CN214924397U

CN214924397U - Joint type multifunctional portable auxiliary tool for astronauts

Info

Publication number: CN214924397U
Application number: CN202121195140.0U
Authority: CN
Inventors: 高奔; 冉江南; 徐春光; 许江涛
Original assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Current assignee: Tianjin Aerospace Electromechanical Equipment Research Institute
Priority date: 2021-05-31
Filing date: 2021-05-31
Publication date: 2021-11-30
Anticipated expiration: 2031-05-31

Abstract

The utility model provides a spacecraft is with multi-functional portable appurtenance of articulated type, including fixed standard interface of using, seven degrees of freedom articulated arms, terminal instrument and controller, seven degrees of freedom articulated arms are equipped with stiff end standard interface and instrument end standard interface, stiff end standard interface is used for dismantling to connect fixed standard interface of using, instrument end standard interface can dismantle with terminal instrument and be connected, installation visual positioning system and force feedback system on the seven degrees of freedom articulated arms, visual positioning system, each joint difference signal connection to controller of force feedback system and seven degrees of freedom articulated arms. The joint type multifunctional portable auxiliary tool for astronauts of the utility model is provided with a standard interface, one end of the standard interface can be connected with a fixed or relatively fixed object in the outer space, and the standard interface is convenient to carry and fix as required; the other end can be replaced by various tools; greatly expands the capability and the range of activity of the astronaut for carrying out extravehicular operation in the space low gravity environment.

Description

Joint type multifunctional portable auxiliary tool for astronauts

Technical Field

The utility model belongs to the technical field of the auxiliary tool of spaceflight, especially, relate to an auxiliary astronaut carries out outer activity of space capsule, extends the multi-functional auxiliary tool of outer activity ability of astronaut's cabin.

Background

Along with the development and utilization of space resources by human beings, more and more manned spacecrafts are launched, such as international space stations which operate in orbit at present, and the space stations in China are built in 2021; besides the space stations running around the earth, manned space engineering such as manned lunar landing, manned fire landing and the like is also proposed by various countries. The extravehicular auxiliary equipment and tools are important supports and guarantees for the spaceman to complete the maintenance of the manned spacecraft and perform extravehicular activities. Currently, when a astronaut carries out extravehicular activities, the astronaut needs to wear a special astronaut suit to maintain the supply of oxygen, pressure and the like required by the astronaut, on the other hand, due to the characteristics of the astronaut suit, the activity range, the visual field, the touch sense functions and the like of the astronaut are limited to a certain extent, and in addition, the extravehicular activities of the astronaut are greatly limited due to the low gravity and the vacuum or near vacuum environment in space, for example, when the astronaut is in a floating state, one hand is needed to assist and fix the astronaut to prevent dangerous events from happening, so that the required operation can be finished only by the other hand, the activity range and the activity capability of the astronaut are further limited, and the extravehicular operation difficulty is increased. Therefore, there is a need for an efficient portable aid that further extends the ability of the astronaut to increase its range of activities outside the capsule in space and to improve the efficiency of performing maintenance tasks.

Internationally, extravehicular activities around manned spacecrafts represented by international space stations and space shuttles have been carried out earlier, extravehicular auxiliary devices and maintenance tools have also been widely used in various extravehicular activities, and relatively representative ones are manual tools such as foot stoppers (APFR), limit auxiliary devices (TERA), various extravehicular electric motors, wrenches and scissors developed by NASA, and along with the development of modern science and technology, the complexity of spacecrafts has been improved, the kinds of extravehicular auxiliary devices and tools have been gradually increased, and the functions have been continuously improved.

Disclosure of Invention

In view of this, the utility model aims at providing a multi-functional portable appurtenance of articulated type for astronaut to provide one kind and have standard interface, conveniently hand-carry and fixed as required, can change multiple instrument, effectively extend the multi-functional portable appurtenance of articulated type of ability and the home range that the astronaut implemented extravehicular operation in the little low gravity environment of space.

In order to achieve the above purpose, the technical scheme of the utility model is realized like this:

the utility model provides a spacecraft is with multi-functional portable appurtenance of articulated type, including seven degrees of freedom articulated arms, terminal instrument and controller, seven degrees of freedom articulated arms are equipped with stiff end standard interface and instrument end standard interface, stiff end standard interface is used for dismantling to connect fixedly with standard interface, instrument end standard interface can dismantle with terminal instrument and be connected, install vision positioning system and force feedback system on the seven degrees of freedom articulated arms, each joint difference signal connection to controller of vision positioning system, force feedback system and seven degrees of freedom articulated arms.

Further, the controller is a wireless controller.

Furthermore, the seven-degree-of-freedom joint arm comprises a seven-degree-of-freedom joint arm rod, a power supply battery is arranged in the seven-degree-of-freedom joint arm rod, and a fixed end standard interface and a tool end standard interface are respectively arranged at two ends of the seven-degree-of-freedom joint arm rod.

Furthermore, the seven-degree-of-freedom joint arm rod comprises a rotary joint, a shoulder joint, an elbow joint, a forearm pitching joint, a wrist rotary joint, a wrist pitching joint and a wrist yawing joint, wherein a fixed end standard interface is arranged below the rotary joint, the upper part of the rotary joint is movably connected to the shoulder joint, and the rotary joint and the shoulder joint are perpendicular to each other; the shoulder joint is movably connected with one end of the elbow joint, and the axes of the shoulder joint and the elbow joint are superposed; the other end of the elbow joint is movably connected to one end of the forearm pitching joint, the other end of the forearm pitching joint is movably connected to one end of the wrist yawing joint, the other end of the wrist yawing joint is movably connected with one end of the wrist pitching joint, the other end of the wrist pitching joint is movably connected with the upper portion of the wrist yawing joint, a vision positioning system and a force feedback system are arranged on the wrist yawing joint, a tool end standard interface is installed below the wrist yawing joint, and motors are respectively arranged in the slewing joint, the shoulder joint, the elbow joint, the forearm pitching joint, the wrist slewing joint, the wrist pitching joint and the wrist yawing joint and are respectively connected to the controller through wireless signals.

Further, the stiff end standard interface is equipped with spring pothook structure, with the draw-in groove cooperation of fixed standard interface of using, and the spring pothook of the stiff end standard interface wedges in the draw-in groove of fixed standard interface of using after the installation, and the interface of spring pothook and draw-in groove is quick detach formula interface.

Furthermore, end instrument mainly includes the instrument main part, is equipped with instrument standard interface and instrument fixed interface respectively on the instrument main part, and instrument standard interface can dismantle with instrument end standard interface and be connected, and instrument fixed interface is used for dismantling to be connected to outside temporary interface.

Furthermore, the tool standard interface and the tool end standard interface realize a temporary locking function in a mode of matching the spring hook and the clamping groove.

Furthermore, after the tool end standard interface and the tool standard interface are locked, the electric conduction function is realized through the contact part, and a power supply is provided for the end tool.

Further, the end tool is any one or combination of electric tool and mechanical non-electric tool.

Compared with the prior art, astronaut with multi-functional portable appurtenance of articulated type have following advantage:

(1) space flight crew uses multi-functional portable appurtenance of articulated type, the design has the fixed interface of using of standard, can install temporarily on space flight crew or other space relatively fixed's object (having fixedly with standard interface), carry and convenient to use, can effectual expansion space flight crew home range.

(2) Astronaut with multi-functional portable appurtenance of articulated type, adopt standard interface and modularized design, articulated structure uses with the cooperation of terminal instrument, can carry out the automation of terminal instrument and change according to the functional requirement, increased the variety of instrument function, can promote astronaut by a wide margin and carry out the ability of extravehicular maintenance and operation activity.

Drawings

The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:

FIG. 1 is an exploded view of an exemplary articulated multi-functional portable auxiliary tool end-of-arm tool for an astronaut in accordance with an embodiment of the present invention;

FIG. 2 is an exploded view of an articulated multi-functional portable auxiliary tool installation end tool for an astronaut according to an embodiment of the present invention;

fig. 3 is a schematic view illustrating a storage state of a seven-degree-of-freedom articulated arm according to an embodiment of the present invention;

fig. 4 is a schematic view of a seven-degree-of-freedom articulated arm according to an embodiment of the present invention;

FIG. 5 is a schematic view of an embodiment of an end tool according to an embodiment of the present invention;

fig. 6 is a schematic view of an end tool according to an embodiment of the present invention;

FIG. 7 is a first schematic view of the articulated multi-functional portable accessory tool of the embodiment of the present invention installed in an aerospace backpack;

FIG. 8 is a schematic view of a second articulated multifunctional portable accessory tool according to an embodiment of the present invention installed in an aerospace backpack for storage;

FIG. 9 is a first schematic view of the articulated multi-functional portable accessory tool of the present invention installed on an aerospace backpack;

fig. 10 is a schematic view of the articulated multi-functional portable auxiliary tool according to the embodiment of the present invention installed on an aerospace backpack in an operating state.

Description of reference numerals:

1-standard interface for fixation; 2-seven degree of freedom articulated arm; 21-seven degree of freedom knuckle arm lever; 211-revolute joint; 212-shoulder joint; 213-elbow joint; 214-forearm pitch joint; 215-wrist revolute joint; 216-wrist pitch joint; 217-wrist yaw joint; 22-fixed end standard interface; 23-tool end standard interface; 3-end tool; 31-tool standard interface; 32-a tool body; 33-a tool securing interface; 4-a controller.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

A joint type multifunctional portable auxiliary tool for astronauts is shown in figures 1 to 10 and comprises a standard interface 1 for fixing, a seven-degree-of-freedom joint arm 2, a tail end tool 3 and a controller 4, wherein the seven-degree-of-freedom joint arm 2 is provided with a fixed end standard interface 22 and a tool end standard interface 23, the fixed end standard interface 22 is detachably connected with the standard interface 1 for fixing, the tool end standard interface 23 is detachably connected with the tail end tool 3, a visual positioning system and a force feedback system are mounted on the seven-degree-of-freedom joint arm 2, and joints of the visual positioning system, the force feedback system and the seven-degree-of-freedom joint arm 2 are respectively connected to the controller 4 through signals.

The controller 4 is a wireless controller, and the astronaut can directly operate the auxiliary tool outside the cabin or remotely operate the auxiliary tool in the cabin through the controller 4. The vision positioning system feeds back the pose information of the operation target object to the controller 4, the force feedback system feeds back the acting force information in the operation process to the controller 4, and the two are combined to provide functional support for the tool to work. The controller 4 mainly functions to perform wireless operation control and feedback of malfunction, operation state, etc. of the portable tool.

The standard interface 1 for fixing is arranged on a relatively fixed object in space, such as an aerospace suit, a space station or a planet vehicle, and has the functions of fixing an auxiliary tool and providing a relatively fixed base for the whole tool so as to be used; the seven-degree-of-freedom articulated arm 2 is a carrier of a tool set, is also a main body and a driving part of the whole portable tool, provides seven degrees of freedom in space for the tool, so that the tail end tool 3 of the tool can reach any pose required by the space, and simultaneously provides a standard power supply and mechanical interface for the tail end tool 3. The seven-degree-of-freedom articulated arm 2 is mounted on a standard interface 1 for fixing on a space station, a planet vehicle or an aerospace suit worn by astronauts through a standard interface 22 for fixing end, so as to temporarily fix and carry the portable end tool 3.

The seven-degree-of-freedom articulated arm 2 comprises a seven-degree-of-freedom articulated arm rod 21, a fixed end standard interface 22 and a tool end standard interface 23, a power supply battery is installed inside the seven-degree-of-freedom articulated arm rod 21, the fixed end standard interface 22 is installed at one end of the seven-degree-of-freedom articulated arm rod 21, and the tool end standard interface 23 is installed at the other end of the seven-degree-of-freedom articulated arm rod 21.

The seven-degree-of-freedom articulated arm 21 included in the seven-degree-of-freedom articulated arm 2 has a spatial 7 degree of freedom, and can realize the adjustment of any pose of the end tool 3. And the power supply battery is used for providing power supply for the seven-degree-of-freedom articulated arm rod 21 and the end tool 3, and the power supply is needed for movement and related control.

The seven-degree-of-freedom articulated arm rod 21 is a functional main body of a tool and comprises seven rotary joints which are respectively a rotary joint 211, a shoulder joint 212, an elbow joint 213, a forearm pitching joint 214, a wrist rotary joint 215, a wrist pitching joint 216 and a wrist yawing joint 217, wherein a fixed end standard interface 22 is arranged below the rotary joint 211, the upper part of the rotary joint is movably connected to the shoulder joint 212, and the rotary joint 211 and the shoulder joint 212 are mutually vertical; the shoulder joint 212 is movably connected with one end of the elbow joint 213, and the axes of the shoulder joint and the elbow joint are superposed; the other end of the elbow joint 213 is movably connected to one end of the forearm pitching joint 214, the other end of the forearm pitching joint 214 is movably connected to one end of the wrist revolving joint 215, the other end of the wrist revolving joint 215 is movably connected with one end of the wrist pitching joint 216, the other end of the wrist pitching joint 216 is movably connected with the upper part of the wrist yawing joint 217, the wrist yawing joint 217 is provided with a vision positioning system and a force feedback system, and a tool end standard interface 23 is arranged below the wrist yawing joint 217. A motor is arranged in each of the rotary joint 211, the shoulder joint 212, the elbow joint 213, the forearm pitching joint 214, the wrist rotary joint 215, the wrist pitching joint 216 and the wrist yawing joint 217, and each motor is connected to the controller 4 through a wireless signal. The controller 4 is provided with a plurality of control keys for respectively controlling each motor.

The fixed end standard interface 22 and the standard interface 1 for fixing are used in pairs, and one end of the fixed end standard interface is connected with a shoulder joint 211 of the seven-degree-of-freedom joint arm lever 21; the other end is matched with the fixed standard interface 1 for use in pairs, the fixed end standard interface 22 is designed with a spring clamping hook structure and is matched with a clamping groove of the fixed standard interface 1, and a spring clamping hook of the fixed end standard interface 22 is wedged into the clamping groove of the fixed standard interface 1 after installation, so that a temporary locking function can be realized with the fixed standard interface 1, a relative fixed support is provided for tool work, manual installation is realized, and the interfaces are quick-release interfaces.

As shown in fig. 5, the end tool 3 mainly includes a tool standard interface 31, a tool main body 32, and a tool fixing interface 33, the tool main body 32 is provided with the tool standard interface 31 and the tool fixing interface 33, and the tool standard interface 31 is detachably connected to the tool end standard interface 23.

In one or more embodiments, the tool standard interface 31 and the tool end standard interface 23 realize a temporary locking function by means of a spring hook and a card slot matching; the tool body 32 is a main part that realizes a tool operation function; the tool end standard interface 23 and the tool standard interface 31 in the end tool 3 are paired for use, and similarly, after the tool end standard interface 23 and the end tool 3 are installed, a locking function with the tool standard interface 31 can be achieved in a mode of a spring hook and a wedged clamping groove; after the tool end standard interface 23 and the tool standard interface 31 are locked, the electric conduction function is realized through the contact part (the contact part is made of metal material) of the tool end standard interface, so that the power supply (if necessary) required by the work is provided for the end tool 3. As shown in fig. 6, the end tool 3 may include various tools, which are directly implemented parts of a multifunctional tool, and may be a power tool or a mechanical non-power tool; the end tool 3 comprises a typical two-handed grip, a power wrench, scissors, a torque wrench, etc., but may be other actuators with a tool standard interface 31. The tool fixing interface 33 is used in pair with an interface of a tool storage cabinet or a temporary storage means for temporarily storing the end tool 3; the end tool 3 is mounted on a tool box or other temporary fixing device, for example, a corresponding storage interface is arranged on an aerospace backpack, and the end tool 3 can be temporarily stored thereon for temporary fixing.

The working process of the joint type multifunctional portable auxiliary tool for the astronaut comprises the following steps:

fig. 7 to 10 show that, taking the example that the astronaut carries the multifunctional tool on the astronavigation suit backpack,

the operation of the astronaut by using the portable auxiliary tool mainly comprises the following steps: the joint type multifunctional portable auxiliary tool and the tool are assembled on a corresponding interface of an aerospace suit backpack before use, the seven-degree-of-freedom joint arm 2 is controlled according to operation requirements to select a proper terminal tool 3, the joint type multifunctional portable auxiliary tool is controlled to assist an astronaut to operate and replace the terminal tool 3, and processes such as accommodating the joint type multifunctional portable auxiliary tool after work are completed.

Before the astronaut goes out of the cabin to carry out extravehicular activities and operations, the articulated multifunctional portable auxiliary tool is arranged at a fixed interface on the side surface of a backpack of the astronaut, and at the moment, the articulated multifunctional portable auxiliary tool is in a storage state; the tail end tool 3 is arranged at a corresponding temporary fixing interface at the back side of the backpack of the astronaut, and the type and the number of tools carrying out the backpack are selected according to the activity of taking out the backpack; the tool controller 4 is carried when exiting the cabin. Before the astronaut carries out extravehicular operation, the controller 4 is operated according to requirements so as to grab the corresponding terminal tool 3 arranged on the back side of the backpack, and because the placing position and the type of the terminal tool 3 before going out of the cabin are determined, the path and the instruction of the seven-degree-of-freedom articulated arm 2 can be preset according to the placing of the terminal tool 3, when the astronaut takes the terminal tool 3 at different positions outside the cabin, the terminal tool 3 at the corresponding position can be easily taken down or put back by one-key operation; in the operation process, when the terminal tool 3 required to be taken down performs different operations, the astronaut controls the seven-degree-of-freedom articulated arm 2 through the controller 4, and the seven-degree-of-freedom articulated arm 2 respectively rotates different motors according to instructions, so that different joints are controlled to reach set positions; the astronaut can drag the seven-degree-of-freedom articulated arm by hands at any time to correct the operation behavior, so that the accuracy and reliability of the operation are ensured; when the operation has danger risk to the astronaut, the astronaut can take the joint type multifunctional portable auxiliary tool off the backpack, and after the joint type multifunctional portable auxiliary tool is arranged at the relatively fixed part of the operation area, the joint type multifunctional portable auxiliary tool is far away from the operation area, and the operation controller 4 is used for remotely operating the tool. After the current operation is finished, the astronaut can control the joint type multifunctional portable auxiliary tool to replace the end tool 3 according to the requirement of the next operation task, and the next operation is carried out. After all the operations are finished, the corresponding position of the articulated multifunctional portable auxiliary tool placing end tool 3 is operated, and the seven-degree-of-freedom articulated arm is controlled to recover the accommodating state of the tool.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. The utility model provides an astronaut is with multi-functional portable appurtenance of articulated type which characterized in that: the seven-degree-of-freedom articulated arm is provided with a fixed end standard interface and a tool end standard interface, the fixed end standard interface is detachably connected with a standard interface for fixing, the tool end standard interface is detachably connected with the tail end tool, a visual positioning system and a force feedback system are installed on the seven-degree-of-freedom articulated arm, and each joint of the visual positioning system, the force feedback system and the seven-degree-of-freedom articulated arm is in signal connection with the controller.

2. The articulated multi-functional portable aide for astronauts of claim 1, wherein: the controller is a wireless controller.

3. The articulated multi-functional portable aide for astronauts of claim 1, wherein: the seven-degree-of-freedom joint arm comprises a seven-degree-of-freedom joint arm rod, a power supply battery is installed inside the seven-degree-of-freedom joint arm rod, and a fixed end standard interface and a tool end standard interface are respectively arranged at two ends of the seven-degree-of-freedom joint arm rod.

4. The articulated multi-functional portable aide for astronauts of claim 3, wherein: the seven-degree-of-freedom joint arm rod comprises a rotary joint, a shoulder joint, an elbow joint, a forearm pitching joint, a wrist rotary joint, a wrist pitching joint and a wrist yawing joint, wherein a fixed end standard interface is arranged below the rotary joint, the upper part of the rotary joint is movably connected to the shoulder joint, and the rotary joint and the shoulder joint are mutually vertical; the shoulder joint is movably connected with one end of the elbow joint, and the axes of the shoulder joint and the elbow joint are superposed; the other end of the elbow joint is movably connected to one end of the forearm pitching joint, the other end of the forearm pitching joint is movably connected to one end of the wrist yawing joint, the other end of the wrist yawing joint is movably connected with one end of the wrist pitching joint, the other end of the wrist pitching joint is movably connected with the upper portion of the wrist yawing joint, a vision positioning system and a force feedback system are arranged on the wrist yawing joint, a tool end standard interface is installed below the wrist yawing joint, and motors are respectively arranged in the slewing joint, the shoulder joint, the elbow joint, the forearm pitching joint, the wrist slewing joint, the wrist pitching joint and the wrist yawing joint and are respectively connected to the controller through wireless signals.

5. The articulated multi-functional portable aide for astronauts of claim 1, wherein: the fixed end standard interface is provided with a spring clamping hook structure which is matched with a clamping groove of the fixed standard interface, a spring clamping hook of the fixed end standard interface is wedged into the clamping groove of the fixed standard interface after installation, and the interfaces of the spring clamping hook and the clamping groove are quick-release interfaces.

6. The articulated multi-functional portable aide for astronauts of claim 3, wherein: the terminal tool mainly comprises a tool main body, wherein a tool standard interface and a tool fixing interface are respectively arranged on the tool main body, the tool standard interface is detachably connected with the tool end standard interface, and the tool fixing interface is detachably connected to an external temporary interface.

7. The articulated multi-functional portable aide for astronauts of claim 6, wherein: the tool standard interface and the tool end standard interface realize a temporary locking function in a mode of matching the spring hook and the clamping groove.

8. An articulated multi-functional portable aide for astronauts according to claim 6 or 7, wherein: after the tool end standard interface and the tool standard interface are locked, the electric conduction function is realized through the contact part, and a power supply is provided for the tail end tool.

9. The articulated multi-functional portable aide for astronauts of claim 1, wherein: the end tool is any one or combination of electric tools and mechanical non-electric tools.