A multi-degree-of-freedom robotic arm for satellite testing

Abstract

This utility model relates to the field of robotic arm technology and discloses a multi-degree-of-freedom robotic arm for satellite testing. It includes a base, a support frame on top of the base, a third motor for rotating the support frame fixed on one side of the base, and a first motor, a second motor, and a fifth motor fixed on one side of the support frame. A ninth connecting arm is fixed to the output shaft of the first motor, a first connecting arm is fixed to the output shaft of the second motor, and a fifth connecting arm is fixed to the output shaft of the fifth motor. A moving component for multi-station satellite testing is located at the bottom of the base. Through the combination of multiple motors and connecting arms, the mounting plate drives the satellite to move in six degrees of freedom in three-dimensional space, enabling the robotic arm to perform precise spatial positioning and attitude adjustment in complex environments. The fifth connecting arm simultaneously hinges to the fourth and sixth connecting arms, allowing the robotic arm to achieve complex composite movements and increasing its convenience.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically a multi-degree-of-freedom robotic arm for satellite testing. Background Technology

[0002] A robotic arm is a complex system characterized by high precision, multiple inputs and multiple outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in fields such as industrial assembly and safety and explosion protection.

[0003] Precise spatial positioning and attitude adjustment are crucial during satellite testing. However, traditional testing devices often only achieve limited degrees of freedom, making it difficult to meet the demands of complex testing environments. Especially when multi-dimensional, complex movements of the satellite are required, traditional manual operation methods are insufficient for modern satellite testing needs. Therefore, a multi-degree-of-freedom robotic arm for satellite testing is proposed. Utility Model Content

[0004] The purpose of this invention is to provide a multi-degree-of-freedom robotic arm for satellite testing, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a multi-degree-of-freedom robotic arm for satellite testing, including a base, a support frame on the top of the base, a third motor for rotating the support frame fixed on one side of the base, and a first motor, a second motor and a fifth motor respectively fixed on one side of the support frame;

[0006] A ninth connecting arm is fixed to the output shaft end of the first motor, a first connecting arm is fixed to the output shaft end of the second motor, and a fifth connecting arm is fixed to the output shaft end of the fifth motor.

[0007] The base is equipped with a movable component at its bottom to meet the multi-station requirements of satellite testing;

[0008] The ninth connecting arm is hinged to a third connecting arm on one side, the third connecting arm is hinged to a fourth connecting arm on one side, the fourth connecting arm is hinged to a seventh connecting arm on one side, the seventh connecting arm is hinged to an eighth connecting arm on one side, and a mounting plate is provided on one side of the eighth connecting arm.

[0009] Preferably, the first connecting arm is hinged to one side of the second connecting arm, and the second connecting arm is hinged to one side of the sixth connecting arm.

[0010] Preferably, one end of the fifth connecting arm is hinged to one side of the fourth and sixth connecting arms, and one side of the sixth and seventh connecting arms is hinged to one side of the eighth connecting arm.

[0011] Preferably, the eighth connecting arm is fixed with a fourth motor on one side, the output shaft of the fourth motor is fixed to one side of the mounting plate, and the output shaft of the third motor is fixed to the bottom center of the support frame.

[0012] Preferably, the moving component includes a housing, the bottom of which has two sliding grooves, and an electric cylinder is fixed to the top of the inner wall of the housing.

[0013] Preferably, the electric cylinder push rod end is fixed with a horizontal plate, and the bottom of the horizontal plate is fixed with two sets of universal wheels, which are located on the top side of the slide groove.

[0014] Preferably, the inner wall of the box is fixed with a sliding rod that moves through one side of the horizontal plate, the top of the horizontal plate is connected to a counterweight, and the top of the box is bolted to one side of the base.

[0015] Compared with the prior art, the present invention, by adopting the above technical solution, has the following technical effects:

[0016] By combining multiple motors and connecting arms, the mounting plate enables the satellite to move in six degrees of freedom in three-dimensional space, allowing the robotic arm to perform precise spatial positioning and attitude adjustment in complex environments. The fifth connecting arm simultaneously hinges to the fourth and sixth connecting arms, enabling the robotic arm to achieve complex compound movements and increasing its convenience.

[0017] By controlling the extension of the push rod end of the electric cylinder, the position of the housing can be easily adjusted, enabling the robotic arm to test satellites at different workstations. This improves the convenience of the robotic arm and makes the testing work more adaptable to different testing needs and scenarios. Operators only need to operate the electric cylinder to move the housing without complicated mechanical operations or additional handling equipment. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a first-view structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the second-view structure of the present invention;

[0021] Figure 3This is a schematic diagram of the third-view structure of this utility model;

[0022] Figure 4 This is a schematic diagram of the fourth-view structure of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the moving component of this utility model;

[0024] Figure 6 This is a schematic diagram of the structure of the housing of this utility model;

[0025] Figure 7 This is a schematic diagram of the main cross-sectional structure of the box body of this utility model.

[0026] Explanation of reference numerals in the attached drawings: 1. Base; 2. Moving component; 21. Housing; 22. Slide groove; 23. Slide rod; 24. Caster wheel; 25. Counterweight; 26. Electric cylinder; 27. Horizontal plate; 3. Support frame; 4. First connecting arm; 5. Second connecting arm; 6. Third connecting arm; 7. Fourth connecting arm; 8. Fifth connecting arm; 9. Sixth connecting arm; 10. Seventh connecting arm; 11. Eighth connecting arm; 12. Mounting plate; 13. Ninth connecting arm; 14. First motor; 15. Second motor; 16. Third motor; 17. Fourth motor; 18. Fifth motor. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] It should be noted that the structures, proportions, sizes, etc., shown in the accompanying drawings of this specification are only for the purpose of assisting those skilled in the art in understanding and reading the content disclosed in the specification, and are not intended to limit the conditions under which this application can be implemented. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in the proportions, or adjustments to the size should still fall within the scope of the technical content disclosed in this application, provided that they do not affect the effects and purposes that this application can produce. Example 1

[0029] Please see Figure 1-4This utility model provides a technical solution: a multi-degree-of-freedom robotic arm for satellite testing, including a base 1 made of high-strength aluminum alloy. A support frame 3 is provided on the top of the base 1. A third motor 16 for rotating the support frame 3 is fixed to one side of the base 1. A first motor 14, a second motor 15, and a fifth motor 18 are respectively fixed to one side of the support frame 3. A ninth connecting arm 13 is fixed to the output shaft end of the first motor 14, a first connecting arm 4 is fixed to the output shaft end of the second motor 15, and a fifth connecting arm 8 is fixed to the output shaft end of the fifth motor 18. The first motor 14, second motor 15, third motor 16, fourth motor 17, and fifth motor 18 are servo motors.

[0030] The ninth connecting arm 13 is hinged to the third connecting arm 6 on one side, the third connecting arm 6 is hinged to the fourth connecting arm 7 on one side, the fourth connecting arm 7 is hinged to the seventh connecting arm 10 on one side, the seventh connecting arm 10 is hinged to the eighth connecting arm 11 on one side, the eighth connecting arm 11 is provided with a mounting plate 12, and an end effector is installed on one side of the mounting plate 12. The end effector is used for grasping and placing satellites, etc.

[0031] The first connecting arm 4 is hinged to one side of the second connecting arm 5, the second connecting arm 5 is hinged to one side of the sixth connecting arm 9, one end of the fifth connecting arm 8 is hinged to one side of the fourth connecting arm 7 and the sixth connecting arm 9 respectively, one side of the sixth connecting arm 9 and the seventh connecting arm 10 is hinged to one side of the eighth connecting arm 11 respectively, the eighth connecting arm 11 is fixed to one side of the fourth motor 17, the output shaft end of the fourth motor 17 is fixed to one side of the mounting plate 12, and the output shaft end of the third motor 16 is fixed to the bottom center of the support frame 3.

[0032] Working principle: The third motor 16 drives the support frame 3 to rotate around the center of the base 1, providing 360° continuous rotational freedom in the horizontal plane. The first motor 14 drives the ninth connecting arm 13, the second motor 15 drives the first connecting arm 4, and the fifth motor 18 drives the fifth connecting arm 8 to form a three-level drive node. The motion is transmitted to the subsequent joints through the hinge structure. The fifth connecting arm 8 is simultaneously hinged to the fourth connecting arm 7 and the sixth connecting arm 9 to realize the compound motion of the end mounting plate 12. The eighth connecting arm 11 integrates the fourth motor 17 to directly drive the mounting plate 12, providing the end effector with independent rotational freedom.

[0033] The support frame 3 rotates, the first connecting arm 4 and the ninth connecting arm 13 control the end position, the latter three degrees of freedom are linked by the fourth connecting arm 7, the fifth connecting arm 8, the sixth connecting arm 9 and the seventh connecting arm 10, and the eighth connecting arm 11 adjusts the attitude to meet the six-degree-of-freedom spatial positioning requirements. The combination of multiple joints and connecting arms realizes the movement of multiple degrees of freedom of the satellite on one side of the mounting plate 12. Example 2

[0034] Please see Figure 5-7The difference between this embodiment and embodiment one is that: the bottom of the base 1 is provided with a moving component 2 for the multi-station requirements of satellite testing; the moving component 2 includes a housing 21, the bottom of the housing 21 has two sliding grooves 22, the top of the inner wall of the housing 21 is fixed with an electric cylinder 26, the power supply of the electric cylinder 26 is provided by an external municipal power supply, the push rod end of the electric cylinder 26 is fixed with a horizontal plate 27, the bottom of the horizontal plate 27 is fixed with two sets of universal wheels 24, the universal wheels 24 are located on the top side of the sliding grooves 22, the inner wall of the housing 21 is fixed with a sliding rod 23 that moves through one side of the horizontal plate 27, the top of the horizontal plate 27 is connected with a counterweight 25, the counterweight 25 is used to balance the center of gravity of the robotic arm and prevent it from tipping over during movement, and the top of the housing 21 is bolted to one side of the base 1.

[0035] Working principle: When it is necessary to test satellites in different positions, simply control the push rod end of the electric cylinder 26 to extend, and the push rod end pushes the horizontal plate 27 to move downward, so that the horizontal plate 27 moves downward along the slide rod 23. The universal wheel 24 passes through the slide groove 22, so that the bottom of the universal wheel 24 contacts the ground. At this time, the staff pushes the box 21 to move to different positions, so that the robotic arm is in different work positions, and the satellite can be tested in different work positions.

[0036] Then, the push rod end of the electric cylinder 26 is retracted, so that the caster wheel 24 is located inside the housing 21. At this time, the bottom of the housing 21 contacts the ground, and the stability of the robotic arm is increased under the action of the counterweight 25. The counterweight can be made of metal.

[0037] In summary, by combining multiple motors and connecting arms, the mounting plate 12 enables the satellite to move in six degrees of freedom in three-dimensional space, allowing the robotic arm to perform precise spatial positioning and attitude adjustment in complex environments. The fifth connecting arm 8 simultaneously hinges the fourth connecting arm 7 and the sixth connecting arm 9, enabling the robotic arm to achieve complex compound movements and increasing its convenience.

[0038] By controlling the extension of the push rod end of the electric cylinder 26, the position of the housing 21 can be easily adjusted, enabling the robotic arm to test satellites at different workstations. This improves the convenience of the robotic arm and makes the testing work more adaptable to different testing needs and scenarios. Operators only need to operate the electric cylinder 26 to move the housing 21 without complicated mechanical operations or additional handling equipment.

[0039] Those skilled in the art will understand that the features described in the various embodiments and / or claims of this utility model can be combined or combined in various ways, even if such combinations or combinations are not explicitly described in this utility model. In particular, the features described in the various embodiments and / or claims of this utility model can be combined or combined in various ways without departing from the spirit and teachings of this utility model. All such combinations and / or combinations fall within the scope of this utility model.

Claims

1. A multi-degree of freedom robotic arm for satellite testing, comprising a base (1), characterized in that: The base (1) is provided with a support frame (3) on the top. A third motor (16) for rotating the support frame (3) is fixed on one side of the base (1). A first motor (14), a second motor (15) and a fifth motor (18) are fixed on one side of the support frame (3). The first motor (14) has a ninth connecting arm (13) fixed to its output shaft end, the second motor (15) has a first connecting arm (4) fixed to its output shaft end, and the fifth motor (18) has a fifth connecting arm (8) fixed to its output shaft end. The base (1) has a movable component (2) at its bottom for satellite testing multi-station requirements; The ninth connecting arm (13) is hinged to a third connecting arm (6) on one side, the third connecting arm (6) is hinged to a fourth connecting arm (7) on one side, the fourth connecting arm (7) is hinged to a seventh connecting arm (10) on one side, the seventh connecting arm (10) is hinged to an eighth connecting arm (11) on one side, and a mounting plate (12) is provided on one side of the eighth connecting arm (11).

2. The multi-degree-of-freedom robotic arm for testing satellites according to claim 1, characterized in that: A second connecting arm (5) is hinged to one side of the first connecting arm (4), and a sixth connecting arm (9) is hinged to one side of the second connecting arm (5).

3. The multi-degree-of-freedom robotic arm for testing satellites according to claim 2, characterized in that: One end of the fifth connecting arm (8) is hinged to one side of the fourth connecting arm (7) and the sixth connecting arm (9), and one side of the sixth connecting arm (9) and the seventh connecting arm (10) is hinged to one side of the eighth connecting arm (11).

4. The multi-degree-of-freedom robotic arm for testing satellites according to claim 3, characterized in that: The fourth motor (17) is fixed on one side of the eighth connecting arm (11). The output shaft end of the fourth motor (17) is fixed on one side of the mounting plate (12), and the output shaft end of the third motor (16) is fixed at the bottom center of the support frame (3).

5. The multi-degree-of-freedom robotic arm for testing satellites of claim 1, wherein: The moving component (2) includes a housing (21), the bottom of which has two sliding grooves (22), and an electric cylinder (26) is fixed to the top of the inner wall of the housing (21).

6. The multi-degree-of-freedom robotic arm for testing satellites of claim 5, wherein: The push rod end of the electric cylinder (26) is fixed with a horizontal plate (27), and the bottom of the horizontal plate (27) is fixed with two sets of universal wheels (24), which are located on the top side of the slide groove (22).

7. The multi-degree-of-freedom robotic arm for testing satellites of claim 6, wherein: The inner wall of the box (21) is fixed with a sliding rod (23) that moves through one side of the horizontal plate (27). The top of the horizontal plate (27) is connected to a counterweight (25). The top of the box (21) is connected to one side of the base (1) by bolts.

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