] The working principle and beneficial effects of the above technical solution are: Calculate the average linear velocity of the inner rolling element of bearing 2-1-1, and calculate the equivalent radius of curvature of the inner rolling ring through 0.5D2(1-γ).

[0073] pass The theoretical thickness of the oil film in bearing 2-1-1 is calculated. When the actual thickness of the oil film in bearing 2-1-1 is less than the theoretical thickness of the oil film in bearing 2-1-1, the control alarm module sends an alarm signal to the robot system and controls the shearing tool to stop working. When the actual thickness of the oil film in bearing 2-1-1 is greater than or equal to the theoretical thickness of the oil film in bearing 2-1-1, the shearing tool works normally.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A space robot extravehicular end shearing tool, characterized in that: include: A housing assembly (1-0), wherein a transmission assembly (2-0) is disposed on the housing assembly (1-0), the housing assembly (1-0) is fixedly connected to an adapter (3-0), the transmission assembly (2-0) is drivingly connected to the adapter (3-0), and the end of the robotic arm is drivingly connected to the adapter (3-0).

2. The space robot extravehicular end shearing tool according to claim 1, characterized in that: The housing assembly (1-0) comprises an upper housing (1-1), one side of the upper housing (1-1) is fixedly connected to the adapter (3-0), the other side of the upper housing (1-1) is fixedly connected to the lower housing (1-2), the lower housing (1-2) is fixedly connected to the bracket (1-3), both ends of the lower housing (1-2) are provided with sliding grooves (1-2-1) for accommodating the movement of the transmission assembly (2-0), and a part of the transmission assembly (2-0) is rotatably connected to the bracket (1-3).

3. The space robot extravehicular end shearing tool according to claim 2, characterized in that: The transmission assembly (2-0) comprises a connecting rod assembly (2-1) and a cutter head assembly (2-2); the connecting rod assembly (2-1) is transmission-connected to the cutter head assembly (2-2); and the cutter head assembly (2-2) is installed in the bracket (1-3).

4. The space robot outboard end shearing tool according to claim 3, characterized in that: The connecting rod assembly (2-1) comprises a central lead screw (2-1-2), bearings (2-1-1) and shaft sleeves (2-1-6) are respectively arranged at both ends of the central lead screw (2-1-2), a sliding nut (2-1-3) is rotatably arranged on the central lead screw (2-1-2), ear pieces are respectively fixedly arranged at both ends of the sliding nut (2-1-3), the two ear pieces slide in the slide groove (1-2-1), and the two ear pieces are respectively hinged to one end of the left connecting rod (2-1-4) and one end of the right connecting rod (2-1-5).

5. The space robot outboard end shearing tool according to claim 4, characterized in that: The cutter head assembly (2-2) comprises a left cutter head (2-2-1), a right cutter head (2-2-2), and a cutter head pressing assembly (2-2-3); one end of the left cutter head (2-2-1) and one end of the right cutter head (2-2-2) are rotatably arranged on the bracket (1-3); the cutter head pressing assembly (2-2-3) is arranged at the center of the left cutter head (2-2-1), the right cutter head (2-2-2), and the bracket (1-3); the other end of the left connecting rod (2-1-4) and the other end of the right connecting rod (2-1-5) are respectively hinged to the other end of the left cutter head (2-2-1) and the other end of the right cutter head (2-2-2).

6. The space robot extravehicular end shearing tool according to claim 5, characterized in that: The cutter head clamping assembly (2-2-3) comprises a large shaft pin (2-2-3-2), the large shaft pin (2-2-3-2) is inserted into the center holes of the left cutter head (2-2-1), the right cutter head (2-2-2) and the bracket (1-3), the other end of the large shaft pin (2-2-3-2) is sleeved with a shaft sleeve pressure block (2-2-3-3) and a spring washer (2-2-3-4), and the outermost side of the other end of the large shaft pin (2-2-3-2) is threadedly connected with a clamping nut (2-2-3-1).

7. The space robot outboard end shearing tool according to claim 6, characterized in that: The compatible shearing diameter of the scissor openings of the left cutter head (2-2-1) and the right cutter head (2-2-2) is 20 mm, the blades are designed in an arc shape, and bosses are designed on the cutter head shearing surfaces of the left cutter head (2-2-1) and the right cutter head (2-2-2).

8. A space robot extravehicular robot system, comprising a space robot extravehicular end shearing tool as claimed in any one of claims 1 to 7, characterized in that: The space robot extravehicular robot system also includes: A speed detection module, used for measuring the linear speed of the rolling element in the bearing (2-1-1); The pressure detection module 1 is used to measure the force exerted by the inner rolling ring of the bearing (2-1-1) on the inner rolling element of the bearing (2-1-1); The second pressure detection module is used to measure the force exerted by the inner rolling element of the bearing (2-1-1) on the outer rolling ring of the bearing (2-1-1); A rotation speed detection module is used to measure the rotation speed of the bearing (2-1-1); An oil film thickness detection module is used to measure the actual thickness of the oil film in the bearing (2-1-1) in real time; A calculation module 1 is used to calculate the theoretical thickness of the oil film in the bearing (2-1-1) based on the linear velocity of the rolling element; A processing module, used for comparing the theoretical thickness of the oil film inside the bearing (2-1-1) obtained by the calculation module 1 with the actual thickness of the oil film inside the bearing (2-1-1) measured during the gas flow; The control module controls the alarm module to send an alarm to the robot system and control the shearing tool to stop working when the actual thickness of the oil film in the bearing (2-1-1) is less than the theoretical thickness of the oil film in the bearing (2-1-1). The shearing tool works normally when the actual thickness of the oil film in the bearing (2-1-1) is greater than or equal to the theoretical thickness of the oil film in the bearing (2-1-1).

9. The space robot extravehicular robot system according to claim 8, characterized in that: The calculation module 1 calculates based on the following formula 1: H is the theoretical thickness of the oil film in the bearing (2-1-1), a is the viscosity-pressure coefficient of the grease, β is the dynamic viscosity of the grease under normal pressure, D1 is the diameter of the pitch circle of the rolling element, γ is a dimensionless parameter, D2 is the diameter of the rolling element, E is the equivalent elastic modulus, d is the distance between the non-drive end bearing (2-1-1) and the center of the center screw (2-1-2), c is the distance between the drive end bearing (2-1-1) and the center of gravity of the shaft, F1 is the force exerted on the rolling element in the bearing (2-1-1) by the inner race of the bearing, F2 is the force exerted on the rolling element in the bearing (2-1-1) by the outer race of the bearing, e is a natural constant, k is the ratio of the major and minor axes of the contact ellipse, n is the rotational speed of the bearing (2-1-1), and z is the number of rolling elements in the bearing (2-1-1).

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