Space manipulator cable shearing device

Abstract

The invention discloses a space manipulator cable shearing device which comprises a base, a protective cover, a transmission assembly, a movable cutter assembly and a fixed cutter assembly. The protective cover is installed on the base, and the base is installed on the mechanical arm. The fixed cutter assembly is arranged outside the protective cover; and the transmission assembly is arranged in the protection cover and connected with a motor of the mechanical arm, and the transmission assembly drives the movable cutter assembly and the fixed cutter assembly to be matched to cut the cable. The cable cutting tool has the beneficial effects that the tool can adapt to extreme environments with micro-low gravity, high vacuum and severe temperature change in the outer space, enough shearing force can be generated through motor driving to cut off a cable, and the stability and durability under various complex working conditions are guaranteed.

Description

Technical Field

[0001] The present invention belongs to the technical field of cutting tools, and particularly relates to a cable cutting device for a space manipulator. 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, various cables of spacecraft need to be processed, such as removing abandoned lines or cutting off faulty lines. At the same time, the technology of space manipulators has been continuously progressing, 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 required. An efficient cable cutting tool can reduce the time of space operations, reduce the generation of redundant objects, 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. In view of the above situation, a cable cutting tool for a space manipulator is proposed. This tool can adapt to the extreme environments of microgravity, high vacuum, and drastic temperature changes in space, and can generate sufficient shearing force to cut cables through motor drive, and ensure stability and durability under various complex working conditions. Summary of the Invention In view of this, the present invention aims to propose a cable cutting device for a space manipulator to solve at least one technical problem in the background art. This tool can adapt to the extreme environments of microgravity, high vacuum, and drastic temperature changes in space, can generate sufficient shearing force to cut cables through motor drive, 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 cable cutting device for a space manipulator includes a base, a protective cover, a transmission assembly, a movable knife assembly, and a fixed knife assembly; The protective cover is installed on the base, and the base is installed on the manipulator; The fixed knife assembly is arranged outside the protective cover; The transmission assembly is arranged inside the protective cover. The transmission assembly is connected to the motor of the manipulator, and the transmission assembly drives the movable knife assembly to cooperate with the fixed knife assembly to cut the cable.

[0005] Further, the transmission assembly includes a first connecting member, a trapezoidal screw rod, and a movable nut; The first connecting block is connected to the manipulator motor, the first connecting block is connected to the trapezoidal screw rod, and both ends of the trapezoidal screw rod are rotatably connected to the protective cover; The movable nut is threadedly connected to the trapezoidal screw rod; Both sides of the movable nut are provided with second connecting pieces, and a third connecting piece is provided on one of the second connecting pieces. The third connecting piece is rotatably connected to the connecting rod.

[0006] Furthermore, two guide rods are provided on the base, and the two guide rods are symmetrically arranged on both sides of the transmission assembly; One end of the guide rod is connected to the protective cover, and the other end is connected to the base. The second connecting piece is slidably arranged on the guide rod.

[0007] Furthermore, a movable knife assembly is rotatably arranged on the second connecting piece, and the movable knife assembly is rotatably connected to the fixed knife assembly; The movable knife assembly includes a connecting rod and a movable knife edge. One end of the connecting rod is rotatably connected to the second connecting piece, the other end of the connecting rod is rotatably connected to the movable knife edge, and the movable knife edge is rotatably connected to the fixed knife assembly.

[0008] Furthermore, the movable knife edge is L-shaped, an arc-shaped knife edge is provided at the horizontal end of the movable knife edge, and a first mounting hole and a second mounting hole are sequentially provided at the vertical end of the movable knife edge; The movable knife edge is connected to the connecting rod through the first mounting hole by a first pin shaft, and the movable knife edge is connected to the fixed knife assembly through the second mounting hole by a second pin shaft.

[0009] Furthermore, an opening is provided on one side of the protective cover close to the base, and a plurality of first mounting plates are provided on one side of the protective cover close to the base; third mounting holes are provided on the first mounting plates; The protective cover is threadedly connected to the base through the first mounting plates; A circular hole is provided on the side of the protective cover away from the base, and a first annular column capable of enabling the transmission assembly to rotate is provided at the circular hole.

[0010] A deep groove ball bearing is provided between the first annular column and the rotating assembly, and a pressing gasket is provided between the deep groove ball bearing and the first annular column.

[0011] Furthermore, a movable hole capable of enabling the movable knife assembly to move is provided on the protective cover.

[0012] Furthermore, a second annular column is provided in the middle of the base, a through hole through which the rotating assembly can pass is provided in the middle of the second annular column, and an angular contact ball bearing is provided between the second annular column and the rotating assembly. A first adjusting gasket is provided between the inner ring of the angular contact ball bearing and the rotating assembly; A second adjusting gasket is provided between the outer ring of the angular contact ball bearing and the second annular column.

[0013] Furthermore, the fixed knife assembly includes a fixed knife edge and a second mounting plate; A second mounting plate is provided on one side of the fixed knife edge, a fourth mounting hole is provided on the second mounting plate, and the fixed knife edge is threadedly connected to the protective cover through the second mounting plate.

[0014] Furthermore, a fifth mounting hole is provided on a side of the fixed blade close to the second mounting plate; The fixed blade is provided with a plurality of serrations, and the fixed blade cooperates with the movable knife assembly through the serrations to cut the cable and is used for positioning the cable.

[0015] Compared with the prior art, the space manipulator cable cutting device created by the present invention has the following advantages: 1. This application is reliable and can adapt to the extreme environments of low gravity, high vacuum, and drastic temperature fluctuations in space. The materials used in this structure, 9Cr18, 2A12T4, and TC4, are all included in the aerospace material catalog and can meet the requirements of low gravity, high vacuum, and other environments in space. Taking into account the expansion coefficient of the materials themselves, the gap between the kinematic pairs of the mechanism is controlled to adapt to temperature changes and ensure that the mechanism does not jam. The cable cutting tool is controlled by a robotic arm, reducing the time and risk of astronauts walking in space.

[0016] 2. The structure of the present application is compact and lightweight, making it easy to carry, transfer, and operate with a space robotic arm. The robotic arm can quickly cut faulty cables, helping to promptly troubleshoot equipment faults and improving work efficiency. 3. This application is universal and can adapt to cables of different diameters and specifications, and ensure sufficient driving force to cut the cables. In terms of equipment maintenance, no additional damage will be caused to surrounding equipment and cables during the cutting process, which is conducive to extending the service life of the spacecraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of the present invention, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings: Figure 1 A schematic diagram of a cable cutting device for a space manipulator according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the interior of a space manipulator cable cutting device according to an embodiment of the present invention; Figure 3 A schematic side planing diagram of a space manipulator cable cutting device according to an embodiment of the present invention; Figure 4 A schematic diagram of a fixed blade according to an embodiment of the present invention; Figure 5 A schematic diagram of the movable blade according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the blade opening according to an embodiment of the present invention; Figure 7Schematic diagram of the blade closing for the embodiments of the present invention.

[0018] Description of the reference numerals in the drawings: 1. Trapezoidal lead screw; 2. First adjusting gasket; 3. Second adjusting gasket; 4. First connecting member; 5. Pressing gasket; 6. Base; 7. Moving nut; 8. Second connecting member; 9. Guide rod; 10. Protective cover; 11. Fixed blade; 12. Moving blade; 13. Link rod; 14. First pin shaft; 15. Second pin shaft. Detailed implementation manners

[0019] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0020] 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 quantity 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 "a plurality" is two or more.

[0021] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected, or indirectly connected through an intermediate medium, and it may 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.

[0022] The present invention will be described in detail below with reference to the drawings and in combination with the embodiments.

[0023] As Figures 1 to 7As shown in the figure, a cable shearing device for a space manipulator includes a base 6, a protective cover 10, a transmission component, a movable knife component and a fixed knife component; the protective cover 10 is installed on the base 6, and the base 6 is installed on the manipulator; the fixed knife component is arranged outside the protective cover 10; the transmission component is arranged inside the protective cover 10, the transmission component is connected to the motor of the manipulator, and the transmission component drives the movable knife component to cooperate with the fixed knife component to cut the cable.

[0024] The transmission component includes a first connecting piece 4, a trapezoidal lead screw 1 and a movable nut 7; the first connecting block is connected to the manipulator motor, the first connecting block is connected to the trapezoidal lead screw 1, and both ends of the trapezoidal lead screw 1 are rotatably connected to the protective cover 10; the movable nut 7 is threadedly connected to the trapezoidal lead screw 1; second connecting pieces 8 are arranged on both sides of the movable nut 7, and a third connecting piece is arranged on one of the second connecting pieces 8, and the third connecting piece is rotatably connected to the connecting rod 13.

[0025] The opening angle of the movable blade is 43.4°, and the movement stroke of the trapezoidal lead screw is 26 mm.

[0026] Two guide rods 9 are arranged on the base 6, and the two guide rods 9 are symmetrically arranged on both sides of the transmission component; one end of the guide rod 9 is connected to the protective cover 10, and the other end is connected to the base 6, and the second connecting piece 8 is slidably arranged on the guide rod 9.

[0027] The movable knife component is rotatably arranged on the second connecting piece 8, and the movable knife component is rotatably connected to the fixed knife component; the movable knife component includes a connecting rod 13 and a movable blade 12, one end of the connecting rod 13 is rotatably connected to the second connecting piece 8, the other end of the connecting rod 13 is rotatably connected to the movable blade 12, and the movable blade 12 is rotatably connected to the fixed knife component.

[0028] The movable blade 12 is L-shaped, an arc-shaped blade is arranged at the horizontal end of the movable blade 12, and a first mounting hole and a second mounting hole are sequentially arranged at the vertical end of the movable blade 12; the movable blade 12 is connected to the connecting rod 13 through the first mounting hole by a first pin shaft 14, and the movable blade 12 is connected to the fixed knife component through the second mounting hole by a second pin shaft 15.

[0029] An opening is arranged on one side of the protective cover 10 close to the base 6, and several first mounting plates are arranged on one side of the protective cover 10 close to the base 6; third mounting holes are arranged on the first mounting plates; the protective cover 10 is threadedly connected to the base 6 through the first mounting plates; a circular hole is arranged on the side of the protective cover 10 away from the base 6, and a first annular column that can make the transmission component rotate is arranged at the circular hole.

[0030] The material of the protective cover is 2A12T4, and its function is to prevent micro-particles in space from entering the lead screw and prevent jamming.

[0031] A deep groove ball bearing is provided between the first annular column and the rotating assembly, and a pressing gasket 5 is provided between the deep groove ball bearing and the first annular column.

[0032] The protective cover 10 is provided with a movable hole that enables the movable knife assembly to move.

[0033] The middle of the base 6 is provided with a second annular column. The middle of the second annular column is provided with a through hole through which the rotating assembly can pass. A angular contact ball bearing is provided between the second annular column and the rotating assembly, and a first adjusting gasket 2 is provided between the inner ring of the angular contact ball bearing and the rotating assembly; A second adjusting gasket 3 is provided between the outer ring of the angular contact ball bearing and the second annular column.

[0034] The fixed knife assembly includes a fixed blade 11 and a second mounting plate; a second mounting plate is provided on one side of the fixed blade 11, and a fourth mounting hole is provided on the second mounting plate. The fixed blade 11 is threadedly connected to the protective cover 10 through the second mounting plate.

[0035] A fifth mounting hole is provided on the side of the fixed blade 11 close to the second mounting plate; several sawteeth are provided on the fixed blade 11.

[0036] The outer envelope of the movable blade 12 is 51.6×78.4×5.

[0037] The outer envelope of the fixed blade 11 is 54.8×99.5×13.

[0038] In this application, the sawteeth on the fixed blade can fix the cable. The cable is a C55 cable with a diameter of 1-5 mm.

[0039] When the motor at the end of the robotic arm rotates, it drives the trapezoidal lead screw 1 through the first connecting piece 4. The trapezoidal lead screw 1 converts the rotational motion into the linear motion of the movable nut 7. The second connecting piece 8 is connected to the movable nut 7. The second connecting piece 8 moves along the axis of the trapezoidal lead screw 1, drives the connecting rod 13 to move forward through the first pin shaft 14. The connecting rod 13 is connected to the movable blade 12 through the first pin shaft 14. While the connecting rod 13 moves forward, it drives the movable blade 12 to rotate around the second pin shaft 15. The movable blade 12 is installed on the fixed blade 11 through the second pin shaft 15. At this time, the blade opening is opened; when the robotic arm moves to the position of the cable to be cut, the through hole controls the contact between the fixed blade 11 and the cable. The motor is driven in reverse. At this time, the trapezoidal lead screw 1 rotates in reverse, drives the movable nut 7 and the second connecting piece 8 to move backward, and further drives the connecting rod 13 to drive the movable blade 12 to rotate around the second pin shaft 15. At this time, the blade opening is closed to cut the cable. 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 principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. A cable shearing device for a space manipulator, characterized in that: It includes a base, a protective cover, a transmission component, a movable knife component and a fixed knife component; The protective cover is installed on the base, and the base is installed on the robotic arm; The fixed knife component is arranged outside the protective cover; The transmission component is arranged inside the protective cover. The transmission component is connected to the motor of the robotic arm, and the transmission component drives the movable knife component to cooperate with the fixed knife component to cut the cable.

2. The cable shearing device for a space manipulator according to claim 1, characterized in that: The transmission component includes a first connecting piece, a trapezoidal lead screw and a movable nut; The first connecting block is connected to the motor of the robotic arm. The first connecting block is connected to the trapezoidal lead screw, and both ends of the trapezoidal lead screw are rotatably connected to the protective cover; The movable nut is threadedly connected to the trapezoidal lead screw; Second connecting pieces are arranged on both sides of the movable nut. A third connecting piece is arranged on one of the second connecting pieces, and the third connecting piece is rotatably connected to the connecting rod.

3. The cable shearing device for a space manipulator according to claim 1, characterized in that: Two guide rods are arranged on the base, and the two guide rods are symmetrically arranged on both sides of the transmission component; One end of the guide rod is connected to the protective cover, and the other end is connected to the base. The second connecting piece is slidably arranged on the guide rod.

4. The cable shearing device for a space manipulator according to claim 1, wherein: The movable knife component is rotatably arranged on the second connecting piece, and the movable knife component is rotatably connected to the fixed knife component; The movable knife component includes a connecting rod and a movable knife blade. One end of the connecting rod is rotatably connected to the second connecting piece, the other end of the connecting rod is rotatably connected to the movable knife blade, and the movable knife blade is rotatably connected to the fixed knife component.

5. The cable shearing device for a space manipulator according to claim 1, characterized in that: The movable knife blade is L-shaped. An arc-shaped knife edge is arranged at the horizontal end of the movable knife blade, and a first mounting hole and a second mounting hole are sequentially arranged at the vertical end of the movable knife blade; The movable knife blade is connected to the connecting rod through the first mounting hole by a first pin shaft, and the movable knife blade is connected to the fixed knife component through the second mounting hole by a second pin shaft.

6. The cable shearing device of a space manipulator according to claim 1, characterized in that: An opening is arranged on one side of the protective cover close to the base. Several first mounting plates are arranged on one side of the protective cover close to the base; Third mounting holes are arranged on the first mounting plates; The protective cover is threadedly connected to the base through the first mounting plates; A circular hole is arranged on one side of the protective cover far from the base. A first annular column that can make the transmission component rotate is arranged at the circular hole; A deep groove ball bearing is arranged between the first annular column and the rotating component, and a pressing gasket is arranged between the deep groove ball bearing and the first annular column.

7. A cable shearing device for a space manipulator according to claim 5, characterized in that: An activity hole that can make the movable knife component move is arranged on the protective cover.

8. The cable shearing device for a space manipulator according to claim 1, characterized in that: A second annular column is arranged in the middle of the base. A through hole through which the rotating component can pass is arranged in the middle of the second annular column. A angular contact ball bearing is arranged between the second annular column and the rotating component, and a first adjusting gasket is arranged between the inner ring of the angular contact ball bearing and the rotating component; A second adjusting gasket is arranged between the outer ring of the angular contact ball bearing and the second annular column.

9. The cable shearing device for a space manipulator according to claim 1, wherein: The fixed knife component includes a fixed knife blade and a second mounting plate; A second mounting plate is arranged on one side of the fixed knife blade. Fourth mounting holes are arranged on the second mounting plate, and the fixed knife blade is threadedly connected to the protective cover through the second mounting plate.

10. The cable shearing device for a space manipulator according to claim 1, characterized in that: A fifth mounting hole is arranged on one side of the fixed knife blade close to the second mounting plate; Several sawteeth are arranged on the fixed knife blade.

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