阅读说明：本技术 一种摩擦轮驱动的空间移动平台 (Friction wheel driven space moving platform ) 是由 宛敏红 周维佳 张赵威 于 2021-07-28 设计创作，主要内容包括：本发明涉及载人航天空间站设备,特别涉及一种摩擦轮驱动的空间移动平台。包括圆弧轨道及设置于圆弧轨道上的移动平台；移动平台包括基座及平行设置于基座上的上驱动组件和下驱动组件,上驱动组件和下驱动组件分别压紧在圆弧轨道的上、下侧,上驱动组件和下驱动组件通过反向运动产生的反作用摩擦力推动移动平台向前或向后运动。本发明作为舱外机械臂的移动基座,采用摩擦轮驱动方式,可实现零间隙传动,使机械臂具备高精度位置控制能力,并且加工制造简单,也便于实现轻量化设计。(The invention relates to manned space station equipment, in particular to a friction wheel driven space moving platform. Comprises an arc track and a mobile platform arranged on the arc track; the moving platform comprises a base, an upper driving assembly and a lower driving assembly which are arranged on the base in parallel, the upper driving assembly and the lower driving assembly are respectively pressed on the upper side and the lower side of the circular arc track, and the upper driving assembly and the lower driving assembly push the moving platform to move forwards or backwards through the reaction friction force generated by the reverse motion. The invention is used as a moving base of the outboard mechanical arm, adopts a friction wheel driving mode, can realize zero-clearance transmission, enables the mechanical arm to have high-precision position control capability, is simple to process and manufacture, and is convenient for realizing light-weight design.)

1. A friction wheel driven space moving platform is characterized by comprising an arc track and a moving platform (100) arranged on the arc track;

the moving platform (100) comprises a base (1), an upper driving assembly (2) and a lower driving assembly (3) which are arranged on the base (1) in parallel, the upper driving assembly (2) and the lower driving assembly (3) are respectively pressed on the upper side and the lower side of the circular arc track, and the upper driving assembly (2) and the lower driving assembly (3) push the moving platform (100) to move forwards or backwards through reaction friction force generated by reverse movement.

2. The friction wheel driven space mobile platform according to claim 1, characterized in that the circular arc rails comprise a right circular arc rail (200) and a left circular arc rail (300) which are arranged in parallel, and two ends of the upper driving assembly (2) are respectively abutted with the upper sides of the right circular arc rail (200) and the left circular arc rail (300);

two ends of the lower driving assembly (3) are respectively abutted against the lower sides of the right circular arc track (200) and the left circular arc track (300);

the upper driving assembly (2) and the lower driving assembly (3) are connected through a connecting assembly.

3. A friction wheel driven space mobile platform according to claim 2, characterized in that the connection assembly comprises a screw (15), an upper spring (16), a lower spring (17) and a nut (18), wherein the screw (15) penetrates the upper drive assembly (2) and the lower drive assembly (3) and the ends are locked by the nut (18);

the upper spring (16) and the lower spring (17) are sleeved on the screw rod (15), the upper spring (16) is accommodated in a groove formed in the upper driving assembly (2) and is axially limited by the head of the screw rod (15); the lower spring (17) is accommodated in a groove formed in the lower driving assembly (3) and is axially limited by the nut (18).

4. The friction wheel driven space moving platform as claimed in claim 2, characterized in that a left beam (10) and a right beam (11) are arranged between the upper driving assembly (2) and the lower driving assembly (3), the connecting assembly penetrates through the left beam (10) and the right beam (11), and two ends of the left beam (10) and the right beam (11) are connected with the base (1);

the front end of the base (1) is provided with a forward proximity switch (12) and a controller (14), and the rear end is provided with a backward proximity switch (13).

5. The space moving platform driven by the friction wheel as in claim 2, wherein the upper driving assembly (2) comprises a motor I (201), a driving gear I (202), a driven gear I (203), an upper rotating shaft (204), an upper left friction wheel (205), an upper right friction wheel (206), an upper left bracket (207) and an upper right bracket (208), wherein two ends of the upper rotating shaft (204) are rotatably connected with the upper left bracket (207) and the upper right bracket (208), the motor I (201) is arranged on the upper right bracket (208), the output end of the motor I is connected with the driving gear I (202), the driven gear I (203) is arranged on the upper rotating shaft (204) and is meshed with the driving gear I (202);

the left upper friction wheel (205) and the right upper friction wheel (206) are respectively arranged at two ends of the upper rotating shaft (204); the upper left friction wheel (205) is abutted with the upper side of the left circular arc track (300), and the upper right friction wheel (206) is abutted with the upper side of the right circular arc track (200).

6. The spatial movement platform driven by the friction wheel as in claim 5, wherein the lower driving assembly (3) comprises a motor II (301), a driving gear II (302), a driven gear II (303), a lower rotating shaft (304), a left lower friction wheel (305), a right lower friction wheel (306), a left lower bracket (307) and a right lower bracket (308), wherein two ends of the lower rotating shaft (304) are respectively and rotatably connected with the left lower bracket (307) and the right lower bracket (308), the motor II (301) is arranged on the right lower bracket (308), the output end of the motor II is connected with the driving gear II (302), the driven gear II (303) is arranged on the lower rotating shaft (304) and is meshed with the driving gear II (302);

the left lower friction wheel (305) and the right lower friction wheel (306) are respectively arranged at two ends of the lower rotating shaft (304), the left lower friction wheel (305) is abutted to the lower side of the left circular arc track (300), and the right lower friction wheel (306) is abutted to the lower side of the right circular arc track (200).

7. A friction wheel driven space mobile platform according to claim 6, characterized in that said lower left bracket (307) corresponds to said upper left bracket (207) and is connected by two sets of said connection assemblies;

the right lower bracket (308) corresponds to the right upper bracket (208) and is connected by the other two groups of connecting components.

8. The friction wheel driven space moving platform as claimed in any one of claims 2 to 7, wherein the moving platform (100) further comprises a locking component I (4) and a locking component II (5) which are respectively arranged at the rear end and the front end of the base (1), and the locking component I (4) and the locking component II (5) are connected with the circular arc track to realize the locking of the moving platform (100).

9. The friction wheel driven space mobile platform as claimed in claim 8, wherein the locking assembly I (4) and the locking assembly II (5) have the same structure, and each locking assembly I (4) and the locking assembly II (5) comprises a locking motor (401), a two-way screw (404), a left bolt (405), a right bolt (406), a left sleeve (407) and a right sleeve (408), wherein the left sleeve (407) and the right sleeve (408) are coaxially arranged on the left side and the right side of the base (1); the bidirectional screw (404) is rotatably connected with the base (1) and is coaxial with the left sleeve (407) and the right sleeve (408); the left bolt (405) and the right bolt (406) are connected with the reverse threads at the two ends of the bidirectional screw rod (404), the left bolt (405) is in sliding fit with the left sleeve (407), and the right bolt (406) is in sliding fit with the right sleeve (408);

the locking motor (401) is arranged on the base (1), and the output end of the locking motor is connected with the bidirectional screw rod (404) through a gear transmission mechanism.

10. A friction wheel driven space mobile platform according to claim 1, characterized in that the base (1) is a square structure and four sets of support members are provided at four corners respectively;

the supporting assembly comprises a supporting bracket (901), and a roller I (902), a roller II (903) and a roller III (904) which are arranged on the supporting bracket (901), wherein the roller I (902) and the roller II (903) are clamped on the upper side and the lower side of the arc-shaped track; the roller III (904) is abutted to the inner side wall of the arc-shaped track.

Technical Field

The invention relates to manned space station equipment, in particular to a friction wheel driven space moving platform.

Background

With the gradual deep-space expansion of human space exploration activities, the space robot technology is greatly developed, and the space robot is applied to the fields of manned space on-orbit assembly and maintenance, satellite control, lunar surface and mars surface sampling, asteroid exploration and the like. In manned space station applications, the robots are typically required to have mobility in order to cover the entire extra-cabin space. The Mobile Service System (MSS) of the extravehicular robot on the international Space Station is mainly used for performing tasks such as Space Station assembly, equipment maintenance, and assistance of a spacecraft to go out of a cabin, and comprises three parts, namely a Mobile Base System (MBS), a Space Station Remote control mechanical arm System (SSRMS), and a Special smart Manipulator (SPDM), wherein the SSRMS is a seven-degree-of-freedom Manipulator and is installed on the MBS, and the MBS is a linear motion platform. The SSRMS has two moving methods, namely a linear motion method by means of MBS, and a moving method by means of the same interface at two ends of the SSRMS, and can crawl outside a space station cabin. The extravehicular mechanical arm configured in the manned space station under construction in China comprises a core cabin mechanical arm and an experiment cabin mechanical arm, and can crawl outside the space station cabin by means of interfaces at two ends of the mechanical arm.

The outboard robot arm moving operation by the crawling technique may face problems: firstly, the electrical connection needs to be switched continuously, which is easy to cause poor contact or damage, and secondly, the crawling movement cannot realize continuous position accessibility. The cabin section of the space station is approximately cylindrical, and in order to realize continuous reachable movement of the mechanical arm outside the cabin, a moving platform which can move along an arc track arranged at the end part of the cabin section is urgently needed to be used as a base of the mechanical arm.

Disclosure of Invention

In view of the above problems, an object of the present invention is to provide a friction wheel driven space mobile platform, which is used as a mobile base of a robot arm outside a space station cabin, so as to meet the requirement of circular arc orbital motion of the robot arm.

In order to achieve the purpose, the invention adopts the following technical scheme:

a friction wheel driven space moving platform comprises an arc track and a moving platform arranged on the arc track;

the moving platform comprises a base, an upper driving assembly and a lower driving assembly, wherein the upper driving assembly and the lower driving assembly are arranged on the base in parallel, the upper driving assembly and the lower driving assembly are respectively pressed on the upper side and the lower side of the circular arc track, and the upper driving assembly and the lower driving assembly push the moving platform to move forwards or backwards through reaction friction force generated by reverse motion.

The arc tracks comprise a right arc track and a left arc track which are arranged in parallel, and two ends of the upper driving assembly are respectively abutted against the upper sides of the right arc track and the left arc track;

two ends of the lower driving assembly are respectively abutted against the lower sides of the right circular arc track and the left circular arc track;

the upper driving assembly and the lower driving assembly are connected through a connecting assembly.

The connecting assembly comprises a screw rod, an upper spring, a lower spring and a nut, wherein the screw rod penetrates through the upper driving assembly and the lower driving assembly, and the end part of the screw rod is locked by the nut;

the upper spring and the lower spring are sleeved on the screw rod, and the upper spring is accommodated in a groove arranged on the upper driving assembly and is axially limited by the head of the screw rod; the lower spring is accommodated in a groove formed in the lower driving assembly and is axially limited through the nut.

A left cross beam and a right cross beam are arranged between the upper driving assembly and the lower driving assembly, the connecting assembly penetrates through the left cross beam and the right cross beam, and two ends of the left cross beam and the right cross beam are connected with the base;

the front end of the base is provided with a forward proximity switch and a controller, and the rear end is provided with a backward proximity switch.

The upper driving assembly comprises a motor I, a driving gear I, a driven gear I, an upper rotating shaft, an upper left friction wheel, an upper right friction wheel, an upper left support and an upper right support, wherein two ends of the upper rotating shaft are rotatably connected with the upper left support and the upper right support;

the upper left friction wheel and the upper right friction wheel are respectively arranged at two ends of the upper rotating shaft; the upper left friction wheel is abutted to the upper side of the left circular arc track, and the upper right friction wheel is abutted to the upper side of the right circular arc track.

The lower driving assembly comprises a motor II, a driving gear II, a driven gear II, a lower rotating shaft, a left lower friction wheel, a right lower friction wheel, a left lower support and a right lower support, wherein two ends of the lower rotating shaft are respectively and rotatably connected with the left lower support and the right lower support;

the left lower friction wheel and the right lower friction wheel are respectively arranged at two ends of the lower rotating shaft, the left lower friction wheel is abutted to the lower side of the left circular arc track, and the right lower friction wheel is abutted to the lower side of the right circular arc track.

The left lower bracket corresponds to the left upper bracket and is connected through two groups of connecting components;

the right lower support corresponds to the right upper support and is connected with the connecting assembly through the other two groups.

The mobile platform further comprises a locking assembly I and a locking assembly II which are arranged at the rear end and the front end of the base respectively, and the locking assembly I and the locking assembly II are connected with the arc track to realize locking of the mobile platform.

The locking assembly I and the locking assembly II are identical in structure and respectively comprise a locking motor, a bidirectional screw rod, a left bolt, a right bolt, a left sleeve and a right sleeve, wherein the left sleeve and the right sleeve are coaxially arranged on the left side and the right side of the base; the bidirectional screw is rotatably connected with the base and is coaxial with the left sleeve and the right sleeve; the left bolt and the right bolt are connected with reverse threads at two ends of the bidirectional screw rod, the left bolt is in sliding fit with the left sleeve, and the right bolt is in sliding fit with the right sleeve;

the locking motor is arranged on the base, and the output end of the locking motor is connected with the bidirectional screw rod through a gear transmission mechanism.

The base is of a square structure, and four corners of the base are respectively provided with four groups of supporting components;

the supporting assembly comprises a supporting bracket, and a roller I, a roller II and a roller III which are arranged on the supporting bracket, wherein the roller I and the roller II are clamped on the upper side and the lower side of the arc-shaped track; the roller III is abutted to the inner side wall of the arc-shaped track.

The invention has the advantages and beneficial effects that:

large-range high-precision movement: the cabin section of the space station is of a cylindrical structure with the diameter of about several meters, and in order to realize continuous movement and global accessibility of the extravehicular mechanical arm outside the cabin, the invention provides a friction wheel driven mobile platform which is used as a mobile base of the extravehicular mechanical arm. The friction wheel driving mode can realize zero-clearance transmission, so that the mechanical arm has high-precision position control capability, is simple to machine and manufacture, and is convenient to realize light-weight design. If adopt traditional gear pair mechanism, both be difficult to solve the positioning error problem that transmission backlash caused, also face the problem of large-scale gear pair processing difficulty, the structure is also difficult to carry out the lightweight design moreover.

The functions are more comprehensive: the friction wheel driven space platform is provided with the proximity switch, and can be accurately positioned at a designated point by using a switch signal; the locking assembly is configured, and locking reinforcement can be performed on occasions needing high-strength positioning; the upper friction wheel and the lower friction wheel are tightly pressed on the surface of the track by virtue of the springs, and the position between the two friction wheels can be adaptively adjusted by the springs, so that the requirement on the precision of the thickness dimension of the track is low, and the manufacturing cost of the track can be reduced;

the driving force is adjustable: according to the invention, different friction driving forces can be obtained by adjusting the pretightening force of the spring.

Drawings

FIG. 1 is an isometric view of a friction wheel driven space moving platform of the present invention;

FIG. 2 is a schematic structural diagram of a mobile platform according to the present invention;

FIG. 3 is a second schematic structural view of a mobile platform according to the present invention;

FIG. 4 is a schematic structural diagram of an upper driving assembly according to the present invention;

FIG. 5 is a schematic structural diagram of a lower driving assembly according to the present invention;

FIG. 6 is a schematic view of the assembly of the upper and lower drive assemblies of the present invention;

FIG. 7 is a sectional view showing a coupling structure of an upper driving assembly and a lower driving assembly in the present invention;

FIG. 8 is a schematic view of the locking assembly of the present invention;

FIG. 9 is a schematic view of a support assembly according to the present invention;

FIG. 10 is a schematic view of the mounting structure of the mobile platform of the present invention;

in the figure: 100 is a mobile platform, 200 is a right circular arc track, 300 is a left circular arc track, 1 is a base, 2 is an upper driving assembly, 201 is a motor i, 202 is a driving gear i, 203 is a driven gear i, 204 is an upper rotating shaft, 205 is an upper left friction wheel, 206 is an upper right friction wheel, 207 is an upper left bracket, 208 is an upper right bracket, 3 is a lower driving assembly, 301 is a motor ii, 302 is a driving gear ii, 303 is a driven gear ii, 304 is a lower rotating shaft, 305 is a lower left friction wheel, 306 is a lower right friction wheel, 307 is a lower left bracket, 308 is a lower right bracket, 4 is a locking assembly i, 401 is a locking motor, 402 is a locking driving gear, is a locking driven gear, 404 is a bidirectional screw, 405 is a left bolt, 406 is a right bolt, 407 is a left sleeve, 408 is a right sleeve, 409 is a left bearing, 4010 is a right bearing, 5 is a locking assembly ii, 6 is a support assembly ii, 7 is a support assembly ii, 8 is supporting component III, 9 is supporting component IV, 901 is the support, 902 is gyro wheel I, 903 is gyro wheel II, 904 is gyro wheel III, 10 is left crossbeam, 11 is right crossbeam, 12 is forward proximity switch, 13 is backward proximity switch, 14 is the controller, 15 is the screw rod, 16 is the upper spring, 17 is the lower spring, 18 is the nut.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, a friction wheel driven spatial mobile platform according to an embodiment of the present invention includes an arc track and a mobile platform 100 disposed on the arc track; the mobile platform 100 comprises a base 1, an upper driving assembly 2 and a lower driving assembly 3 which are arranged on the base 1 in parallel, the upper driving assembly 2 and the lower driving assembly 3 are respectively pressed on the upper side and the lower side of the circular arc track, and the upper driving assembly 2 and the lower driving assembly 3 push the mobile platform 100 to move forwards or backwards through reaction friction force generated by reverse movement.

In the embodiment of the invention, the circular arc tracks comprise a right circular arc track 200 and a left circular arc track 300 which are arranged in parallel, two ends of the upper driving assembly 2 are respectively abutted with the upper sides of the right circular arc track 200 and the left circular arc track 300, and two ends of the lower driving assembly 3 are respectively abutted with the lower sides of the right circular arc track 200 and the left circular arc track 300; further, the upper driving assembly 2 and the lower driving assembly 3 are connected through the connecting assembly, and the upper driving assembly 2 and the lower driving assembly 3 are guaranteed to be pressed against the arc track.

As shown in fig. 2-3, in the embodiment of the present invention, a left cross beam 10 and a right cross beam 11 are disposed between the upper driving assembly 2 and the lower driving assembly 3, and two ends of the upper driving assembly 2 and the lower driving assembly 3 are connected by a plurality of sets of connecting assemblies penetrating through the left cross beam 10 and the right cross beam 11, so that the upper driving assembly 2, the lower driving assembly 3, the left cross beam 10, and the right cross beam 11 are connected into a whole. Both ends of the left cross beam 10 and the right cross beam 11 are fixedly connected with the base 1.

Further, the base 1 is provided with a forward proximity switch 12 and a controller 14 at a front end thereof, and a backward proximity switch 13 at a rear end thereof.

As shown in fig. 4 and 10, in the embodiment of the present invention, the upper driving assembly 2 includes a motor i 201, a driving gear i 202, a driven gear i 203, an upper rotating shaft 204, an upper left friction wheel 205, an upper right friction wheel 206, an upper left bracket 207, and an upper right bracket 208, wherein two ends of the upper rotating shaft 204 are rotatably connected to the upper left bracket 207 and the upper right bracket 208, the motor i 201 is disposed on the upper right bracket 208, and an output end thereof is connected to the driving gear i 202, and the driven gear i 203 is disposed on the upper rotating shaft 204 and is engaged with the driving gear i 202; the upper left friction wheel 205 and the upper right friction wheel 206 are respectively disposed at both ends of the upper rotating shaft 204, the upper left friction wheel 205 abuts against the upper side of the left circular arc rail 300, and the upper right friction wheel 206 abuts against the upper side of the right circular arc rail 200. The motor I201 drives the driving gear I202 to rotate, and the driving gear I202 drives the driven gear I203 and the upper rotating shaft 204 to rotate, so that the upper left friction wheel 205 and the upper right friction wheel 206 are driven to synchronously rotate. The upper and lower friction wheels move in opposite directions, and the moving platform 100 is pushed to move by the reaction friction force of the arc-shaped guide rail to the friction wheels.

As shown in fig. 5 and 10, in the embodiment of the present invention, the lower driving assembly 3 includes a motor ii 301, a driving gear ii 302, a driven gear ii 303, a lower rotating shaft 304, a left lower friction wheel 305, a right lower friction wheel 306, a left lower bracket 307 and a right lower bracket 308, wherein two ends of the lower rotating shaft 304 are respectively rotatably connected with the left lower bracket 307 and the right lower bracket 308, the motor ii 301 is disposed on the right lower bracket 308, and an output end thereof is connected with the driving gear ii 302, the driven gear ii 303 is disposed on the lower rotating shaft 304 and is engaged with the driving gear ii 302; the left lower friction wheel 305 and the right lower friction wheel 306 are respectively provided at both ends of the lower rotating shaft 304, the left lower friction wheel 305 abuts against the lower side of the left arc rail 300, and the right lower friction wheel 306 abuts against the lower side of the right arc rail 200. The motor II 301 drives the driving gear II 302 to rotate, and the driving gear II 302 drives the driven gear II 303 and the lower rotating shaft 304 to rotate, so that the left lower friction wheel 305 and the right lower friction wheel 306 are driven to synchronously rotate.

Further, gear accommodating cavities are formed in the right upper support 208 and the right lower support 308, the driving gear I202 and the driven gear I203 are accommodated in the gear accommodating cavities of the right upper support 208, and the driving gear II 302 and the driven gear II 303 are accommodated in the gear accommodating cavities of the right lower support 308. It should be noted that gear receiving cavities may also be provided on the left lower bracket 307 and the left upper bracket 207, and are not particularly limited herein.

Further, as shown in fig. 6, the left lower bracket 307 corresponds to the left upper bracket 207 and is connected by two sets of connecting components; the right lower bracket 308 corresponds to the right upper bracket 208 and is connected by two additional sets of connecting members.

As shown in fig. 7, in the embodiment of the present invention, the connecting assembly includes a screw rod 15, an upper spring 16, a lower spring 17 and a nut 18, wherein the screw rod 15 penetrates through the upper driving assembly 2 and the lower driving assembly 3, and the end portions are locked by the nut 18; specifically, on the left side, the screw 15 sequentially penetrates through the left upper bracket 207, the left cross beam 10 and the left lower bracket 307 from top to bottom; on the right side, the screw 15 penetrates the right upper bracket 208, the right beam 11, and the right lower bracket 308 from top to bottom in sequence. The upper spring 16 and the lower spring 17 are both sleeved on the screw rod 15, the upper spring 16 is accommodated in a groove arranged on the left upper bracket 207 or the right upper bracket 208 and is axially limited by the head of the screw rod 15; the lower spring 17 is accommodated in a groove arranged on the left lower bracket 307 or the right lower bracket 308, and is axially limited by a nut 18, and the upper spring 16 and the lower spring 17 respectively press the upper friction wheel and the lower friction wheel against the arc-shaped track.

When the upper and lower friction wheels are respectively attached to the upper and lower surfaces of the arc-shaped guide rail, the upper and lower springs can generate certain pre-tightening compression force, so that the upper and lower friction wheels can be tightly pressed on the surface of the arc-shaped guide rail. The reserved gap between the upper friction wheel and the lower friction wheel can be adjusted by screwing the screw 15 and the nut 18, so that the positive pressure after the friction wheels are assembled with the arc-shaped guide rail is adjusted.

Specifically, four screws 15 all pass through the via holes on the beams (left and right beams), the screws 15 and the via holes are in small clearance fit, the screws can freely move relatively in the axial direction, and the clearance in the radial direction is small. When the friction wheel rolls on the surface of the arc-shaped guide rail, the screw rod 15 is driven to move, the screw rod 15 pushes the cross beam to move by utilizing the radial cylindrical surface, the front end and the rear end of the left cross beam and the right cross beam are provided with connecting interfaces with the base 1, and the left cross beam and the right cross beam are fixedly connected with the base 1, so that the base 1 can synchronously move along with the left cross beam and the right cross beam.

On the basis of the above embodiment, as shown in fig. 2, the mobile platform 100 further includes a locking component i 4 and a locking component ii 5 respectively disposed at the rear end and the front end of the base 1, and the locking component i 4 and the locking component ii 5 are connected with the circular arc track to realize locking of the mobile platform 100.

As shown in fig. 8, in the embodiment of the present invention, the locking component i 4 and the locking component ii 5 have the same structure, and both include a locking motor 401, a bidirectional screw 404, a left bolt 405, a right bolt 406, a left sleeve 407, and a right sleeve 408, wherein the left sleeve 407 and the right sleeve 408 are coaxially disposed on the left and right sides of the base 1; the bidirectional screw rod 404 is rotatably connected with the base 1 and is coaxial with the left sleeve 407 and the right sleeve 408; the left bolt 405 and the right bolt 406 are connected with the reverse threads at the two ends of the bidirectional screw rod 404, the left bolt 405 is in sliding fit with the left sleeve 407, and the right bolt 406 is in sliding fit with the right sleeve 408; the locking motor 401 is disposed on the base 1, and the output end is connected to the bidirectional screw 404 through a gear transmission mechanism.

In this embodiment, the gear transmission mechanism includes a lock driving gear 402 and a lock driven gear 403, wherein the lock driving gear 402 is provided at the output end of the lock motor 401, and the lock driven gear 403 is provided on the bidirectional screw 404 and is engaged with the lock driving gear 402. The locking motor 401 drives the locking driving gear 402 to rotate, the locking driving gear 402 drives the locking driven gear 403 and the bidirectional screw 404 to rotate, and the bidirectional screw 404 can drive the left bolt 405 and the right bolt 406 to linearly move in opposite directions when rotating, so that the left bolt 405 and the right bolt 406 can be synchronously inserted into or withdrawn from the reserved locking holes on the left circular arc track 300 and the right circular arc track 200, and the mobile platform 100 can be locked or released.

In an embodiment of the present invention, as shown in fig. 2-3, a mounting interface to a space robot is provided on the base. Base 1 is square structure, and the four corners is equipped with four supporting component respectively, and four supporting component of group do respectively: supporting component I6, supporting component II 7, supporting component III 8 and supporting component IV 9, wherein supporting component I6 and supporting component IV 9 set up in the rear end of base 1, and supporting component II 7 and supporting component III 8 set up in the front end of base 1.

As shown in fig. 9, in the embodiment of the present invention, the supporting component includes a supporting bracket 901, and a roller i 902, a roller ii 903, and a roller iii 904 disposed on the supporting bracket 901, wherein the roller i 902 and the roller ii 903 are clamped on the upper and lower sides of the arc track, the roller iii 904 is abutted against the inner sidewall of the arc track, and the roller i 902, the roller ii 903, and the roller iii 904 together constrain the five degrees of freedom of the moving platform 100 except the moving direction.

The friction wheel driven space moving platform provided by the invention can move along the arc track, and the arc track is arranged on the end surface of the cylindrical cabin section of the space station, so that a mechanical arm arranged on the platform can reach in the full quadrant space. Under the space environment, if the gear pair is adopted to move in a large range, the movement clearance cannot be avoided, and the gear ring pair of the large-scale mechanism is difficult to process and difficult to realize. The friction wheel drive utilizes the friction rolling principle, can realize high-precision gapless transmission, is relatively suitable for precision drive, and can change the driving force by adjusting the pressure of the pre-tightening spring. The locking assembly drives the bidirectional screw rod by using the motor so as to drive the locking bolt to do linear motion, and the locking bolt can be inserted into or withdrawn from the locking hole on the guide rail. When the mobile platform is in a launching stage or the mechanical arm is in a heavy-load operation stage, the bolt needs to be inserted into the locking hole in the rail, so that the mobile platform can be firmly connected to a certain position. The supporting components are respectively arranged at four corners of the moving platform, each supporting component utilizes three rollers to make rolling contact with three surfaces of the guide rail, and under the combined action of the four supporting components, five degrees of freedom of the moving platform can be restrained, so that the moving platform stably runs on the track. The proximity switch has the effects that when the mobile platform needs to be locked at a certain position, the stop piece on the track is used for touching the travel switch, a switch signal is sent to the controller, and after the controller receives the signal, the motor of the driving assembly is stopped, and meanwhile, the motor of the locking assembly is started, and the bolt is locked. The forward proximity switch and the backward proximity switch are respectively used for locking signal feedback during forward movement and backward movement. The controller is mainly used for receiving related signals, driving or stopping the moving platform to move, and inserting or withdrawing the locking bolt.

The friction wheel driven space mobile platform provided by the invention can be used for a mobile base of an outdoor mechanical arm of a space station cabin, has the advantages of compact structure, small volume and light weight, and has the functions of large-range zero-clearance transmission, special position point locking reinforcement, adjustable friction force, self-adaption to thickness change of a guide rail and the like. The problem of large-range high-precision continuous movement of the mechanical arm in the extravehicular space is solved, the lightweight design required by the aerospace structure is realized, the exquisite four-point locking design is realized, the positioning requirement of a high-strength base during heavy-load operation of the mechanical arm is met, and the mechanical arm can be suitable for strong impact and vibration environments during launching.

The above description is only an embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.