A space robot extravehicular end-cutting tool and robot system

Abstract

The application provides a space robot extravehicular end shearing tool and a robot system, and relates to the technical field.The application 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 drivingly connected with the adapter, a mechanical arm end is drivingly connected with the adapter, the shell assembly constitutes a tool main body structure, the shell assembly limits and protects the transmission assembly, the shell assembly is fixedly installed with the adapter through screws, and an installation interface with the mechanical arm end is simultaneously provided, the mechanical arm end is drivingly connected with the adapter, the disassembly and assembly of the shearing tool and the mechanical arm end are facilitated, input of the robot end is converted into shearing movement of the tool end through mechanism movement, power output is provided at the robot end in space extravehicular, and compliant shearing operation on a cable, a multilayer and a nylon cable tie is autonomously completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of aerospace technology, and in particular to a space robot extravehicular end shearing tool and robot system. BACKGROUND

[0002] According to the planning of extravehicular maintenance tasks in the operation phase of the space station, future space robots and space manipulators will replace or assist astronauts to complete complex operations such as on-orbit assembly, spacecraft capture, satellite rescue, etc. Common maintenance and rescue tasks include replacement and repair of extravehicular equipment, cable installation, etc., which often involve shearing and removing the cable, pipe, and multi-layer cabin body, which is a delicate and flexible operation with high requirements. For space robots to perform this task, a dedicated end shearing tool is needed to provide power output from the robot end and autonomously complete the compliant shearing operation.

[0003] Current use of manipulators and robots for mechanical or work in the industrial field production line has a certain range of applications, but mostly focuses on packaging, indexing, and screwing, and is in a given station with a clear and unchanging coordinate position of the operating object, without the need for the manipulator end to perform autonomous searching, positioning, and docking. In contrast, the extravehicular manipulator task of the space station faces complex space environment, the manipulator can provide single rotation power input, and the input torque is limited, which needs to be amplified through mechanism movement according to the shearing task object to complete the compliant shearing task, and the tool needs to be designed with ingenious internal mechanism to realize the complex and delicate movement of the end. Currently, there is no special tool for shearing cables, multi-layer, and nylon straps inside or outside the space station.

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

[0005] The present application provides a space robot extravehicular end shearing tool and robot system to solve the defects in the prior art.

[0006] The present application provides a space robot extravehicular end shearing tool, comprising: 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 drivingly connected with the adapter, and a manipulator end is drivingly connected with the adapter.

[0007] Preferably, the shell assembly comprises an upper shell, one side of the upper shell is fixedly connected with the adapter, the other side of the upper shell is fixedly connected with a lower shell, the lower shell is fixedly connected with a support, both ends of the lower shell are provided with sliding grooves in which the transmission assembly is movably arranged, and a part of the transmission assembly is rotatably connected with the support.

[0008] Preferably, the transmission assembly comprises a connecting rod assembly and a tool head assembly, the connecting rod assembly is in transmission connection with the tool head assembly, and the tool head assembly is installed in the support.

[0009] Preferably, the connecting rod assembly comprises a central screw rod, both ends of the central screw rod are respectively provided with a bearing and a shaft sleeve, a sliding nut is rotatably arranged on the central screw rod, both ends of the sliding nut are respectively fixedly provided with an ear, and the two ears slide in the sliding grooves and are respectively hingedly connected with one end of the left connecting rod and one end of the right connecting rod.

[0010] Preferably, the tool head assembly comprises a left tool head, a right tool head and a tool head pressing assembly, one end of the left tool head and one end of the right tool head are rotatably arranged on the support, the tool head pressing assembly is arranged at the center of the left tool head, the right tool head and the support, and the other end of the left connecting rod and the other end of the right connecting rod are respectively hingedly connected with the other end of the left tool head and the other end of the right tool head.

[0011] Preferably, the tool head pressing assembly comprises a large shaft pin, the large shaft pin is inserted into a central hole of the left tool head, the right tool head and the support, a shaft sleeve pressing block and an elastic pad are sleeved on the other end of the large shaft pin, and a pressing nut is threadedly connected with the outermost side of the other end of the large shaft pin.

[0012] Preferably, the scissors opening of the left tool head and the right tool head is compatible with a shearing diameter of 20 mm, the blade is designed in a circular arc shape, and a boss is designed on the tool head shearing surface of the left tool head and the right tool head.

[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 further comprises

[0014] a speed detection module for measuring the linear speed of the rolling body in the bearing;

[0015] a first pressure detection module for measuring the force borne by the rolling body in the bearing on the inner race of the bearing;

[0016] a second pressure detection module for measuring the force borne by the rolling body in the bearing on the outer race of the bearing;

[0017] a rotational speed detection module for measuring the rotational speed of the bearing;

[0018] An oil film thickness detection module is configured to measure the actual thickness of the oil film in the bearing in real time;

[0019] A first calculation module is configured to calculate the theoretical thickness of the oil film in the bearing based on the linear speed of the rolling element;

[0020] A processing module is configured to compare the actual thickness of the oil film in the bearing measured in real time with the theoretical thickness of the oil film in the bearing calculated by the first calculation module.

[0021] A control module is configured to control the alarm module to issue 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 is less than the theoretical thickness of the oil film in the bearing, and the shearing tool works normally 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.

[0022] Preferably, the first calculation module is configured to calculate based on the following formula one:

[0023]

[0024] H is the theoretical thickness of the oil film in the bearing, a is the grease viscous pressure coefficient, 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-driving end bearing and the center of the lead screw, c is the distance between the driving end bearing and the center of the rotating shaft, F1 is the force borne by the rolling element in the bearing on the inner race, F2 is the force borne by the rolling element in the bearing on the outer race, e is a natural constant, k is the contact ellipse major-to-minor axis ratio, n is the rotating speed of the bearing, and z is the number of rolling elements in the bearing.

[0025] The present application has the following advantages:

[0026] According to the technical scheme provided by the present application, a space robot extravehicular end shearing tool is provided. The tool end is connected and installed with the mechanical arm end adapter, and the power is input by the mechanical arm end. The tool is used for autonomously shearing the on-board cable, multi-layer and nylon cable tie. The space robot extravehicular end shearing tool comprises a shell assembly and a transmission assembly. The shell assembly is fixedly installed with the mechanical arm end adapter by screws, and provides mechanical limiting for the transmission mechanism. The transmission assembly is connected with the driving shaft of the mechanical arm end adapter, realizes power transmission, and realizes the operation of the compliant shearing of the cable, multi-layer and nylon cable tie. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0028] Figure 1 is a schematic diagram of the overall structure of an extravehicular end-cutting tool of a space robot according to an embodiment of the present application;

[0029] Figure 2 is a schematic diagram of the overall structure according to an embodiment of the present application;

[0030] Figure 3 is a schematic diagram of the structure of a transmission assembly part according to an embodiment of the present application;

[0031] Figure 4 is a schematic diagram of the structure of a cutter head pressing assembly part according to an embodiment of the present application;

[0032] Figure 5 is a schematic diagram of a cutter head according to an embodiment of the present application.

[0033] Reference signs:

[0034] 1-0, housing assembly; 2-0, transmission assembly; 1-1, upper housing; 1-2, lower housing; 1-2-1, sliding groove; 1-3, bracket; 2-1, connecting rod assembly; 2-2, cutter head assembly; 2-1-1, bearing; 2-1-2, central lead screw; 2-1-3, sliding nut; 2-1-4, left connecting rod; 2-1-5, right connecting rod; 2-1-6, shaft sleeve; 2-2-1, left cutter head; 2-2-2, right cutter head; 2-2-3, cutter head pressing assembly; 2-2-3-1, pressing nut; 2-2-3-2, large shaft pin; 2-2-3-3, shaft sleeve pressing block; 2-2-3-4, elastic pad; 3-0, adapter. DETAILED DESCRIPTION

[0035] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in combination with the drawings in the present application. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0036] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] The present invention provides the following embodiments.

[0038] Example 1

[0039] This invention provides an external end effector cutting tool for a space robot, such as... Figures 1-5 As shown, it includes: a housing assembly 1-0, a transmission assembly 2-0 disposed on the housing assembly 1-0, the housing assembly 1-0 being fixedly connected to an adapter 3-0, the transmission assembly 2-0 being drivenly connected to the adapter 3-0, and the end effector of the robotic arm being drivenly connected to the adapter 3-0.

[0040] The working principle and beneficial effects of the above technical solution are as follows: the housing component 1-0 constitutes the main structure of the tool, the housing component 1-0 limits and protects the transmission component 2-0, the housing 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 cutting tool and the end of the robotic arm by means of the drive connection with the adapter 3-0. The input of the robot end is converted into the cutting motion of the tool end through the mechanism movement, realizing the provision of power output at the end of the robot outside the space cabin, and autonomously completing the compliant cutting operation of cables, multi-layer and nylon cable ties.

[0041] Example 2

[0042] Based on Example 1, such as Figures 1-5 As shown, the housing assembly 1-0 includes an upper housing 1-1, one side of which is fixedly connected to the adapter 3-0, and the other side of which is fixedly connected to the lower housing 1-2. The lower housing 1-2 is fixedly connected to the bracket 1-3. The two ends of the lower housing 1-2 are provided with sliding grooves 1-2-1 to accommodate the movement of the transmission assembly 2-0. 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 solution are as follows: the upper shell 1-1 is fixedly connected with the adapter 3-0, so that the upper shell 1-1 and the adapter 3-0 are integrated; when the mechanical arm end is connected with the adapter 3-0, the mechanical arm and the shearing tool are integrated; the upper shell 1-1 is fixedly connected with the lower shell 1-2; the lower shell 1-2 is fixedly connected with the support 1-3; the support 1-3 drives and limits the transmission of the transmission assembly 2-0; the sliding groove 1-2-1 avoids and restricts the movement of the transmission assembly 2-0 during transmission, thereby preventing faults caused by transmission interference.

[0044] Embodiment 3

[0045] Based on embodiment 2, as shown in Figures 1-5 the transmission assembly 2-0 includes a connecting rod assembly 2-1 and a tool head assembly 2-2, the connecting rod assembly 2-1 is in transmission connection with the tool head assembly 2-2, and the tool head assembly 2-2 is installed in the support 1-3.

[0046] The working principle and beneficial effects of the above technical solution are as follows: the mechanical arm end drives the connecting rod assembly 2-1 to rotate through the adapter 3-0; the connecting rod assembly 2-1 drives the tool head assembly 2-2 to move when rotating, so that the tool head assembly 2-2 completes a compliant shearing operation on a cable, a multi-layer, and a nylon cable tie in an outer space environment.

[0047] Embodiment 4

[0048] Based on embodiment 3, as shown in Figures 1-5 the connecting rod assembly 2-1 includes a central lead screw 2-1-2, both ends of the central lead screw 2-1-2 are respectively provided with a bearing 2-1-1 and a shaft sleeve 2-1-6, a sliding nut 2-1-3 is rotationally arranged on the central lead screw 2-1-2, both ends of the sliding nut 2-1-3 are respectively fixedly provided with an ear, the two ears slide in the sliding groove 1-2-1, and one end of a left connecting rod 2-1-4 and one end of a right connecting rod 2-1-5 are respectively hinged to the two ears.

[0049] The tool head assembly 2-2 includes a left tool head 2-2-1, a right tool head 2-2-2, and a tool head pressing assembly 2-2-3, one end of the left tool head 2-2-1 and one end of the right tool head 2-2-2 are rotationally arranged on the support 1-3, the tool head pressing assembly 2-2-3 is arranged at the center of the left tool head 2-2-1, the right tool head 2-2-2, and the support 1-3, and 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 tool head 2-2-1 and the other end of the right tool head 2-2-2.

[0050] The working principle and beneficial effects of the above technical solution are as follows: the mechanical arm end transmits power torque to the center lead screw 2-1-2 through the adapter 3-0; the bearing 2-1-1 and the shaft sleeve 2-1-6 reduce friction consumption during rotation of the center lead screw 2-1-2; during rotation of the center lead screw 2-1-2, the transmission nut moves up and down on the center lead screw 2-1-2; the transmission nut moves up and down, and the two end lugs of the transmission nut are hinged to one end of the left connecting rod 2-1-4 and one end of the right connecting rod 2-1-5, thereby driving the left connecting rod 2-1-4 and the right connecting rod 2-1-5 to move up and down; when the left connecting rod 2-1-4 and the right connecting rod 2-1-5 move up and down, the left connecting rod 2-1-4 and 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, thereby driving the left cutter head 2-2-1 and the right cutter head 2-2-2 to move shearingly around the center of the support 1-3 and the cutter head compression assembly 2-2-3; the cutter head compression assembly 2-2-3 hingedly constrains and compresses the left cutter head 2-2-1 and the right cutter head 2-2-2, thereby preventing the left cutter head 2-2-1 and the right cutter head 2-2-2 from slipping during the shearing operation; the cutter head can normally complete the folding and opening operation, thereby completing the shearing operation on the cable, the multi-layer, and the nylon cable tie in space.

[0051] Embodiment 5

[0052] On the basis of embodiment 4, as shown in Figures 1-5 The cutter head compression assembly 2-2-3 includes a large shaft pin 2-2-3-2, the large shaft pin 2-2-3-2 is inserted into the center hole of the left cutter head 2-2-1, the right cutter head 2-2-2, and the support 1-3, a shaft sleeve block 2-2-3-3 and an elastic pad 2-2-3-4 are sleeved on the other end of the large shaft pin 2-2-3-2, and a compression nut 2-2-3-1 is threadedly connected to the outermost side of the other end of the large shaft pin 2-2-3-2.

[0053] The working principle and beneficial effects of the above technical solution are as follows: the large shaft pin 2-2-3-2 limits the hinged shearing of the left cutter head 2-2-1 and the right cutter head 2-2-2, the compression nut 2-2-3-1 compresses the hinged shearing of the left cutter head 2-2-1 and the right cutter head 2-2-2, and the shaft sleeve block 2-2-3-3 and the elastic pad 2-2-3-4 buffer and further compress the compression 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 of the left cutter head 2-2-1 and the right cutter head 2-2-2, realize the installation pre-tightening of the left cutter head 2-2-1 and the right cutter head 2-2-2, and ensure that the cutter head is always closed during the shearing operation of the tool.

[0054] Embodiment 6

[0055] On the basis of embodiment 5, as shown in Figures 1-5As shown, the shearing edges of the left blade head 2-2-1 and the right blade head 2-2-2 are compatible with a shearing diameter of 20 mm, and the blade edges are designed in an arc shape. The shearing surfaces of the left blade head 2-2-1 and the right blade head 2-2-2 are designed with bosses.

[0056] The working principle and beneficial effects of the above technical solution are as follows: the left blade head 2-2-1 and the right blade head 2-2-2 are specially designed, and the tool is compatible with cables with a shearing diameter of 20 mm, multiple layers, and nylon straps. The blade edges are designed in an arc shape to ensure that the cable is always located in the blade edge during the shearing process. The shearing surfaces of the left blade head 2-2-1 and the right blade head 2-2-2 are designed with bosses, fully considering the machining precision error of the blade head plane, reducing the contact area, and avoiding the opening of the blade edges during the shearing process as much as possible due to the machining error of the left and right blade heads 2-2-2, which causes the sheared object to be unable to be completely cut off.

[0057] Embodiment 7

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

[0059] A speed detection module for measuring the linear speed of the rolling body in the bearing 2-1-1;

[0060] A first pressure detection module for measuring the force acting on the rolling ring in the bearing 2-1-1 that is borne by the rolling body in the bearing 2-1-1;

[0061] A second pressure detection module for measuring the force acting on the outer rolling ring of the bearing 2-1-1 that is borne by the rolling body in the bearing 2-1-1;

[0062] A rotational speed detection module for measuring the rotational speed of the bearing 2-1-1;

[0063] An oil film thickness detection module for real-time measurement of the actual thickness of the oil film in the bearing 2-1-1;

[0064] A first calculation module for calculating the theoretical thickness of the oil film in the bearing 2-1-1 based on the linear speed of the rolling body;

[0065] A processing module for comparing and processing the theoretical thickness of the oil film in the bearing 2-1-1 obtained by the first calculation module with the actual thickness of the oil film in the bearing 2-1-1 measured in real time;

[0066] A control module for controlling the alarm module to issue an alarm to the robot system and simultaneously controlling 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, and for controlling the shearing tool to work 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.

[0067] The working principle and beneficial effects of the above technical solution are: the speed detection module in the space robot extravehicular robot system measures the linear speed of the rolling body in the bearing 2-1-1, the pressure detection module one measures the force borne by the rolling body in the bearing 2-1-1 on the inner race of the bearing 2-1-1, the pressure detection module two measures the force borne by the rolling body in the bearing 2-1-1 on the outer race of the bearing 2-1-1, the rotational speed detection module measures the rotational 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, the calculation module one calculates the theoretical thickness of the oil film in the bearing 2-1-1 based on the linear speed of the rolling body, the processing module compares and processes the theoretical thickness of the oil film in the bearing 2-1-1 obtained by the calculation module one with the actual thickness of the oil film in the bearing 2-1-1 measured in real time, 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 module controls the alarm module to issue an alarm to the robot system and controls the shearing tool to stop working, and 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.

[0068] Embodiment 8

[0069] Based on embodiment 7, the calculation module one calculates based on the following formula one:

[0070]

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

[0072] The working principle and beneficial effects of the above technical solution are: by The average linear speed of the rolling body in the bearing 2-1-1 is calculated, and the equivalent curvature radius of the inner race is calculated by 0.5D2(1-γ),

[0073] by The theoretical thickness of the oil film in the bearing 2-1-1 is calculated, 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 signal 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.

[0074] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not limited to them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A space robot extravehicular robot system comprising a space robot extravehicular end effector shear tool, characterized by, The space robot extravehicular end shearing tool comprises a shell assembly (1-0) provided with a transmission assembly (2-0), the shell assembly (1-0) is fixedly connected with an adapter (3-0), the transmission assembly (2-0) is drivingly connected with the adapter (3-0), and a mechanical arm end is drivingly connected with the adapter (3-0); The shell assembly (1-0) comprises an upper shell (1-1), one side of the upper shell (1-1) is fixedly connected with the adapter (3-0), the other side of the upper shell (1-1) is fixedly connected with a lower shell (1-2), the lower shell (1-2) is fixedly connected with a support (1-3), both ends of the lower shell (1-2) are provided with sliding grooves (1-2-1) in which the transmission assembly (2-0) is movably arranged, and a part of the transmission assembly (2-0) is rotatably connected with the support (1-3); The transmission assembly (2-0) comprises a connecting rod assembly (2-1) and a tool bit assembly (2-2), the connecting rod assembly (2-1) is drivingly connected with the tool bit assembly (2-2), and the tool bit assembly (2-2) is installed in the support (1-3); The connecting rod assembly (2-1) comprises a central lead screw (2-1-2), both ends of the central lead screw (2-1-2) are provided with bearings (2-1-1) and shaft sleeves (2-1-6) respectively, a sliding nut (2-1-3) is rotatably arranged on the central lead screw (2-1-2), both ends of the sliding nut (2-1-3) are fixedly provided with lugs, the two lugs slide in the sliding grooves (1-2-1), and one end of a left connecting rod (2-1-4) and one end of a right connecting rod (2-1-5) are hingedly connected with the two lugs respectively; The space robot extravehicular robot system further comprises: A speed detection module for measuring the linear speed of the rolling body in the bearing (2-1-1); A first pressure detection module for measuring the force borne by the rolling body in the bearing (2-1-1) on the rolling ring in the bearing (2-1-1); A second pressure detection module for measuring the force borne by the rolling body in the bearing (2-1-1) on the rolling ring outside the bearing (2-1-1); A rotating speed detection module for measuring the rotating speed of the bearing (2-1-1); An oil film thickness detection module for measuring the actual thickness of the oil film in the bearing (2-1-1) in real time; A first calculation module for calculating the theoretical thickness of the oil film in the bearing (2-1-1) based on the linear speed of the rolling body; A processing module for comparing the theoretical thickness of the oil film in the bearing (2-1-1) obtained by the first calculation module with the actual thickness of the oil film in the bearing (2-1-1) measured in real time; A control module for controlling the alarm module to issue an alarm to the robot system and controlling 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), and for controlling the shearing tool to work 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); The first calculation module is calculated based on the following formula one: ； is a theoretical thickness of an oil film in the bearing (2-1-1), is a coefficient of stick pressure of the lubricating grease, is a dynamic viscosity of the lubricating grease under normal pressure, is a diameter of a pitch circle of the rolling elements, is a dimension one parameter, is a diameter of the rolling element, is an equivalent elastic modulus, is a distance from the non-driving end bearing (2-1-1) to the center of the center screw (2-1-2), is a distance from the driving end bearing (2-1-1) to the center of gravity of the rotating shaft, is an acting force of the rolling element in the bearing (2-1-1) on the inner race of the bearing, is an acting force of the rolling element in the bearing (2-1-1) on the outer race of the bearing, is a natural constant, is a ratio of the major axis to the minor axis of the contact ellipse, is a rotational speed of the bearing (2-1-1), is a number of the rolling elements of the bearing (2-1-1).

2. The space robot EVA end-of-arm shearing tool of claim 1, wherein, 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 support (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 support (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 hingedly connected with the other end of the left cutter head (2-2-1) and the other end of the right cutter head (2-2-2) respectively.

3. The space robot extravehicular end-of-arm shearing tool of claim 2, wherein, The cutter head pressing 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 hole of the left cutter head (2-2-1), the right cutter head (2-2-2) and the support (1-3), a shaft sleeve pressing block (2-2-3-3) and a spring pad (2-2-3-4) are sleeved on the other end of the large shaft pin (2-2-3-2), a pressing nut (2-2-3-1) is threadedly connected on the outermost side of the other end of the large shaft pin (2-2-3-2).

4. The space robot EVA end-of-arm shearing tool of claim 3, wherein, The scissors opening of the left cutter head (2-2-1) and the right cutter head (2-2-2) is compatible with a shearing diameter of 20mm, the blade is designed in a circular arc shape, and a boss is designed on the cutter head shearing surface of the left cutter head (2-2-1) and the right cutter head (2-2-2).

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