Space manipulator clamping tool for grabbing base

Abstract

The space manipulator clamping tool comprises a first shell and a base in the first shell, a trapezoidal lead screw is installed in the middle of the base, a nut is connected to the outer portion of the trapezoidal lead screw in a sleeving mode, and rotary motion of the trapezoidal lead screw is converted into linear motion of the nut; a second end cover is mounted in the first end cover; the interior of the second end cover is connected to a trapezoidal lead screw; a plurality of guide rods are mounted in the circumferential direction of the second end cover; a guide cap is mounted outside the second end cover; and a disc spring is mounted between the top cap and the second guide cover. The space mechanical arm clamping tool for grabbing the base can adapt to the extreme environment of micro-low gravity, high vacuum and severe temperature change in the space, enough clamping force can be generated through motor driving to grab equipment, and the stability and durability under various complex working conditions are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the field of clamping tools, and particularly relates to a space manipulator clamping tool for grasping a base. Background Art

[0002] With the increasing frequency of space activities, tasks such as satellite repair, upgrade, recovery, and the construction and maintenance of space stations are constantly increasing. In these complex space operations, it is necessary to grasp the equipment of spacecraft, such as the on-orbit assembly of electronic equipment on satellites. At the same time, the technology of space manipulators has been continuously advancing, and its accuracy, load capacity, and flexibility have been greatly improved. In order to give full play to the role of the manipulator in space, professional tools that match it are needed. Precise clamping tools can reduce the time of space operations and reduce the risk of astronauts being exposed to dangerous environments such as space radiation, thereby improving the safety and efficiency of the entire space operation. Summary of the Invention

[0003] In view of this, the present invention aims to provide a space manipulator clamping tool for grasping a base, so as to provide a clamping tool that can adapt to the extreme environments of microgravity, high vacuum, and drastic temperature changes in space, and ensure stability and durability under various complex working conditions.

[0004] To achieve the above object, the technical solution of the present invention is realized as follows: A space manipulator clamping tool for grasping a base includes a first housing and a base disposed inside it. A trapezoidal lead screw is installed in the middle of the base through a bearing. A swivel joint is installed at one end of the trapezoidal lead screw. A nut is sleeved outside the trapezoidal lead screw to convert the rotational motion of the trapezoidal lead screw into the linear motion of the nut. A number of connecting mechanisms are axially installed on the nut, and the connecting mechanisms are connected to the first housing. A second housing is fixedly installed on one side of the first housing. A first end cap is installed at the other end of the second housing. A second end cap is installed inside the first end cap. The other end of the trapezoidal lead screw is connected to the second end cap through a bearing for fixing the trapezoidal lead screw. A number of guide rods are circumferentially installed on the second end cap. The guide rods pass through the round holes on the nut to prevent the nut from rotating relatively. A guide cap is installed outside the second end cap. A top cap is installed inside the guide cap. A disc spring is installed between the top cap and the second guide cap. The outside of the guide cap is in contact with the inner circle of the base.

[0005] Further, the connecting rod mechanism includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, and a fifth connecting rod. Two ends of the first connecting rod are respectively rotatably connected to the first housing and one end of the fourth connecting rod. The other end of the fourth connecting rod is rotatably connected to the clamping block. The middle of the fourth connecting rod is hinged to the second connecting rod. The other end of the second connecting rod is rotatably connected to the nut. Two ends of the third connecting rod are respectively rotatably connected to the middle parts of the first connecting rod and the second connecting rod. One end of the fifth connecting rod is rotatably connected to the fourth connecting rod, and the other end is fixedly connected to the clamping block.

[0006] Further, the third connecting rod is rotatably connected to the first connecting rod.

[0007] Further, a first adjusting gasket is installed between the trapezoidal lead screw and the inner ring of the bearing, and a second adjusting gasket is installed between the outer ring of the bearing and the trapezoidal lead screw. The bearing is an angular contact ball bearing.

[0008] Further, one end of the adapter is fixedly connected to the trapezoidal lead screw through a screw, and the other end is connected to the drive shaft at the end of the space manipulator. When the drive shaft at the end of the space manipulator moves, the trapezoidal lead screw is driven to rotate through the adapter.

[0009] Compared with the prior art, the space manipulator clamping tool of the grasping base of the present invention has the following advantages: (1) The space manipulator clamping tool of the grasping base of the present invention can adapt to the extreme environments of microgravity, high vacuum, and drastic temperature changes in space. It can generate sufficient clamping force to grasp equipment through motor drive, and ensure stability and durability under various complex working conditions.

[0010] (2) The space manipulator clamping tool of the grasping base of the present invention is small and lightweight, which is convenient for the space manipulator to carry and operate.

[0011] (3) The space manipulator clamping tool of the grasping base of the present invention has a positioning function and a certain pre-tightening force, which can ensure that the tool and the base can firmly grasp each other without separation. Description of the Drawings

[0012] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings: Figure 1 is a schematic diagram of the space manipulator clamping tool of the grasping base according to an embodiment of the present invention; Figure 2 is a schematic diagram of the movement of the clamping block according to an embodiment of the present invention Figure 1 ; Figure 3 is a schematic diagram of the movement of the clamping block according to an embodiment of the present invention Figure 2 ; Figure 4 is a schematic diagram of the process of the space manipulator clamping tool of the grasping base according to an embodiment of the present invention clamping the base.

[0013] Description of the Reference Numerals: 1 - Base; 2 - Trapezoidal lead screw; 3 - First adjusting shim; 4 - Second adjusting shim; 5 - Adapter; 6 - Nut; 7 - First housing; 8 - Guide rod; 9 - First connecting rod; 10 - Second connecting rod; 11 - Third connecting rod; 12 - First axle pin; 13 - Second axle pin; 14 - Fourth connecting rod; 15 - Clamping block; 16 - Third axle pin; 17 - Fifth connecting rod; 18 - Fourth axle pin; 19 - Second housing; 20 - First end cap; 21 - Second end cap; 22 - Top cap; 23 - Guide cap; 24 - Base; 25 - Disc spring. Detailed implementation manner

[0014] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0015] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0016] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0017] The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0018] A spatial manipulator clamping tool for a grasping base, such as Figures 1 to 4As shown in the figure, it includes a first housing 7 and a base 1 arranged inside it. The base 1 is used to be fixed at the end of a space manipulator. A trapezoidal lead screw 2 is installed through a bearing in the middle. One end of the trapezoidal lead screw 2 is installed with a swivel joint. A nut 6 is sleeved outside the trapezoidal lead screw 2 to convert the rotational motion of the trapezoidal lead screw 2 into the linear motion of the nut 6. A number of connecting mechanisms are axially installed on the nut 6, and the connecting mechanisms are connected to the first housing 7. On one side of the first housing 7, a second housing 19 is fixedly installed. The other end of the second housing 19 is installed with a first end cover 20. Inside the first end cover 20, a second end cover 21 is installed. Inside the second end cover 21, it is connected to the other end of the trapezoidal lead screw 2 through a bearing to fix the trapezoidal lead screw 2. A number of guide rods 8 are circumferentially installed on the second end cover 21. The guide rods 8 pass through the round holes on the nut 6 to prevent the nut 6 from rotating relatively. Outside the second end cover 21, a guide cap 23 is installed. Inside the guide cap 23, a top cap 22 is installed. And a disc spring 25 is installed between the top cap 22 and the second guide cover 21. The disc spring 25 is used to provide a pre-tightening force. The outside of the guide cap 23 contacts the inner circle of the base 24.

[0019] This solution adopts vacuum lubrication and a reasonable mechanical mechanism to ensure that the clamping tool of the space manipulator can be applicable to the extreme environments of micro low gravity, high vacuum, and drastic temperature changes in space. The solution of driving the lead screw and the four-bar linkage by the motor on the manipulator can realize the clamping and release of the base, and a disc spring is placed in the mechanism to provide a pre-tightening force. Cooperating with the guide cap can quickly position to the inner circle of the base, and cooperating with the link on the clamp block can clamp the base, ensuring that the base will not be separated from the clamping tool of the space manipulator under other factors (such as vibration, impact, etc.) in the space environment.

[0020] The linkage mechanism includes a first link 9, a second link 10, a third link 11, a fourth link 14, and a fifth link 17. One end of the first link 9 is rotatably connected to the first housing 7 through a second pin 13, and the other end is rotatably connected to one end of the fourth link 14 through a first pin 12. The other end of the fourth link 14 is rotatably connected to the clamp block 15 through a fourth pin 18. The middle of the fourth link 14 is hinged to the second link 10. The other end of the second link 10 is rotatably connected to the nut 6. Both ends of the third link 11 are rotatably connected to the middle parts of the first link 9 and the second link 10 respectively. One end of the fifth link 17 is rotatably connected to the fourth link 14 through a third pin 16, and the other end is fixedly connected to the clamp block 15.

[0021] Preferably, the third link 11 is rotatably connected to the first link 9 through a second pin 13.

[0022] Preferably, a first adjusting gasket 3 is installed between the trapezoidal lead screw 2 and the inner ring of the bearing, and a second adjusting gasket 4 is installed between the outer ring of the bearing. The bearing is an angular contact ball bearing.

[0023] One end of the adapter 5 is fixedly connected to the trapezoidal lead screw 2 by screws, and the other end is connected to the drive shaft at the end of the space manipulator. When the drive shaft at the end of the space manipulator moves, the trapezoidal lead screw 2 is driven to rotate by the adapter 2.

[0024] The working principle of a space manipulator clamping tool for a grasping base is as follows: The rotation of the drive shaft at the end of the manipulator drives the trapezoidal lead screw 2 to rotate through the adapter 5. The rotation of the trapezoidal lead screw 2 is converted into a linear motion of the nut 6 through rotational motion. The nut 6 moves linearly along the first guide rod 8 and drives the second connecting rod 10 to move while moving. The second connecting rod 10 is connected to the fourth connecting rod 14 through the second pin 13. At this time, the nut 6, the first connecting rod 9, the second connecting rod 10, the third connecting rod 11, the third connecting rod 11, and the fourth connecting rod 14 form a four-bar linkage mechanism. The nut 6 serves as the driving source to expand the fourth connecting rod 14. The disc spring 25 is installed between the second end cap 21 and the top cap 22 to provide a pre-tightening force. At this time, the manipulator controls to place the guide cap 23 in the inner circle of the base 24 for preliminary positioning, reverses the drive shaft at the end of the manipulator, the trapezoidal lead screw 2 rotates in the reverse direction, drives the nut 6 to move, drives the fourth connecting rod 14 to retract. The clamping block 15 and the fifth connecting rod 17 installed on the fourth connecting rod 14 form a connecting rod mechanism. When the clamping block 15 contacts the outer circle of the base 24, the connecting rod mechanism moves, and with the pre-tightening force provided by the disc spring 25, the base 24 can be firmly grasped. In terms of safety, this solution controls the clamping tool through the manipulator, reducing the time and risk for astronauts to walk in space; in terms of work efficiency, it can quickly locate and clamp faulty equipment through manipulator control, helping to promptly eliminate equipment failures; in terms of equipment maintenance, it can grasp faulty equipment during the clamping process without causing additional damage to surrounding equipment and cables, which is beneficial to extending the service life of the spacecraft.

[0025] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A space robot arm clamping tool for grabbing a base, characterized in that: It includes a No. 1 shell and a base arranged inside it, a trapezoidal screw is installed in the middle of the base through a bearing, an adapter is installed at one end of the trapezoidal screw, and a nut is sleeved on the outside of the trapezoidal screw to convert the rotational motion of the trapezoidal screw into the linear motion of the nut; a number of connecting mechanisms are axially installed on the nut, and the connecting mechanisms are connected to the No. 1 shell; a No. 2 shell is fixedly installed on one side of the No. 1 shell, a No. 1 end cover is installed on the other end of the No. 2 shell, a No. 2 end cover is installed inside the No. 1 end cover, the inside of the No. 2 end cover is connected to the other end of the trapezoidal screw through a bearing for fixing the trapezoidal screw, a number of guide rods are circumferentially installed on the No. 2 end cover, the guide rods pass through the circular holes on the nut to prevent the nut from relative rotation; a guide cap is installed on the outside of the No. 2 end cover, a top cap is installed inside the guide cap, and a disc spring is installed between the top cap and the No. 2 guide cap, and the outside of the guide cap contacts the inner circle of the base.

2. A space robot arm clamping tool for grabbing a base according to claim 1, characterized in that: The connecting rod mechanism includes connecting rod No. 1, connecting rod No. 2, connecting rod No. 3, connecting rod No. 4 and connecting rod No.

5. The two ends of connecting rod No. 1 are respectively rotatably connected to the housing No. 1 and one end of connecting rod No. 4, the other end of connecting rod No. 4 is rotatably connected to the clamping block, the middle part of connecting rod No. 4 is hinged to connecting rod No. 2, the other end of connecting rod No. 2 is rotatably connected to the nut, the two ends of connecting rod No. 3 are respectively rotatably connected to the middle parts of connecting rod No. 1 and connecting rod No. 2, one end of connecting rod No. 5 is rotatably connected to connecting rod No. 4, and the other end is fixedly connected to the clamping block.

3. A space robot arm clamping tool for grabbing a base according to claim 2, characterized in that: The third connecting rod is rotatably connected to the first connecting rod.

4. A space robot arm clamping tool for grabbing a base according to claim 1, characterized in that: The trapezoidal lead screw and the inner ring of the bearing are installed with No. 1 adjusting gasket, and the outer ring is installed with No. 2 adjusting gasket. The bearing is an angular contact ball bearing.

5. The spatial robot arm clamping tool for grabbing a base according to claim 1, characterized in that: One end of the adapter is fixedly connected to the lead screw by a screw, and the other end is connected to the drive shaft at the end of the space robot arm. When the drive shaft at the end of the space robot arm moves, the lead screw is driven to rotate through the adapter.

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