CN101913435A - Docking device for space robot - Google Patents
Docking device for space robot Download PDFInfo
- Publication number
- CN101913435A CN101913435A CN 201010232569 CN201010232569A CN101913435A CN 101913435 A CN101913435 A CN 101913435A CN 201010232569 CN201010232569 CN 201010232569 CN 201010232569 A CN201010232569 A CN 201010232569A CN 101913435 A CN101913435 A CN 101913435A
- Authority
- CN
- China
- Prior art keywords
- hole
- female seat
- taper shank
- center
- butt joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a docking device for a space robot and belongs to the technical field of the space robot. A docking through hole is formed in the center of a female seat of the docking device, and a positioning slot and a spring slot are formed on the side wall of the docking through hole; a piston extends into the docking through hole in the center of the female seat from one side of the female seat, an end part of the piston is provided with a concave table, and the inner side wall of the concave table is provided with a blocking steel ball; a taper shank extends into the docking through hole in the center of the female seat from the other side of the female seat, and a transverse positioning through hole which passes through the center of a circle is formed on the taper shank; an end part of the taper shank is provided with a convex plate, and the convex plate extends into the concave table on the end part of the piston; a spring is arranged in the spring slot on the side wall of the docking through hole in the center of the female seat; and an infrared transmitting tube and an infrared receiving tube are arranged in the positioning slot on the side wall of the docking through hole in the center of the female seat respectively, and are positioned on the two sides of the transverse positioning through hole of the taper shank respectively. The docking device has a simple structure, is convenient to design and manufacture, can lock and release the taper shank simply and conveniently, and can adjust the alignment attitude of the two space robots accurately.
Description
Technical field
The present invention relates to a kind of docking facilities of space robot, belong to the space robot technical field.
Background technology
The distant operation in space is the technology of carrying out job space by star ground communication network remote control operation arm, and since the eighties in 20th century, the U.S., Russia, Germany, Japan and China etc. have carried out the correlative study of teleoperation one after another.Wherein, be the important applied field of space teleoperation in the rail service, and realize that the successful butt joint of two aircraft is key links of space-orbit service.Because the particularity of space environment, docking facilities need have pinpoint ability, and must realize locking and releasing operation easily, and this has proposed very high requirement with regard to the design of giving docking facilities.
General docking facilities mainly is divided into electromechanical, gas-liquid pressure type and digital control type three classes, and relatively more commonly used is the electromechanical docking facilities at present.More representational electromechanical docking facilities has: the docking facilities of the puma manipulator of developments such as the design-calculated RCC of ARI company (Remote centerCompliance) device and Mei Tao.RCC is a kind of passive device of following, employing be the typical method of jack type positioning operation, its complex structure, accuracy requirement is higher.The docking facilities of puma manipulator is the three degree of freedom docking facilities with certain flexibility.Its compact conformation, applied widely, but not high to positioning requirements, be mainly used in the occasions such as automatic replacing of manipulator.
In addition, customized design such as Shao Xiaowei the awl of the little nano star station in a kind of space-butt joint of bar type and releasing mechanism.The reception bar that stretch out near little nano star station with certain initial velocity the component, contact force after docking awl and receiving the bar collision is ordered about the reception bar and is entered in the butt hole of component, handgrip formula driving roller shrinks immediately, compress and receive bar and rotation, driving the component creeps along bar, final assisting down at return idler, the component axially enters in the storage cabin along receiving bar, handgrip formula driving roller stops operating after running into limit baffle ring in the cabin, the locking anchor puts down rapidly, embed the ring-type teeth groove of component outer wall, finish locking action.The shortcoming of this docking facilities is a complex structure, and the time of finishing the butt joint needs is more.
Summary of the invention
The objective of the invention is to propose a kind of docking facilities of space robot, change the structure of existing docking facilities, make that docking facilities is simple in structure, the location accurately, and locking and release convenience, be suitable for the distant docking mission that operates in the rail service in space, also can be used as teaching, the scientific research equipment of institution of higher learning and scientific research institutions.
The docking facilities of the space robot that the present invention proposes comprises taper shank, female seat, spring, piston, infrared transmitting tube and infrared receiving tube; Described female seat center has the butt joint through hole, has positioning groove on the sidewall of female seat one side butt joint through hole, has spring groove on the sidewall of female seat opposite side butt joint through hole; Described piston stretches into the butt joint through hole at female seat center from a side of female seat, and the end of piston is provided with concave station, and the madial wall of concave station is provided with the screens steel ball; Described taper shank stretches into the butt joint through hole at female seat center from the opposite side of female seat, has the located lateral through hole by the center of circle on the taper shank, and the end of taper shank is provided with boss, and this boss stretches in the concave station of pistons end; Described spring places the spring groove of female seat center butt joint through-hole side wall, an end of spring and female seat relative fixed, the other end of spring and pistons end relative fixed; Described infrared transmitting tube and infrared receiving tube place the positioning groove of female seat center butt joint through-hole side wall respectively, and lay respectively at the both sides of the located lateral through hole of taper shank.
The docking facilities of the space robot that the present invention proposes, its advantage is: the docking facilities of space robot at first of the present invention is simple in structure, is convenient to manufacture and design.Secondly, the structure by female seat inside and piston nose can realize locking and release to taper shank simply, easily.Once more, the docking facilities of space robot of the present invention has a pair of infrared emission and receiving device, can carry out the aligning attitude adjustment of two space robots accurately.
Description of drawings
Fig. 1 is the structural representation of the docking facilities of the space robot of the present invention's proposition.
Fig. 2 is the structural representation of female seat in the docking facilities of the present invention.
Among Fig. 1, the 1st, taper shank, the 2nd, female seat, the 3rd, infrared transmitting tube, the 4th, butt joint through hole, the 5th, spring, the 6th, piston, the 7th, screens steel ball, the 8th, spring groove, the 9th, positioning groove, the 10th, infrared receiving tube, the 11st, located lateral through hole.
The specific embodiment
The docking facilities of the space robot that the present invention proposes, its structure comprises taper shank 1, female seat 2, spring 5, piston 6, infrared transmitting tube 3 and infrared receiving tube 10 as shown in Figure 1.The center of female seat 2 has butt joint through hole 4, and the shape of butt joint through hole 4 has positioning groove 9 on the sidewall of female seat one side butt joint through hole as shown in Figure 2, has spring groove 8 on the sidewall of female seat opposite side butt joint through hole.Piston 6 stretches into the butt joint through hole 4 at female seat center from a side of female seat 2, and the end of piston 6 is provided with concave station, and the madial wall of concave station is provided with screens steel ball 7.Taper shank 1 stretches into the butt joint through hole 4 at female seat center from the opposite side of female seat 2, has the located lateral through hole 11 by the center of circle on the taper shank 1, and the end of taper shank is provided with boss, and this boss stretches in the concave station of pistons end.Spring 5 places the spring groove 8 of female seat center butt joint through-hole side wall, an end of spring 5 and female seat 2 relative fixed, the end relative fixed of the other end of spring and piston 6.Infrared transmitting tube 3 and infrared receiving tube 10 place the positioning groove 9 of female seat center butt joint through-hole side wall respectively, and lay respectively at the both sides of the located lateral through hole 11 of taper shank, the infrared-ray that is used to locate is sent by infrared transmitting tube 3, is received by infrared receiving tube 10 by located lateral through hole 11 backs.
Below in conjunction with accompanying drawing, introduce the principle of work and the working process of the docking facilities of space robot of the present invention in detail:
(1) butt joint.
At first, the piston 6 that is connected with target robot is moved to the left under the effect of propulsive effort, and compression spring 5 is pressed into screens steel ball 7 in the spring groove 8.In the taper hole of butt joint through hole 4 one ends of the taper shank 1 insertion female seat 2 that links to each other with the space service robot then.Insert the taper hole of female seat 2 fully when taper shank 1 after, rotation taper shank 1 makes the located lateral through hole 11 on the taper shank 1 just in time aim at infrared transmitting tube 3 and infrared receiving tube 10, realizes the attitude aligning.At this moment, cancellation is to the propulsive effort of piston 6, and piston 6 is pushed back the home position under the effect of spring 5, and the screens steel ball 7 on piston 6 end sidewalls blocks the boss of the front end of taper shank 1 simultaneously, realizes locking operation.
(2) discharge.
Piston 6 is moved to the left under the effect of propulsive effort, and compression spring 5 is pressed into screens steel ball 7 in the spring groove 8.After screens steel ball 7 enters spring groove 8, when taper shank 1 was moved to the left, its front end boss can push screens steel ball 7, because the screens steel ball has space upwards in spring groove 8, so can make screens steel ball 7 upward movements, the front end boss of taper shank 1 will lose the constraint of screens steel ball 7.Taper shank 1 is slowly extracted from the taper hole of female seat 2.Then, cancellation is to the propulsive effort of piston 6, and piston 6 is pushed back the home position under the effect of spring 5, finish releasing operation.
Among the embodiment of the docking facilities of the space robot that the present invention proposes, used infrared emission is to IR333-A infrared transmitting tube and the PD204-6B infrared receiving tube of pipe for being produced by the sub-Co., Ltd of Guangzhou hundred million colour TVs.
Claims (1)
1. the docking facilities of a space robot is characterized in that this device comprises taper shank, female seat, spring, piston, infrared transmitting tube and infrared receiving tube; Described female seat center has the butt joint through hole, has positioning groove on the sidewall of female seat one side butt joint through hole, has spring groove on the sidewall of female seat opposite side butt joint through hole; Described piston stretches into the butt joint through hole at female seat center from a side of female seat, and the end of piston is provided with concave station, and the madial wall of concave station is provided with the screens steel ball; Described taper shank stretches into the butt joint through hole at female seat center from the opposite side of female seat, has the located lateral through hole by the center of circle on the taper shank, and the end of taper shank is provided with boss, and this boss stretches in the concave station of pistons end; Described spring places the spring groove of female seat center butt joint through-hole side wall, an end of spring and female seat relative fixed, the other end of spring and pistons end relative fixed; Described infrared transmitting tube and infrared receiving tube place the positioning groove of female seat center butt joint through-hole side wall respectively, and lay respectively at the both sides of the located lateral through hole of taper shank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010232569 CN101913435A (en) | 2010-07-16 | 2010-07-16 | Docking device for space robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010232569 CN101913435A (en) | 2010-07-16 | 2010-07-16 | Docking device for space robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101913435A true CN101913435A (en) | 2010-12-15 |
Family
ID=43321130
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201010232569 Pending CN101913435A (en) | 2010-07-16 | 2010-07-16 | Docking device for space robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101913435A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161205A (en) * | 2011-03-15 | 2011-08-24 | 上海大学 | Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot |
| CN102490181A (en) * | 2011-11-21 | 2012-06-13 | 哈尔滨工业大学 | Gripping mechanism for replacing spatial on-orbit modules |
| CN102922534A (en) * | 2012-10-31 | 2013-02-13 | 广州创研自动化设备有限公司 | Fast replacing mechanism for robot fixture |
| CN103010488A (en) * | 2012-11-27 | 2013-04-03 | 中国人民解放军国防科学技术大学 | Micro-nano satellite unlocking and separating device |
| CN103010490A (en) * | 2013-01-10 | 2013-04-03 | 中国人民解放军国防科学技术大学 | Docking rod |
| CN103659834A (en) * | 2013-11-21 | 2014-03-26 | 上海宇航系统工程研究所 | Multifunctional small-sized mechanical arm |
| CN104648698A (en) * | 2014-12-16 | 2015-05-27 | 中国空间技术研究院 | Pawl expansion device of universal capturing device for high-orbit satellites |
| CN105000199A (en) * | 2015-07-17 | 2015-10-28 | 兰州空间技术物理研究所 | Small butt locking device for space |
| CN107719706A (en) * | 2017-10-21 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | A kind of docking facilities of robot for space |
| CN108015798A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | A kind of releasable and locking space mechanism shoulder joint |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN111439397A (en) * | 2020-03-30 | 2020-07-24 | 哈尔滨工业大学 | Peripheral large-tolerance space docking mechanism and working method thereof |
| CN111516911A (en) * | 2020-04-02 | 2020-08-11 | 北京科技大学 | Small-size space docking mechanism of action chronogenesis decoupling zero |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08268399A (en) * | 1995-03-29 | 1996-10-15 | Mitsubishi Electric Corp | Separation device |
| US20050279890A1 (en) * | 2004-03-23 | 2005-12-22 | Walter Holemans | Latching separation system |
| CN1827475A (en) * | 2006-04-10 | 2006-09-06 | 北京航空航天大学 | Mini-sized large-load SMA space synchronous unlocking mechanism |
| CN101033009A (en) * | 2007-04-19 | 2007-09-12 | 上海交通大学 | Awl-rod type butt and releasing gear for spacing micro-nano star station |
| CN100546875C (en) * | 2007-11-21 | 2009-10-07 | 航天东方红卫星有限公司 | Multipoint connection disposal release device |
| GB2463539A (en) * | 2008-09-19 | 2010-03-24 | Mobiletron Electronics Co Ltd | Cutter adapter with biasing pin and locking pin |
-
2010
- 2010-07-16 CN CN 201010232569 patent/CN101913435A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08268399A (en) * | 1995-03-29 | 1996-10-15 | Mitsubishi Electric Corp | Separation device |
| US20050279890A1 (en) * | 2004-03-23 | 2005-12-22 | Walter Holemans | Latching separation system |
| CN1827475A (en) * | 2006-04-10 | 2006-09-06 | 北京航空航天大学 | Mini-sized large-load SMA space synchronous unlocking mechanism |
| CN101033009A (en) * | 2007-04-19 | 2007-09-12 | 上海交通大学 | Awl-rod type butt and releasing gear for spacing micro-nano star station |
| CN100546875C (en) * | 2007-11-21 | 2009-10-07 | 航天东方红卫星有限公司 | Multipoint connection disposal release device |
| GB2463539A (en) * | 2008-09-19 | 2010-03-24 | Mobiletron Electronics Co Ltd | Cutter adapter with biasing pin and locking pin |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102161205B (en) * | 2011-03-15 | 2012-08-15 | 上海大学 | Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot |
| CN102161205A (en) * | 2011-03-15 | 2011-08-24 | 上海大学 | Adaptive butt-joint locking and releasing mechanical structure of combinable movable robot |
| CN102490181A (en) * | 2011-11-21 | 2012-06-13 | 哈尔滨工业大学 | Gripping mechanism for replacing spatial on-orbit modules |
| CN102490181B (en) * | 2011-11-21 | 2014-04-23 | 哈尔滨工业大学 | Gripping mechanism for replacing spatial on-orbit modules |
| CN102922534A (en) * | 2012-10-31 | 2013-02-13 | 广州创研自动化设备有限公司 | Fast replacing mechanism for robot fixture |
| CN102922534B (en) * | 2012-10-31 | 2015-09-30 | 广州创研自动化设备有限公司 | Robot clamp quick-change mechanism |
| CN103010488B (en) * | 2012-11-27 | 2015-01-21 | 中国人民解放军国防科学技术大学 | Micro-nano satellite unlocking and separating device |
| CN103010488A (en) * | 2012-11-27 | 2013-04-03 | 中国人民解放军国防科学技术大学 | Micro-nano satellite unlocking and separating device |
| CN103010490A (en) * | 2013-01-10 | 2013-04-03 | 中国人民解放军国防科学技术大学 | Docking rod |
| CN103659834A (en) * | 2013-11-21 | 2014-03-26 | 上海宇航系统工程研究所 | Multifunctional small-sized mechanical arm |
| CN103659834B (en) * | 2013-11-21 | 2015-12-30 | 上海宇航系统工程研究所 | A kind of multifunctional small-size mechanical arm |
| CN104648698A (en) * | 2014-12-16 | 2015-05-27 | 中国空间技术研究院 | Pawl expansion device of universal capturing device for high-orbit satellites |
| CN104648698B (en) * | 2014-12-16 | 2016-09-21 | 中国空间技术研究院 | A kind of ratchet swelling device for high rail Satellite General arresting agency |
| CN105000199A (en) * | 2015-07-17 | 2015-10-28 | 兰州空间技术物理研究所 | Small butt locking device for space |
| CN105000199B (en) * | 2015-07-17 | 2016-11-30 | 兰州空间技术物理研究所 | A kind of space is with small-sized butt-joint locking device |
| CN107719706A (en) * | 2017-10-21 | 2018-02-23 | 长沙展朔轩兴信息科技有限公司 | A kind of docking facilities of robot for space |
| CN108015798A (en) * | 2017-12-07 | 2018-05-11 | 上海宇航系统工程研究所 | A kind of releasable and locking space mechanism shoulder joint |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN110977937B (en) * | 2019-11-11 | 2020-11-27 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN111439397A (en) * | 2020-03-30 | 2020-07-24 | 哈尔滨工业大学 | Peripheral large-tolerance space docking mechanism and working method thereof |
| CN111439397B (en) * | 2020-03-30 | 2021-07-20 | 哈尔滨工业大学 | Peripheral large-tolerance space docking mechanism and working method thereof |
| CN111516911A (en) * | 2020-04-02 | 2020-08-11 | 北京科技大学 | Small-size space docking mechanism of action chronogenesis decoupling zero |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101913435A (en) | Docking device for space robot | |
| CN105382845B (en) | Tail-end tool replacing device and replacing method for space manipulator | |
| CN103921116B (en) | A kind of aircraft target ship flexible assembly system | |
| CN203610972U (en) | Automatic machining production line of driven bevel gear | |
| CN105752635B (en) | Circuit board conveying pipeline | |
| US7784324B2 (en) | Workpiece gripper arrangement for automatic tool change operations | |
| CN102193559A (en) | Ground station remote control device of unmanned vehicle | |
| CN204774099U (en) | Mechanical gripper is snatched in centering of car piston location | |
| CN105150224A (en) | Dual clamping mechanical catching hand device | |
| CN106363667A (en) | Fixing and releasing device of space manipulator | |
| CN107719706A (en) | A kind of docking facilities of robot for space | |
| CN203738337U (en) | Full-automatic assembly line for safety supports of automobile control system | |
| CN110203241B (en) | Train unhooking device based on four-bar linkage | |
| CN202639780U (en) | Tool for assembling carrier roller bearing seat | |
| CN106910976A (en) | Light-duty automatic Quick extension folded antenna bar | |
| CN205232614U (en) | Handle locking structure and electronic equipment | |
| US20100080675A1 (en) | Transfer module for transferring parts between work stations | |
| CN202702076U (en) | Quick positioning mechanism | |
| CN2916102Y (en) | Hydraulic clamping device for core drilling | |
| CN209539853U (en) | Full automatic penumatic clutch | |
| CN218190504U (en) | Steel construction fire-retardant coating spraying machine people | |
| CN204308885U (en) | Portable type pipeline press-loading apparatus | |
| CN203870921U (en) | Assembling device for display screen | |
| CN104149798B (en) | A kind of locomotive based on RTLS is wireless heavy linked method and system | |
| CN209536352U (en) | AGV trolley loading and unloading blank compensation apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20101215 |