Mechanical arm device of space station

Abstract

The mechanical arm device of the space station comprises a guide rail, sliding block mechanisms and a first piezoelectric stack, the first piezoelectric stack is arranged at the end of the guide rail and used for driving the guide rail to move back and forth in the axial direction of the guide rail, the multiple sliding block mechanisms are arranged on the guide rail in a sliding mode, and each sliding block mechanism comprises a shell, a second piezoelectric stack and a ceramic block; the shell is in sliding connection with the guide rail, and the second piezoelectric stack is installed on one side of the guide rail through the shell and used for being connected with and driving the ceramic block to abut against the side wall of the guide rail or be separated from the guide rail. The first piezoelectric stack is controlled to drive the guide rail to vibrate back and forth in the axial direction of the guide rail, meanwhile, the second piezoelectric stack is controlled to generate vibration perpendicular to the guide rail, and then the ceramic block of the sliding block mechanism is controlled to abut against or loosen connection with the side wall of the guide rail according to needs, so that back-and-forth sliding of the sliding block mechanism on the guide rail is achieved; the first piezoelectric stack and the second piezoelectric stack can still work normally in an environment with large electromagnetic interference.

Description

Technical Field

[0001] The present invention relates to the technical field of space station mechanical arms, and in particular to a mechanical arm device of a space station. Background Art

[0002] In space, robotic arms play a vital role. They are usually composed of multiple joints and arm segments. These components have the characteristics of high strength and light weight, and can bear weight in the space environment and reduce the load on the spacecraft. The robotic arm often achieves displacement movement through hydraulic, electric or pneumatic drives.

[0003] However, due to the influence of extreme temperature or radiation environment in space, the existing robotic arm drive structure has the problem of poor performance. For example, hydraulic drive has large output power and torque, but the system is complex, the maintenance cost is high, and the response speed is relatively slow. In the space environment, the complexity and maintenance difficulty of the hydraulic system will become limiting factors; electric drive has the characteristics of high precision and strong adjustability, but the cost is relatively high, and it is easy to produce vibration and noise under high load and high-speed operation. In addition, the torque density of electric drive is low and needs to be used with a reducer; pneumatic drive has the advantages of simple structure, low cost, and no pollution, but the stability is poor, and the position control and speed control accuracy are not high. In the space environment, these limitations of pneumatic drive will affect the performance of the robotic arm.

[0004] Therefore, there is an urgent need for a robotic arm device for a space station to solve the problem of poor effect of driving the robotic arm displacement through hydraulic, electric or pneumatic drives. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a robotic arm device for a space station to solve the problem that the displacement drive of the robotic arm by means of hydraulic, electric or pneumatic drivers has a poor effect.

[0006] To achieve the above object, the present invention adopts the following technical solutions: A robotic arm device for a space station, characterized in that it includes a guide rail, several slider mechanisms and a first piezoelectric stack, wherein the first piezoelectric stack is arranged at the end of the guide rail and is used to drive the guide rail to move back and forth along the axial direction of the guide rail, and several slider mechanisms are respectively slidably arranged on the guide rail, and the slider mechanism includes a shell, a second piezoelectric stack and a ceramic block, the shell is slidably connected to the guide rail, the second piezoelectric stack is installed on one side of the guide rail through the shell, and the second piezoelectric stack is used to connect and drive the ceramic block to press against the side wall of the guide rail or separate from the guide rail.

[0007] To optimize the above technical solutions, the specific measures taken also include: Furthermore, the shell includes a first slider, a second slider, a spiral plate, a top block and a bracket, the first slider is clamped and slidably arranged at the lower end of the guide rail, the upper end of the first slider is provided with an opening that can expose the upper end of the guide rail, the second slider is connected to the first slider and extends from both sides of the guide rail to the top of the guide rail, and is jointly connected to both sides of the spiral plate, the center of the spiral plate is a spiral hollow structure that can be displaced up and down, the spiral plate is located above the opening at the upper end of the first slider, the second piezoelectric stack is installed at the central upper end of the spiral plate, the ceramic block is correspondingly installed at the central lower end of the spiral plate, the bracket is installed at the upper end of the spiral plate, and the side of the bracket close to the second piezoelectric stack is provided with a top block for pressing the second piezoelectric stack.

[0008] Furthermore, the center of the spiral plate is a centrally symmetrical double-spiral hollow structure.

[0009] Furthermore, an elastic gasket is provided at the connection between the second sliding block and the spiral plate.

[0010] Furthermore, a ceramic strip is provided along the axial direction of the guide rail on one side of the guide rail for contacting the ceramic block, and the second piezoelectric stack is used to drive the ceramic block to press against the side wall of the ceramic strip or to separate from the ceramic strip.

[0011] Furthermore, the ceramic strips may be alumina ceramic strips.

[0012] Furthermore, it also includes a bridge-type displacement amplification mechanism, through which the first piezoelectric stack is connected to the end of the guide rail, and the bridge-type displacement amplification mechanism is used to amplify the vibration of the first piezoelectric stack and convert it into vibration that drives the guide rail to move back and forth along its axial direction.

[0013] Furthermore, it also includes several mechanical arms, which include a secondary slide, a first connecting rod and a second connecting rod. The second connecting rod is hinged to one end of the first connecting rod, and the other end of the first connecting rod is movably mounted on the slider mechanism through the secondary slide.

[0014] Furthermore, it also includes a claw top, and the ends of the second connecting rods of several of the mechanical arms away from the first connecting rod are hinged together at the upper end of the claw top, and the claw top is used to install the actuator.

[0015] Furthermore, the robotic arms are provided with three, and the three robotic arms are respectively connected to one of the slider mechanisms through a first-level slide, a second-level slide and a third-level slide, and the second connecting rods of the three robotic arms are jointly hinged to a claw top.

[0016] The beneficial effects of the present invention are: The present invention controls the first piezoelectric stack to drive the guide rail to vibrate back and forth along the axial direction of the guide rail, and at the same time controls the second piezoelectric stack to generate vibrations perpendicular to the guide rail, thereby controlling the ceramic block of the slider mechanism to tighten or loosen the connection with the side wall of the guide rail as needed, thereby realizing the back and forth sliding of the slider mechanism on the guide rail; wherein, the inverse piezoelectric effect and ultrasonic vibration of the first piezoelectric stack and the second piezoelectric stack themselves enable them to obtain motion and torque, so that the ultrasonic motor can still work normally in an environment with large electromagnetic interference, effectively solving the problem of poor displacement driving effect of the robot arm through hydraulic, electric or pneumatic drives.

[0017] The device of the present invention has a compact structure, and uses the first piezoelectric stack and the second piezoelectric stack to cooperate to drive the movement of the mechanical arm. The space required for the installation of the first piezoelectric stack and the second piezoelectric stack is extremely small, but the operating range of the mechanical arm is extremely large, and the mechanical arm can achieve flexible positioning and posture adjustment in three-dimensional space, and can perform a variety of actions according to task requirements, which can meet such usage requirements. The mechanical arm with a two-link structure design has greater flexibility and operability when moving, and the structure is relatively simple, reducing the number of joints and moving parts, providing better mechanical stability, and can effectively disperse the load applied to the mechanical arm, reducing deformation caused by gravity or external forces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the installation structure of a mechanical arm device of a space station proposed by the present invention; Figure 2 This is a schematic diagram of the overall structure of a mechanical arm device for a space station proposed by the present invention; Figure 3 A schematic diagram of a partial structure of a mechanical arm device of a space station proposed by the present invention; Figure 4 This is a structural schematic diagram of a slider mechanism of a space station mechanical arm device proposed by the present invention; Figure 5 This is a schematic structural diagram of a spiral plate of a mechanical arm device of a space station proposed by the present invention; Figure 6 This is a schematic diagram of the installation of a mechanical arm of a mechanical arm device of a space station proposed by the present invention; Figure 7 A schematic diagram of the connection of a slider mechanism of a space station mechanical arm device proposed by the present invention; Figure 8 This is a schematic diagram of the movement of a single slider mechanism of a space station robotic arm device proposed by the present invention; Fig. 9 A is a schematic diagram of the movement of a double-slider mechanism of a space station mechanical arm device proposed by the present invention; Fig.10b is a schematic diagram of the movement of a double-slider mechanism of a mechanical arm device of a space station proposed by the present invention; Fig.11 c is a schematic diagram of the movement of a double-slider mechanism of a mechanical arm device of a space station proposed by the present invention; Fig.12 d is a motion schematic diagram of a double-slider mechanism of a space station robotic arm device proposed by the present invention; Fig.13 This is a schematic diagram of the motion of a three-slider mechanism of a mechanical arm device of a space station proposed by the present invention; Fig.14 A signal diagram of a continuous motion mode of a space station's mechanical arm device proposed by the present invention; Fig.15 This is a signal diagram of an alternating stepping motion mode of a space station robot device proposed by the present invention; Fig.16 This is a signal diagram of the inertial motion mode of a robotic arm device of a space station proposed by the present invention.

[0019] Figure markings: 1. Ceramic strip, 2. Guide rail, 3. Slider mechanism, 3-1. Bracket, 3-2. Top block, 3-3. Second piezoelectric stack, 3-4. Spiral plate, 3-5. Ceramic block, 3-6. Elastic gasket, 3-7. First slider, 3-8. Second slider, 4. Bridge-type displacement amplification mechanism, 5. First piezoelectric stack, 6. First connecting rod, 7. Second connecting rod, 8. First and second slides, 9. Second and second slides, 10. Third and second slides, 11. Claw top, 12. Space station, 13. Robotic arm. DETAILED DESCRIPTION

[0020] The present invention will now be described in further detail with reference to the accompanying drawings.

[0021] As attached Figure 2 and attached Figure 3 As shown, a robotic arm device of a space station according to an embodiment of the present invention includes a guide rail 2, several slider mechanisms 3 and a first piezoelectric stack 5. The first piezoelectric stack 5 is arranged at the end of the guide rail 2, and is used to drive the guide rail 2 to move back and forth along the axial direction of the guide rail 2. Several slider mechanisms 3 for connecting the robotic arm 13 are respectively slidably arranged on the guide rail 2. The slider mechanism 3 includes a shell, a second piezoelectric stack 3-3 and a ceramic block 3-5. The shell is slidably connected to the guide rail 2, and the second piezoelectric stack 3-3 is installed on one side of the guide rail 2 through the shell. The second piezoelectric stack 3-3 is used to connect and drive the ceramic block 3-5 to press against the side wall of the guide rail 2 or separate from the guide rail 2.

[0022] The present invention controls the first piezoelectric stack 5 to drive the guide rail 2 to vibrate back and forth along the axial direction of the guide rail 2, and at the same time controls the second piezoelectric stack 3-3 to generate vibrations perpendicular to the guide rail 2, thereby controlling the ceramic block 3-5 of the slider mechanism 3 to tighten or loosen the connection with the side wall of the guide rail 2 as needed, thereby realizing the back and forth sliding of the slider mechanism 3 on the guide rail 2; wherein, the inverse piezoelectric effect and ultrasonic vibration of the first piezoelectric stack 5 and the second piezoelectric stack 3-3 themselves enable them to obtain motion and torque, so that the ultrasonic motor can still work normally in an environment with large electromagnetic interference, effectively solving the problem of poor displacement driving effect of the robot arm through hydraulic, electric or pneumatic drives.

[0023] Specifically, the first piezoelectric stack 5 and the second piezoelectric stack 3-3 structure have a high piezoelectric coupling coefficient and are not prone to strain, which enables them to provide high precision and stability during the driving process; the piezoelectric drive is based on the inverse piezoelectric effect of piezoelectric materials and does not generate electromagnetic radiation. Therefore, it will not be affected by electromagnetic interference when used in a space environment, nor will it interfere with other electronic equipment; the piezoelectric stack structure is relatively compact, and due to the high energy density of piezoelectric materials, a lightweight design can be achieved, which is an important advantage for space manipulators, because lightweight design helps reduce the load on the spacecraft and improve overall performance; the piezoelectric drive has a fast response speed and can generate the required displacement or force in a short time, which is crucial for space missions that require rapid response, such as capturing and fixing hovering spacecraft.

[0024] Structures such as the first piezoelectric stack 5 and the second piezoelectric stack 3-3 consume almost no energy in a static state, can achieve high-precision position control, have a fast movement speed, and can withstand the extreme temperature and radiation environment in space.

[0025] In this embodiment, two first piezoelectric stacks 5 are provided, which are respectively connected to the two ends of the guide rail 2, and are used to synchronously drive the guide rail 2 to move back and forth along its axial direction. The first piezoelectric stacks 5 at both ends receive signals at the same time. After receiving the signals, the first piezoelectric stack 5 at one end contracts and the first piezoelectric stack 5 at the other end extends, thereby realizing the movement of the guide rail 2.

[0026] As attached Figure 1 As shown, when in use, the guide rail 2 and the first piezoelectric stack 5 and other structures can be installed on the base and fixed on the space station 12 through the base to facilitate the installation and use of the device.

[0027] As attached Figure 4 and attached Figure 7As shown, in another specific embodiment, the shell includes a first slider 3-7, a second slider 3-8, a spiral plate 3-4, a top block 3-2 and a bracket 3-1. The first slider 3-7 is clamped and slidably arranged at the lower end of the guide rail 2. The upper end of the first slider 3-7 is provided with an opening that can expose the upper end of the guide rail 2. The second slider 3-8 is connected to the first slider 3-7 and extends from both sides of the guide rail 2 to the top of the guide rail 2, and is jointly connected to both sides of the spiral plate 3-4. The center of the spiral plate 3-4 is a spiral hollow structure that can be displaced up and down. The spiral plate 3-4 is located above the opening at the upper end of the first slider 3-7. The second piezoelectric stack 3-3 is installed at the central upper end of the spiral plate 3-4, and a ceramic block 3-5 is correspondingly installed at the central lower end of the spiral plate 3-4. The upper end of the spiral plate 3-4 is provided with a bracket 3-1, and the side of the bracket 3-1 close to the second piezoelectric stack 3-3 is provided with a top block 3-2 for pressing against the second piezoelectric stack 3-3.

[0028] Thus, when in use, the second piezoelectric stack 3-3 can be controlled to drive the center of the spiral plate 3-4 and the ceramic block 3-5 to move downward to abut against the guide rail 2 under the constraint of the top block 3-2, thereby increasing the control accuracy and the stability of the connection. Among them, the spiral plate 3-4 can reduce the stiffness and effectively transmit or increase the deformation during vibration. The structures can be connected to each other by screws, and the top block 3-2 can use a copper column.

[0029] As attached Figure 5 As shown, in a further embodiment based on the above, the center of the spiral plate 3-4 is a centrally symmetrical double spiral hollow structure, thereby further increasing the driving stability.

[0030] In a further embodiment based on the above, an elastic gasket 3-6 is provided at the connection between the second slider 3-8 and the spiral plate 3-4. The elastic gasket 3-6 can effectively increase the stability of the contact between the second slider 3-8 and the spiral plate 3-4.

[0031] In a further embodiment based on the above, a ceramic strip 1 is provided along the axial direction of the guide rail 2 on the side of the guide rail 2 that is in contact with the ceramic block 3-5, and the second piezoelectric stack 3-3 is used to drive the ceramic block 3-5 to press against the side wall of the ceramic strip 1 or to separate from the ceramic strip 1. The ceramic strip 1 can be an alumina ceramic strip, so that it can cooperate with the ceramic block 3-5 to increase the friction between the guide rail 2 and the slider mechanism 3.

[0032] In another specific embodiment, a bridge-type displacement amplification mechanism 4 is also included, and the first piezoelectric stack 5 is connected to the end of the guide rail 2 through the bridge-type displacement amplification mechanism 4. The bridge-type displacement amplification mechanism 4 is used to amplify the vibration of the first piezoelectric stack 5 and convert it into vibration that drives the guide rail 2 to move back and forth along its axial direction.

[0033] In this embodiment, the bridge-type displacement amplifying mechanism 4 is fixed to the two ends of the guide rail 2 by screw connection, and the first piezoelectric stack 5 is placed in the middle groove by stretching both sides of the bridge-type displacement amplifying mechanism and tightened by set screws. The first piezoelectric stack 5 can be selected from NAC2013-H14 of noliac. The bridge-type displacement amplifying mechanism 4 can amplify the vibration of the first piezoelectric stack 5 in the groove and convert it into the vibration of the guide rail 2 through its unique flexible hinge structure, cooperate with the second piezoelectric stack 3-3, and input different signals to the first piezoelectric stack 5 and the second piezoelectric stack 3-3 on the guide rail 2 to control the slider mechanism 3 to perform precise movement.

[0034] As attached Figure 6 As shown, in another specific embodiment, several mechanical arms 13 are also included, and the mechanical arms 13 include a secondary slide, a first connecting rod 6 and a second connecting rod 7. The second connecting rod 7 is hinged to one end of the first connecting rod 6, and the other end of the first connecting rod 6 is movably mounted on the slider mechanism 3 through the secondary slide. Among them, the mechanical arm 13 with a two-link structure design has greater flexibility and operability when moving, and the structure is relatively simple, reducing the number of joints and moving parts, providing better mechanical stability, and can effectively disperse the load applied to the machine 13, reducing deformation caused by gravity or external force.

[0035] Among them, in a further embodiment based on the above, it also includes a claw top 11, and the ends of the second connecting rods 7 of several mechanical arms 13 away from the first connecting rod 6 are hinged together at the upper end of the claw top 11, and the claw top 11 is used to install the actuator. In this way, the movement of the mechanical arm 13 is driven by the movement of the slider mechanism 3, and the claw top 11 connected by several mechanical arms 13 moves synchronously, and the actuator fixed on the claw top 11 moves synchronously as needed. Through the cooperation of the slider mechanism 3, the mechanical arm 13 and the claw top 11, a high-precision flexible movement and positioning effect is obtained by using a simple structure.

[0036] In a further embodiment based on the above, three mechanical arms 13 are provided, and the three mechanical arms 13 are respectively connected to a slider mechanism 3 through the first and second slides 8, the second and second slides 9, and the third and second slides 10, and the second connecting rods 7 of the three mechanical arms 13 are jointly hinged to a claw top 11. The three mechanical arms 13 improve the overall rigidity of the device, withstand a larger load, and are more stable.

[0037] In this embodiment, three connecting shafts can be designed on the claw top 11 to be connected to the ends of the three mechanical arms 13 respectively. The two connecting shafts on both sides of the claw top 11 are designed at 45°, and the middle one is designed to be slanted downward at 60°. This design can balance the force on the claw top.

[0038] The device of the present invention has a compact structure, and uses the first piezoelectric stack 5 and the second piezoelectric stack 3-3 to cooperate to drive the movement of the robotic arm 13. The space required for installing the first piezoelectric stack 5 and the second piezoelectric stack 3-3 and other structures is extremely small, but the operating range of the robotic arm 13 is extremely large, and the robotic arm 13 can achieve flexible positioning and posture adjustment in three-dimensional space, and can perform various actions according to task requirements, which can meet this usage requirement.

[0039] When the device of the present invention is used, a variety of vibration modes can be selected as needed.

[0040] Among them, the specific implementation of the single track-single slider cooperative vibration mode is included: As attached Fig.14 As shown, in the continuous actuation mode, the first piezoelectric stack 5 inputs a sinusoidal voltage signal. After receiving the signal, the first piezoelectric stack 5 generates continuous deformation according to the phase and amplitude of the signal, so that the guide rail 2 generates vibration. The second piezoelectric stack 3-3 inputs a sinusoidal voltage signal with a phase difference of 90° with the first piezoelectric stack 5, so that the vibration of the second piezoelectric stack 3-3 and the vibration of the first piezoelectric stack 5 are displaced in time, and the second piezoelectric stack 3-3 generates vibration perpendicular to the guide rail 2, thereby controlling the gripping or loosening of the slider mechanism 3. When the guide rail 2 and the slider mechanism 3 move simultaneously, the linear vibration of the guide rail 2 and the up and down vibration of the slider mechanism 3 are superimposed on each other to generate an elliptical motion trajectory, and due to the effect of friction, the slider mechanism 3 moves in one direction in the elliptical motion trajectory, thereby forming a unidirectional motion.

[0041] As attached Fig.15As shown, in the alternating stepping actuation mode, the first piezoelectric stack 5 receives the triangular wave signal to generate continuous vibration, driving the slider mechanism 3 to move on the guide rail 2. The second piezoelectric stack 3-3 receives the square wave signal to generate vibration, controlling the spiral plate 3-4 to vibrate up and down. When the spiral plate 3-4 is in downward vibration, the ceramic block 3-5 is in close contact with the ceramic strip 1 to increase the friction between the slider mechanism 3 and the ceramic strip 1. When the first piezoelectric stack 5 inputs the forward band of the triangular wave signal, the first piezoelectric stack 5 vibrates and pushes the slider mechanism 3 to move forward, and the second piezoelectric stack 3-3 remains stationary. The friction between the ceramic strip 1 and the slider mechanism 3 is relatively small, allowing the slider mechanism 3 to move smoothly. When the second piezoelectric stack 3-3 receives the square wave signal, the spiral plate 3-4 starts to vibrate up and down. When the spiral plate 3-4 moves downward, the ceramic block 3-5 is pressed against the ceramic strip 1, thereby increasing the friction between the slider mechanism 3 and the ceramic strip 1 and providing sufficient gripping force. When the first piezoelectric stack 5 is in the forward band of the triangular wave signal, the vibration of the first piezoelectric stack 5 causes the slider mechanism 3 to move forward, and the second piezoelectric stack 3-3 remains stationary. The friction between the ceramic strip 1 and the slider mechanism 3 is small, and the slider mechanism 3 can move smoothly. In the backward band of the triangular wave signal, the first piezoelectric stack 5 is still vibrating, and the second piezoelectric stack 3-3 starts to move downward, causing the spiral plate 3-4 to further press the ceramic strip 1, which makes the slider mechanism 3 unable to move backward. This design ensures that the displacement of the slider mechanism 3 can only be unidirectional, effectively enhancing the stability and accuracy of the movement.

[0042] As attached Fig.16 As shown, in the inertial actuation mode, the first piezoelectric stack 5 generates periodic vibrations when receiving the sawtooth wave signal, thereby driving the bridge displacement amplifier mechanism 4 to generate corresponding displacement changes. The contact end of the bridge displacement amplifier mechanism 4 and the guide rail 2 will switch between the two vibration modes of rapid extension and slow retraction, or slow extension and rapid retraction, depending on the signal timing. This vibration mode causes the guide rail 2 to move accordingly. The slider mechanism 3 is affected by inertia and friction, and generates unidirectional displacement. In one signal cycle, the slider mechanism 3 can move forward a larger distance, and only move a smaller distance when retreating. This feature ensures that the slider mechanism 3 can achieve stable and precise continuous forward motion in multiple consecutive cycles.

[0043] Specifically, as attached Figure 8 As shown, the single slider mechanism moves, the middle slider mechanism 3 and the third slider mechanism 3 are fixed on the guide rail 2, the first slider mechanism 3 moves on the guide rail 2, and the mechanical arm 13 connected to the first slider mechanism 3 controls the claw top 11 to move obliquely upward.

[0044] As attached Fig. 9As shown, the double slider mechanism moves, the first slider mechanism 3 and the middle slider mechanism 3 move in the same direction on the guide rail 2, the third slider mechanism 3 is fixed on the guide rail 2, and the claw top 11 moves obliquely downward.

[0045] As attached Fig.10 As shown, the first slider mechanism 3 and the middle slider mechanism 3 move toward each other on the guide rail 2, the third slider mechanism 3 is fixed on the guide rail 2, and the claw top 11 moves obliquely upward.

[0046] As attached Fig.11 As shown, the first slider mechanism 3 and the third slider mechanism 3 move in the same direction on the guide rail 2, the middle slider mechanism 3 is fixed on the guide rail 2, and the claw top 11 moves obliquely upward.

[0047] As attached Fig.12 As shown, the first slider mechanism 3 and the third slider mechanism 3 move toward each other on the guide rail 2, the middle slider mechanism 3 is fixed on the guide rail 2, and the claw top 11 moves obliquely upward.

[0048] As attached Fig.13 As shown, the three slider mechanisms move, and the first slider mechanism 3 , the middle slider mechanism 3 and the third slider mechanism 3 move simultaneously on the guide rail 2 .

[0049] It should be noted that the terms such as "upper", "lower", "left", "right", "front", "back", etc. cited in the invention are only for the convenience of description and are not used to limit the scope of implementation of the present invention. Changes or adjustments in their relative relationships should be regarded as the scope of implementation of the present invention without substantially changing the technical content.

[0050] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A robotic arm device for a space station, characterized in that: The invention comprises a guide rail (2), a plurality of slider mechanisms (3) and a first piezoelectric stack (5), wherein the first piezoelectric stack (5) is arranged at the end of the guide rail (2) and is used to drive the guide rail (2) to move back and forth along the axial direction of the guide rail (2), and the plurality of slider mechanisms (3) are respectively slidably arranged on the guide rail (2), and the slider mechanism (3) comprises a shell, a second piezoelectric stack (3-3) and a ceramic block (3-5), wherein the shell is slidably connected to the guide rail (2), and the second piezoelectric stack (3-3) is installed on one side of the guide rail (2) through the shell, and the second piezoelectric stack (3-3) is used to connect and drive the ceramic block (3-5) to press against the side wall of the guide rail (2) or to separate from the guide rail (2).

2. A space station mechanical arm device according to claim 1, characterized in that: The housing comprises a first slider (3-7), a second slider (3-8), a spiral plate (3-4), a top block (3-2) and a bracket (3-1); the first slider (3-7) is snap-fitted and slidably arranged at the lower end of the guide rail (2); the upper end of the first slider (3-7) is provided with an opening for exposing the upper end of the guide rail (2); the second slider (3-8) is connected to the first slider (3-7) and extends from both sides of the guide rail (2) to the top of the guide rail (2), and is jointly connected to both sides of the spiral plate (3-4); the spiral plate (3-4) is -4) is a spiral hollow structure that can move up and down, the spiral plate (3-4) is located above the upper open end of the first slider (3-7), the second piezoelectric stack (3-3) is installed at the central upper end of the spiral plate (3-4), the ceramic block (3-5) is correspondingly installed at the central lower end of the spiral plate (3-4), the bracket (3-1) is installed at the upper end of the spiral plate (3-4), and a top block (3-2) for pressing against the second piezoelectric stack (3-3) is provided on a side of the bracket (3-1) close to the second piezoelectric stack (3-3).

3. A space station mechanical arm device according to claim 2, characterized in that: The center of the spiral plate (3-4) is a centrally symmetrical double-spiral hollow structure.

4. A space station mechanical arm device according to claim 2, characterized in that: An elastic gasket (3-6) is provided at the connection between the second sliding block (3-8) and the spiral plate (3-4).

5. The mechanical arm device of a space station according to claim 2, characterized in that: A ceramic strip (1) is provided axially along the guide rail (2) on a side of the guide rail (2) for contacting the ceramic block (3-5), and the second piezoelectric stack (3-3) is used to drive the ceramic block (3-5) to press against the side wall of the ceramic strip (1) or to separate from the ceramic strip (1).

6. A space station mechanical arm device according to claim 5, characterized in that: The ceramic strip (1) may be an alumina ceramic strip.

7. The mechanical arm device of a space station according to claim 1, characterized in that: It also includes a bridge-type displacement amplification mechanism (4), wherein the first piezoelectric stack (5) is connected to the end of the guide rail (2) via the bridge-type displacement amplification mechanism (4), and the bridge-type displacement amplification mechanism (4) is used to amplify the vibration of the first piezoelectric stack (5) and convert it into vibration that drives the guide rail (2) to move back and forth along its axial direction.

8. The mechanical arm device of a space station according to claim 1, characterized in that: It also includes a plurality of mechanical arms (13), wherein the mechanical arms (13) include a secondary slide, a first connecting rod (6) and a second connecting rod (7), wherein the second connecting rod (7) is hinged to one end of the first connecting rod (6), and the other end of the first connecting rod (6) is movably mounted on the slider mechanism (3) via the secondary slide.

9. A space station mechanical arm device according to claim 8, characterized in that: It also comprises a claw top (11), and the ends of the second connecting rods (7) of the plurality of mechanical arms (13) which are away from the first connecting rod (6) are hinged together at the upper end of the claw top (11), and the claw top (11) is used for mounting an actuator.

10. A space station mechanical arm device according to claim 9, characterized in that: The mechanical arms (13) are provided with three, and the three mechanical arms (13) are respectively connected to one of the slider mechanisms (3) via a first-level slide (8), a second-level slide (9) and a third-level slide (10), and the second connecting rods (7) of the three mechanical arms (13) are jointly hinged to a claw top (11).

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