Novel three-branch relative robot assembled towards discrete module structureTechnical Field
The invention relates to the technical field of robots, in particular to a novel three-branch relative robot assembled in a discrete module structure.
Background
Compared with the traditional robot, the working base point of the relative robot can move, is not fixed, has the advantages of high flexibility, large working range and the like, can expand a large enough working space in the range of a working platform, and has important application value in the fields of large-scale space structure construction, on-orbit equipment detection and maintenance and the like. The relative robot facing the discrete module structure can be attached to the discrete module structure to carry out moving and assembling operations and is connected with the discrete module through a standardized interface. Because the robots are rigidly connected to the assembly body in the whole assembly process, the method has the advantages of high reliability, strong expansibility and simplicity in operation, and is the on-orbit assembly solution with the highest potential at present.
In the prior art, the relative robots facing the discrete module structure are double branches, and although the structure and the control are simple, the number of driving motors is small, the redundancy of the corresponding robots can be reduced, the functions are relatively small, and a plurality of double-branch robots are needed to cooperate when complex tasks are completed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a novel three-branch relative robot assembled in a discrete module structure, wherein three branches with the same structure are provided, so that on one hand, the function of redundancy backup can be realized, and the working content of each branch can be replaced by any other branch.
In order to solve the problems, the invention adopts the following technical scheme:
A novel three-branch relative robot assembled in a discrete module structure comprises a control device, a trunk and three branch mechanisms. The three branches are symmetrically distributed around the trunk in a rotating mode by taking the central axis of the trunk as a center, wherein the branches are provided with arms and end tools, a first electric joint is arranged between the arms and the trunk and is used for driving the arms to swing around a first swinging axis and parallel to the central axis of the trunk, a second electric joint is arranged between the arms and the end tools and is used for driving the end tools to swing around a second swinging axis and parallel to the first swinging axis, and an electric rotating mechanism is arranged on the end tools and is used for driving the end tools to rotate around a rotating axis which is perpendicular to the second swinging axis.
In the novel three-branch relative robot assembled in the discrete module structure, the end tool comprises a retainer, a first steering engine and a driven gear.
The retainer is provided with a connecting screw hole, the electric rotating mechanism is fixedly arranged on the retainer, and the electric rotating mechanism has good stability when working.
The first steering engine is provided with a driving gear, and the first steering engine is fixedly arranged in the retainer.
The driven gear has the connecting screw rod, the connecting screw rod is used for being connected with discrete module, the connecting screw rod is twisted in the connecting screw hole, driven gear and connecting screw rod set up as an organic wholely, and driven gear and connecting screw rod have good wholeness, and stability is good.
The driven gear is meshed with the driving gear, the connecting screw rod is linked with the first steering engine through the driving gear and the driven gear, a protruding cylinder which is used for being in butt joint with the discrete module structure is arranged at the bottom of the retainer, more than one protruding cylinder is arranged, and the protruding cylinders are distributed around the connecting screw rod.
In the novel three-branch relative robot assembled towards the discrete module structure, which is provided by at least one embodiment of the disclosure, a first connecting frame and a second connecting frame are respectively arranged on the first electric joint and the second electric joint, the first connecting frame is fixedly connected with the trunk, the second connecting frame is fixedly connected with the output end of the electric rotating mechanism, and the output ends of the first electric joint and the second electric joint are fixedly connected with the arm.
In the novel three-branch relative robot assembled in the discrete module structure, the end tool further comprises a second steering engine and a hexagonal shaft. A second steering engine is used to drive the hexagonal shaft for internal gearing with the discrete modules, the hexagonal shaft configured to rotatably pass through one of the protruding cylinders.
In the novel three-branch relative robot assembled towards the discrete module structure, which is provided by at least one embodiment of the disclosure, a limiting piece is arranged in the retainer, and is positioned right above the driven gear, and the driven gear can be limited by being configured with the limiting piece, so that the situation that the connecting screw is completely separated from the connecting screw hole due to misoperation can be avoided.
In the novel three-branch relative robot assembled towards the discrete module structure, which is provided by at least one embodiment of the disclosure, a transmission sleeve is fixedly arranged on an output shaft of the second steering engine, the transmission sleeve is provided with a guide hole matched with the hexagonal shaft, a spring body is arranged in the guide hole, the hexagonal shaft is inserted into the guide hole, and the hexagonal shaft is matched with the action of a protruding cylinder, so that locking connection of an end tool and the discrete module can be realized.
And the inside spring body that has of transmission sleeve makes hexagonal axle can stretch out and draw back from top to bottom, if not butt joint to discrete module corresponding hole site, hexagonal axle collapsible back is inside the sleeve, avoids the butt joint to discrete module to produce the interference. Meanwhile, the second steering engine can rotate the transmission sleeve, and the transmission sleeve drives the hexagonal shaft to rotate.
In the novel three-branch relative robot assembled in the discrete module structure, a rotary supporting mechanism is arranged between the second connecting frame and the electric rotating mechanism, and the rotary supporting mechanism is fixedly connected with the retainer. The stress stability between the second connecting frame and the electric rotating mechanism can be improved through the arrangement of the rotating supporting mechanism.
In the novel three-branch relative robot assembled in the discrete module structure, which is provided by at least one embodiment of the present disclosure, the cage comprises a top plate, a middle plate and a bottom plate.
The electric rotating mechanism, the first steering engine and the second steering engine are all positioned between the top plate and the middle plate, the first steering engine and the second steering engine are all fixedly connected with the middle plate, and the electric rotating mechanism is fixedly connected with the top plate.
In the novel three-branch relative robot assembled towards the discrete module structure, which is provided by at least one embodiment of the disclosure, the top surface of the middle plate is provided with the positioning groove, one surface of the electric rotating mechanism is inserted into the positioning groove, and the stability of the electric rotating mechanism can be effectively improved by configuring the positioning groove matched with the electric rotating mechanism on the middle plate.
In the novel three-branch relative robot assembled in the discrete module structure, which is provided by at least one embodiment of the disclosure, the limiting piece is fixedly connected with the middle plate, so that the limiting piece has good stability and is not easy to fall off.
In the novel three-branch relative robot assembled in the discrete module structure, which is provided by at least one embodiment of the disclosure, the driven gear, the driving gear and the transmission sleeve are all positioned between the middle plate and the bottom plate, the retainer adopts a layered design, and different parts are assembled into different layers respectively, so that the maintenance and the repair are facilitated.
The invention has the advantages that the branches with three same structures can play a role in redundant backup, the working content of each branch can be replaced by any other branch, for example, one branch fails, the whole part of the functions of the robot can be completed by the other two branches, on the other hand, the functions of simultaneous working and moving can be played, any two branches can be used for moving, the other branch can be used for working, and the functions of carrying materials by the robot even assembling in moving can be realized. Furthermore, the three branches have more flexibility than the two branches. For example, there may be both peristaltic and scrolling gestures while moving.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of the overall structure of a novel three-branch relative robot assembled in a discrete module structure.
FIG. 2 is a perspective view of a branch office in accordance with at least one embodiment of the present disclosure.
Fig. 3 is a perspective view of an end tool in accordance with at least one embodiment of the present disclosure.
Fig. 4 is a view of an end tool in accordance with at least one embodiment of the present disclosure.
Fig. 5 is a schematic distribution diagram of a first support column and a second support column according to at least one embodiment of the present disclosure.
Fig. 6 is a schematic distribution diagram of connecting screw holes in at least one embodiment of the present disclosure.
Fig. 7 is a cross-sectional view of a hexagonal shaft assembled to a drive sleeve in at least one embodiment of the present disclosure.
In the figure:
10. a torso;
20. Branch mechanism, 21, arm, 22, end tool, 24, first steering engine, 25, driven gear, 26, second steering engine, 27, hexagonal shaft, 28, limit piece, 231, connecting screw hole, 241, driving gear, 251, connecting screw, 232, protruding cylinder, 262, guiding hole, 263, spring body, 233, top plate, 234, middle plate, 235, bottom plate, 236, first support column, 237, second support column, 238, and positioning groove;
30. the first electric joint, 31, the first connecting frame, 32, the second connecting frame;
40. a second electric joint;
50. An electric rotating mechanism;
60. A rotary supporting mechanism, 61, a locating sleeve, 62 and a bearing.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only some embodiments, not all embodiments.
In the embodiments, it should be understood that the directions or positional relationships indicated by the terms "middle", "upper", "lower", "top", "right side", "left end", "above", "back", "middle", etc. are based on the directions or positional relationships shown in the drawings are merely for convenience of description, and do not indicate or imply that the apparatus or elements referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention.
In addition, in the description of the present invention, unless explicitly stated or limited otherwise, terms such as mounting, connecting, and coupling should be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediate medium, or communicating between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In order to solve the problem of fewer functions of the double-branch robot, the scheme of the invention is that a central main body and another branch are arranged between joints connected by the double branches, the appearance and the functions of each branch are the same, and independent control is carried out, so that the novel three-branch relative robot for on-orbit assembly of a discrete module structure is designed.
Examples
As shown in fig. 1 to 7, a novel three-branch relative robot assembled to a discrete module structure includes a control device (not shown), a trunk 10 and three branches 20.
The three branches 20 are symmetrically distributed around the trunk 10 in a rotating mode by taking the central axis of the trunk 10 as a center, wherein the branches 20 are provided with arms 21 and end tools 22, a first electric joint 30 is arranged between each arm 21 and the trunk 10 and is configured to drive each arm 21 to swing around a first swing axis, the first swing axis is parallel to the central axis of the trunk 10, a second electric joint 40 is arranged between each arm 21 and each end tool 22 and is configured to drive each end tool 22 to swing around a second swing axis, the second swing axis is parallel to the first swing axis, an electric rotating mechanism 50 is arranged on each end tool 22 and is configured to drive each end tool 22 to rotate around a rotation axis, the rotation axis is perpendicular to the second swing axis, and each electric joint 30, each electric joint 40 and each electric rotating mechanism 50 are electrically connected with a control device.
In this embodiment, the end tool 22 includes a holder, a first steering engine 24, and a driven gear 25. The holder has a connection screw hole 231, and the electric rotating mechanism 50 is fixedly arranged on the holder, and the electric rotating mechanism 50 has good stability when working. The output shaft of the first steering engine 24 is provided with a driving gear 241, and the first steering engine 24 is fixedly arranged in the retainer. The middle part of driven gear 25 has connecting screw 251, and connecting screw 251 is used for being connected with discrete module, and connecting screw 251 screw into in the connecting screw 231, and driven gear 25 and connecting screw 251 set up as an organic whole, and driven gear 25 and connecting screw 251 have good wholeness, and stability is good. Wherein, driven gear 25 meshes with driving gear 241, and connecting screw 251 passes through driving gear 241 and driven gear 25 linkage with first steering wheel 24, and the holder bottom is provided with the protruding cylinder 232 that is used for with the butt joint of discrete modular structure, and protruding cylinder 232 sets up four, and four protruding cylinders 232 distribute around connecting screw 251.
In this embodiment, the first electric joint 30 and the second electric joint 40 are respectively provided with a first connecting frame 31 and a second connecting frame 32, the first connecting frame 31 is fixedly connected with the trunk 10, the second connecting frame 32 is fixedly connected with the output end of the electric rotating mechanism 50, the output ends of the first electric joint 30 and the second electric joint 40 are fixedly connected with the arm 21, and illustratively, the first electric joint and the second electric joint adopt steering engines.
In this embodiment, the end tool 22 further comprises a second steering gear 26 and a hexagonal shaft 27, the second steering gear 26 being configured to drive the hexagonal shaft 27 in gear with the internal gears of the discrete modules, the hexagonal shaft 27 being configured to rotatably pass through one of the protruding cylinders 232, the hexagonal shaft 27 being in communication with the second steering gear 26.
In this embodiment, the retainer is provided with the stopper 28, and the stopper 28 is located right above the driven gear 25, so that the driven gear 25 can be limited by disposing the stopper 28, and further, the connection screw 251 can be prevented from being completely separated from the connection screw hole 231 due to misoperation.
In this embodiment, a transmission sleeve is fixedly arranged on the output shaft of the second steering engine 26, the transmission sleeve is provided with a guide hole 262 matched with the hexagonal shaft 27, a spring body 263 is arranged in the guide hole 262, the hexagonal shaft 27 is inserted into the guide hole, one end of the spring body 263 is fixedly connected with the hexagonal shaft 27, the other end of the spring body 263 is fixedly connected with the transmission sleeve, and the hexagonal shaft 27 is matched with the protruding cylinder 232 to realize locking connection of the end tool 22 and the discrete module. Moreover, the inside of the transmission sleeve is provided with the spring body 263, so that the hexagonal shaft 27 can stretch up and down, and if the hexagonal shaft 27 is not butted to a hole position corresponding to the discrete module, the hexagonal shaft 27 can shrink back to the inside of the transmission sleeve, thereby avoiding interference to the butting of the discrete module. Meanwhile, the second steering engine 26 can rotate the transmission sleeve, and the hexagonal shaft 27 is driven to rotate by the transmission sleeve.
In the present embodiment, a rotation support mechanism 60 is disposed between the second connecting frame 32 and the electric rotation mechanism 50, and the rotation support mechanism 60 is fixedly connected to the holder. By providing the rotation support mechanism 60, the force stability between the second link 32 and the electric rotation mechanism 50 can be improved.
In this embodiment, the cage includes a top plate 233, a middle plate 234, and a bottom plate 235. The top surface and the bottom surface of the middle plate 234 are respectively provided with a first support column 236 and a second support column 237, two ends of the first support column 236 are respectively fixedly connected with the top plate 233 and the middle plate 234, two ends of the second support column 237 are respectively fixedly connected with the middle plate 234 and the bottom plate 235, wherein the electric rotating mechanism 50, the first steering engine 24 and the second steering engine 26 are respectively positioned between the top plate 233 and the middle plate 234, the first steering engine 24 and the second steering engine 26 are respectively fixedly connected with the middle plate 234, and the electric rotating mechanism 50 is fixedly connected with the top plate 233.
In the present embodiment, the top surface of the intermediate plate 234 is provided with the positioning groove 238, and the electric rotating mechanism 50 is inserted into the positioning groove 238, and the stability of the electric rotating mechanism 50 can be effectively improved by disposing the positioning groove 238 on the intermediate plate 234, which is matched with the electric rotating mechanism 50.
In this embodiment, the limiting member 28 is fixedly connected with the middle plate 234, and the limiting member 28 has good stability and is not easy to fall off.
In this embodiment, the driven gear 25, the driving gear 241 and the driving sleeve are all located between the intermediate plate 234 and the bottom plate 235, and the cage is of layered design, and different components are assembled into different layers respectively, which is beneficial for maintenance and repair.
As shown in fig. 3, in some embodiments, the rotation supporting mechanism 60 includes a positioning sleeve 61 and a bearing 62, the top plate 233 and the outer ring of the bearing 62 are fixedly connected with the positioning sleeve 61, the inner ring of the bearing 62 is fixedly connected with the second connecting frame 32, and illustratively, the electric rotation mechanism 50 also adopts a steering engine, the bearing adopts a turntable bearing, the positioning sleeve 61 has a notch and is arranged in a C shape, part of the steering engine passes out of the positioning sleeve through the notch, and the positioning sleeve 61 has a notch and is arranged in a C shape, so that the use of a larger steering engine is facilitated, and meanwhile, the volume of the whole rotation supporting mechanism 60 can be ensured, and the situation that the volume of the rotation supporting mechanism is overlarge due to the adoption of a larger steering engine is avoided.
In a further embodiment, not shown, the control device is mounted in the trunk, and a battery is further disposed in the trunk, and the control device, the first electric joint, the second electric joint and the electric rotating mechanism are all electrically connected with the battery.
In the description of the present specification, a description referring to the terms "present embodiment," "some embodiments," "other embodiments," or "specific examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Although embodiments of the application have been illustrated and described above, the scope of the application is not limited thereto, and any changes or substitutions that do not require inventive faculty are intended to be included within the scope of the application, and any element, act, or instruction used herein should not be interpreted as critical or essential unless explicitly described as such.