CN102390548B - Space robot orbit tool replacing device - Google Patents
Space robot orbit tool replacing device Download PDFInfo
- Publication number
- CN102390548B CN102390548B CN 201110230832 CN201110230832A CN102390548B CN 102390548 B CN102390548 B CN 102390548B CN 201110230832 CN201110230832 CN 201110230832 CN 201110230832 A CN201110230832 A CN 201110230832A CN 102390548 B CN102390548 B CN 102390548B
- Authority
- CN
- China
- Prior art keywords
- cam
- major axis
- locking
- fixed
- gear
- 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.)
- Active
Links
Images
Abstract
The invention relates to a space robot orbit tool replacing device, which belongs to the field of space robot on-orbit service and aims at solving the problems that the existing orbit tool replacing device has poor space operation reliability, the great pose tolerance can not be realized, the power consumption is high, the mass is high, and the like. For the mechanical transmission, a motor of a first set of driving system is used for driving a gear, a transmission shaft is driven by the gear, in addition, the function is realized through the butt joint of a screw bolt sleeve arranged on the transmission shaft and a screw bolt head arranged at the other end of the transmission shaft. For electric transmission, a motor of a second set of driving system is used for driving the gear, a cam long shaft is driven by the gear, in addition, the moment on the cam long shaft is transferred to a cam short shaft through a steel wire, and two parts of an electric connector are in butt joint through a slider-crank mechanism fixedly arranged on the cam long shaft and the cam short shaft. The tool end locking adopts the kinematics coupling mode, and before the butt joint realization of the electric connector, a locking finger is driven by a cam to realize the locking of the tool end. The butt joint surface of the orbit tool replacing device and a replaceable tail end manipulator is a conical surface, and great pose tolerance capability can be realized.
Description
Technical field
The present invention relates to a kind of space robot track tool changing apparatus, belong to space robot in the rail service field.
Background technology
Along with development of technology, activity of human beings is in space-ward expansion constantly.According to statistics, 80～130 satellites are launched in the whole world every year on average, yet have 2～3 satellites to fail correctly to enter the orbit, and in the satellite of correctly entering the orbit, and have 5～10 namely to lose efficacy at beginning of lifetime again, and this has caused enormous economic loss.In order to retrieve a loss as far as possible, it is means that various countries are being studied with the space robot, with satellite maintenance, life prolong and space junk to remove be that the space robot of purpose is at the rail service technology.
Yet the complexity of job space has determined can't finish by single end-of-arm tooling all in the rail task, therefore, needs development one cover multiplex (MUX) tool system adapting to different tasks.The variety of instrument has determined it must have convertibility at rail.Therefore, not only to develop replaceable end-effector, more need to develop the track tool changing apparatus supporting with it, with the replacing of the rail instrument of realizing not coexisting.Track tool changing apparatus and end-of-arm tooling have two kinds of interface shapes, and a kind of is that fax is passed, and comprises the supply of electric energy and the transmission of control signal; Another kind is mechanical transfer, and namely the end-of-arm tooling changer directly passes to end-of-arm tooling with the motor moment of rotation through mechanical interface.These two kinds of interfaces all have important effect for space-orbit service, and usually, the track tool changing apparatus will have both this two kinds of interface shapes.Limit by the precision of mechanical arm, the track tool changing apparatus must have bigger pose tolerance ability, in order to realize smoothly and the docking of replaceable terminal device.
At present, warp mainly comprises two kinds at the track tool changing apparatus of rail checking: a kind of is the OTCM (ORU Tool Changeout Mechanism) that is used for SPDM (Special Purpose Dextrous Manipulator) end of Canada's development, and a kind of is the tool interface of space manipulator end on the Japanese ETS VII demonstration and verification project.The former quality reaches 600kg (be used for space station), this for one for the rail service robot, so big quality almost is unacceptable; The latter comprises three paws, and structure is too complicated, has influenced the reliability of job space.
According to the data of grasping at present, not successful development quality is little as yet in the prior art, volume is little, the space robot track tool changing apparatus of low-power consumption, big pose tolerance and high reliability.
Summary of the invention
The present invention for the poor reliability that solves existing track tool changing apparatus and have job space, can't realize big pose tolerance, power consumption height, problem such as quality is big, volume is big, and a kind of space robot track tool changing apparatus is provided, being intended to provides multiple operation tool for space robot in the rail operation.
The present invention solves the problems of the technologies described above the technical scheme of taking to be:
Space robot track tool changing apparatus of the present invention comprises housing, bottom cover, lower support ring, upper support ring, circuit card bracing frame, electric system, the first cover drive system and the second cover drive system, upper support ring, lower support ring, circuit card bracing frame are installed in the housing from top to bottom successively, electric system, the first cover drive system and the second cover drive system all place in the housing, electric system places on the circuit card bracing frame, and the housing lower end surface is connected with bottom cover; The described first cover drive system comprises first input media, first driving device and first output unit, first input media is first to contain the planetary reduction gear motor, first driving device comprises first miniature gears, shaft gear and transmission shaft, and described first output unit is bolt collar; First contains the planetary reduction gear motor is fixed on the lower support ring, first miniature gears is fixed on first and contains on the output shaft of planetary reduction gear motor, shaft gear is installed on the transmission shaft, first miniature gears and shaft gear engagement, transmission shaft is supported by a pair of deep groove ball bearing, described a pair of deep groove ball bearing is embedded into respectively on lower support ring and the upper support ring, and bolt collar is fixed on the transmission shaft by compression spring, pressing plate; When docking with the bolt cap of tool ends end, be embedded in the bolt collar by compressing compression spring and the rotating drive shaft hook bolt that can make tool; The described second cover drive system comprises second input media, be used for second driving device of tool ends end locking, be used for the electric coupler butt joint second driving device, be used for second output unit of tool ends end locking and be used for second output unit of electric coupler butt joint; Second input media is second to contain the planetary reduction gear motor; Second driving device that is used for tool ends end locking comprises second miniature gears, major axis of cam gear, major axis of cam, two cams of minor axis of cam, two wire wheels and steel wire, and second output unit that is used for tool ends end locking is that two lockings refer to; Second driving device that is used for the electric coupler butt joint comprises second miniature gears, major axis of cam gear and two cover crank connecting rod mechanisms, and second output unit that is used for the electric coupler butt joint is slide block; Second contains the planetary reduction gear motor is fixed on the motor cabinet, motor cabinet is fixed on the lower support ring, second miniature gears is fixed on second and contains on the output shaft of planetary reduction gear motor, the major axis of cam gear is installed on the major axis of cam, second miniature gears and the engagement of major axis of cam gear, major axis of cam is supported by pair of bearings, bearing is embedded in the corresponding bearing seat, major axis of cam is realized axial location by the major axis of cam roller bearing end cap, the major axis of cam roller bearing end cap is fixed on the bearing seat, bearing seat is fixed on the lower support ring, minor axis of cam also is supported on the bearing seat by pair of bearings, and by minor axis of cam roller bearing end cap realization axial restraint, a cam is installed respectively on major axis of cam and the minor axis of cam; Major axis of cam and minor axis of cam top respectively are provided with a locking and refer to axle, each locking refers to that being supported in locking by plain bearing refers to realize axial location on the axle and by back-up ring, each locking refers to that axle is fixed on the corresponding spindle seat, spindle seat is fixed on the upper support ring, the root that each locking refers to is equipped with roller, roller is installed on the corresponding roller axle by plain bearing, and roller is adjacent to all the time on cam; Profile by cam refers to by designed regular movement locking, thereby allows cam driven refer to motion from locking, and the tool ends end interface is pressed on the housing; Be fixed with a wire wheel on major axis of cam and the minor axis of cam respectively, major axis of cam one side wire wheel rotates by wire tape moving cam minor axis one side wire wheel, through the steel wire transmission input torque on the major axis of cam is passed to minor axis of cam; Every cover crank connecting rod mechanism comprises crank and connecting rod, the crank of one cover crank connecting rod machine is fixed on the major axis of cam, one end of connecting rod is connected by bearing pin with crank, plain bearing is placed at the position that links to each other with connecting rod on bearing pin, two cover crank connecting rod mechanism symmetric arrangement, the connection locate mode of the another set of piston crank mechanism that is driven by minor axis of cam is identical with a side of major axis of cam; Slide block is connected with the other end of two connecting rods, and electric coupler is housed on the slide block.
Track tool changing apparatus of the present invention has following characteristics:
1. realize being fixed the tool ends end interface by cam mechanism;
By circular conical surface and tool port to fetching the admittance ability that realizes big pose tolerance;
3. realize the multiple distribution of input torque by the steel wire transmission;
4. all drivings, control circuit board are arranged in track tool changing apparatus inside, have realized the integrated of Mechatronic Systems.
The complexity of space robot job space has determined can't finish by single end-of-arm tooling all in the rail task, and the variety of instrument has determined it must have convertibility at rail.Therefore, must the track tool changing apparatus, with the replacing of the rail instrument of realizing not coexisting.Track tool changing apparatus and end-of-arm tooling have two kinds of interface shapes, and a kind of is that fax is passed, and a kind of is mechanical transfer, and the present invention has realized this two kinds of interface shapes by two cover drive systems.For mechanical transfer, the present invention utilizes the motor-driven gear of the first cover drive system, by the gear driven transmission shaft, and by the bolt cap of the bolt collar on the transmission shaft and the other end to fetching this function of realization.For electric transmission, the present invention overlaps the motor-driven gear of drive system with second, the gear driven major axis of cam, and the moment on the major axis of cam transferred to minor axis of cam by the steel wire transmission, at last, the slider-crank mechanism by being fixed in major axis of cam and minor axis of cam is with two parts butt joint of electric coupler.The kinematics coupled modes have been adopted in tool ends end locking, namely share the motor of the second cover drive system, before electric coupler achieves a butt joint, refer to the locking of implementation tool end by cam driven locking.The interface of this track tool changing apparatus and replaceable end-effector is circular conical surface, has bigger pose tolerance ability.Volume of the present invention is little, quality is light, low-power consumption, big pose tolerance and high reliability, can satisfy the requirement that space robot is independently changed end-of-arm tooling in orbit.
In order to adapt to aforesaid two kinds of output interfaces, the track tool changing apparatus contains two cover drive systems, and every cover system is made up of input media, driving device, output unit and electric apparatus; The described input media of the first cover drive system (mechanical transfer) is made up of motor, and driving device is made up of straight gear and transmission shaft, and output unit is bolt collar (being used for docking with replaceable end-effector).Electric driving, control circuit board (containing two cover systems) unification are placed on the rear portion and fix through circuit board rack and housing.Described motor is the maxon motor, is fixed on the lower support ring, and itself and a cover planetary reduction gear are connected as a single entity; Described straight gear comprises a miniature gears and an output shaft gear; A compression of the terminal placement of described transmission shaft spring is for the bolt cap that bolt collar is pressed into the other end; Described bolt collar places on the transmission shaft, and inside is the regular hexagon hole.
The second cover drive system comprises two outputs, is respectively applied to tool ends end locking and electric coupler butt joint.These two outputs share a cover input media.Described input media is made up of the maxon motor, and it is fixed on the lower support ring, and is connected as a single entity with a cover planetary reduction gear.The running part of first output is made up of straight gear, major axis of cam and cam, and output refers to (oscillating follower) for locking.Described straight gear comprises a miniature gears and a major axis of cam gear (being fixed on the major axis of cam); Described cam also is fixed on the major axis of cam; Described locking refers to be fixed on the upper support ring, by camb contour locking is referred to by designed regular movement, thereby allows cam driven refer to motion from locking, and the tool ends end interface is pressed on the housing; Described locking refers to be attached on the cam by extension spring.The running part of second output is made up of straight gear, major axis of cam, piston crank mechanism, and output is slide block, the fixing base portion of electric coupler above it.Described straight gear is consistent with the running part of first output with major axis of cam, described slider-crank mechanism is made up of crank, connecting rod and slide block, and crank is fixed on above the major axis of cam, and connecting rod links together crank and slide block, slide block is by a cover guiding mechanism constraint, makes it only can translation.Guiding mechanism is made up of link plate, pilot bar and linear bearing, and link plate one end is fixed on above the slide block, and the other end is enclosed within on the pilot bar by linear bearing.
Tool ends end compresses and the action effect of electric coupler butt joint in order to improve, through the wire wheel driving device motor force square on the major axis of cam is transmitted on the minor axis of cam, because minor axis of cam is equipped with other cover cam and a piston crank mechanism, thereby realize the symmetry output of thrust and butt joint thrust.Described steel wire driving device is made up of wire wheel, steel wire, steel wire pressing plate, pretension piece, totally two of wire wheels, be separately fixed on major axis of cam and the minor axis of cam, what be fixed on major axis of cam is the active wire wheel, be fixed on the driven wire wheel that is of minor axis of cam, initiatively wire wheel drives driven wire wheel rotation by steel wire, thereby minor axis of cam is rotated.
The interface of track tool changing apparatus and replaceable end-effector is circular conical surface, can realize four constraints (two positions and two attitudes).Because the rotation around the circular cone axis is freely, its rotational restraint can pass through at two cylinders of circular conical surface symmetric arrangement, and oblique notches to realize at the tool ends end interface.Position constraint along the butt joint direction is realized by with sheave the tool ends end interface being pressed on the housing.
Description of drawings
Fig. 1 is that master of the present invention looks cutaway view, Fig. 2 is that cutaway view is looked on a left side of the present invention, Fig. 3 is the part sectional view (Fig. 3 is the C-C cutaway view of Fig. 2) of piston crank mechanism part of the present invention, Fig. 4 is the part sectional view (Fig. 4 is the G-G cutaway view of Fig. 5) of steel wire running part of the present invention, Fig. 5 is cam of the present invention, major axis of cam, (Fig. 5 is the F-F cutaway view of Fig. 1 to the section-drawing of minor axis of cam part, remove housing), Fig. 6 is the section-drawing (Fig. 6 is the A-A cutaway view of Fig. 1) that the present invention locks the spindle part, and Fig. 7 is motor and the gear transmission part sectional view (Fig. 7 is the H-H cutaway view of Fig. 4) of the present invention's second cover drive system; Fig. 8 is three-dimensional reference diagram of the present invention.
The specific embodiment
The specific embodiment one: shown in Fig. 1～8, the described space robot track of present embodiment tool changing apparatus comprises housing A2, bottom cover A8, lower support ring A9, upper support ring A12, circuit card bracing frame A16, electric system, the first cover drive system and the second cover drive system, upper support ring A12, fixed mount A37, lower support ring A9, circuit card bracing frame A16 is installed in the housing A2 from top to bottom successively, electric system, the first cover drive system and the second cover drive system all place in the housing A2, electric system places on the circuit card bracing frame A16, and housing A2 lower end surface is connected with bottom cover A8 (by screw B30);
The described first cover drive system comprises first input media, first driving device and first output unit, first input media is first to contain planetary reduction gear motor B13, first driving device comprises the first miniature gears A18, shaft gear A22 and transmission shaft A10, and described first output unit is bolt collar A4; First contains planetary reduction gear motor B13 (by screw B29) is fixed on the lower support ring A9, the first miniature gears A18 (passing through holding screw) is fixed on first and contains on the output shaft of planetary reduction gear motor B13, shaft gear A22 is installed in transmission shaft A10, and upward (shaft gear A22 is implemented in the circumferential location of transmission shaft A10 by key B3, realize axial location by nut B4 and sleeve A11), the first miniature gears A18 and shaft gear A22 engagement, transmission shaft A10 is supported by a pair of deep groove ball bearing B5, described a pair of deep groove ball bearing B5 is embedded into respectively on lower support ring A9 and the upper support ring A12, and bolt collar A4 is by compression spring B 2, pressing plate A3 (by screw B1) is fixed on the transmission shaft A10; When docking with the bolt cap of tool ends end, be embedded among the bolt collar A4 by compressing compression spring B 2 and the rotating drive shaft A10 hook bolt that can make tool;
The described second cover drive system comprises second input media, be used for second driving device of tool ends end locking, be used for the electric coupler butt joint second driving device, be used for second output unit of tool ends end locking and be used for second output unit of electric coupler butt joint; Second input media is second to contain planetary reduction gear motor B37; Second driving device that is used for tool ends end locking comprises the second miniature gears A17, major axis of cam gear A 21, major axis of cam A25, minor axis of cam A30, two cam A6, two wire wheel A26 and steel wire B25, and second output unit that is used for tool ends end locking is that two lockings refer to A5; Second driving device that is used for the electric coupler butt joint comprises the second miniature gears A17, major axis of cam gear A 21 and two cover crank connecting rod mechanisms, and second output unit that is used for the electric coupler butt joint is slide block A13;
Second contains planetary reduction gear motor B37 is fixed on the motor cabinet A7, motor cabinet A7 (passing through screw) is fixed on the lower support ring A9, the second miniature gears A17 (by holding screw B10) is fixed on second and contains on the output shaft of planetary reduction gear motor B37, major axis of cam gear A 21 is installed in major axis of cam A25, and upward (major axis of cam gear A 21 is implemented in the circumferentially fixing of major axis of cam A25 by key, realize axial location by sleeve A28), the second miniature gears A17 and 21 engagements of major axis of cam gear A, major axis of cam A25 is supported by pair of bearings B22, bearing B22 is embedded among the corresponding bearing seat A24, major axis of cam A25 realizes axial location by major axis of cam roller bearing end cap A29, major axis of cam roller bearing end cap A29 (by pad B21 and screw B8) is fixed on the bearing seat A24, bearing seat A24 (passing through screw) is fixed on the lower support ring A9, minor axis of cam A30 also is supported on the bearing seat A24 by pair of bearings B22, and by minor axis of cam roller bearing end cap A31 realization axial restraint, a cam A6 is installed respectively on major axis of cam A25 and the minor axis of cam A30; Major axis of cam A25 and minor axis of cam A30 top respectively are provided with a locking and refer to axle A35, each locking refers to that A5 is supported in locking by plain bearing B34 and refers to that axle A35 upward and by back-up ring A36 realizes axial location, each locking refers to that axle A35 (passing through lock screw) is fixed on the corresponding spindle seat A40, spindle seat A40 (passing through screw) is fixed on the upper support ring A12, each locking refers to that the root of A5 is equipped with roller A27, roller A27 is installed on the corresponding roller axle A42 by plain bearing B33, and roller A27 was adjacent to all the time in (locking refers to that A5 is affixed on the cam A6 by spring) on the cam A6; Profile by cam A6 makes locking refer to A5 by designed regular movement, thereby allows cam driven refer to motion from locking, and tool ends end interface A1 is pressed on the housing A2; (the wire wheel A26 on the major axis of cam A25 realizes circumferentially fixing by key, realize axial location by the shaft shoulder and sleeve A28 to be fixed with a wire wheel A26 on major axis of cam A25 and the minor axis of cam A30 respectively.Wire wheel A26 on the minor axis of cam A30 realizes circumferentially fixing by key, realize axial location by the shaft shoulder and sleeve A28), major axis of cam A25 one side wire wheel A26 drives minor axis of cam A30 one side wire wheel A26 by steel wire B25 and rotates, and through the steel wire transmission input torque on the major axis of cam A25 is passed to minor axis of cam A30;
Every cover crank connecting rod mechanism comprises crank A20 and connecting rod A19, the crank A20 (through holding screw) of one cover crank connecting rod machine is fixed on the major axis of cam A25, the end of connecting rod A19 is connected by bearing pin A32 with crank A20, plain bearing B41 is placed at the position that links to each other with connecting rod A19 on bearing pin A32, and (and at plain bearing B41 pad A33 is installed connecting rod A19 and crank A20 are separated, pad A33 makes with polytetrafluoroethylmaterial material; The other end of bearing pin A32 has screw thread, lock by nut B12, bearing pin A32 is captiveed joint with crank A20), two cover crank connecting rod mechanism symmetric arrangement, the connection locate mode of the another set of piston crank mechanism that is driven by minor axis of cam A30 is identical with the side of major axis of cam A25; Slide block A13 is connected with the other end of two connecting rod A19, and electric coupler B15 is housed on the slide block A13.
The guiding mechanism of described slide block A13 is made up of link plate A14, pilot bar A15 and linear bearing B9.Link plate A14 one end is fixed on above the slide block, and the other end is enclosed within on the pilot bar A15 by linear bearing B9.Described linear bearing B9 is fixed on the link plate A14 with two circlip B26.The lower end of described pilot bar A15 is threadedly secured in lower support ring A9, and the upper end is anchored on upper support ring A12 by holding solid frame A38.
The specific embodiment two: shown in Fig. 1～8, the described locking of present embodiment refers to that the rise of A5 can compaction tool end interface A1; Refer to that in locking A5 far stops journey, cam A6 can dally, to realize the butt joint of electric coupler interface.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment three: shown in Fig. 1～8, the limit switch of the described second cover drive system of present embodiment adopts Hall element B35, Hall element B35 is bonded on the back-up block A23 above the bearing seat A24 by splicing, magnet steel B36 is set in major axis of cam gear A 21 sides, the second cover drive system adopts potentiometer B40 to be used for the absolute location sensing, and potentiometer B40 is welded on the pcb board.Other composition and annexation are identical with the specific embodiment one.
The specific embodiment four: shown in Fig. 1～8, the interface of the housing A2 of the described track tool changing apparatus of present embodiment is circular conical surface; Have the cylindrical hole that bigger pose tolerance is provided for the two butt joint on the sidewall of tool ends end interface A1; Stretch out two interior cylinders of cone tank that may be stuck in tool ends end interface A1 on the conical surface of housing A2, housing A2 and tool ends end interface A1 are not relatively rotated, the realization relative pose is fixed.Other composition and annexation and the specific embodiment one, two, three or four identical.
Carry out following elaboration again at the present invention:
The mechanical transfer mode:
In conjunction with Fig. 1 and Fig. 2, present embodiment is made up of input media, driving device, output unit and electric apparatus.Described input media is made up of motor (containing planetary reduction gear) B13; Described driving device is made up of miniature gears A18, shaft gear A22 and transmission shaft A10; Described output unit is made up of bolt collar A4; Electric system places on the circuit card bracing frame A16.Motor B13 is fixed on the lower support ring A9 by screw B29, and miniature gears A18 is fixed on the motor output shaft by holding screw, and shaft gear A22 realizes axial location by the circumferential location that key B3 is implemented in transmission shaft A10 by nut B4 and sleeve A11.Transmission shaft A10 is supported by a pair of deep groove ball bearing B5, and these two bearings are embedded into respectively on lower support ring A9 and the upper support ring A12.Bolt collar A4 is fixed on the transmission shaft A10 by compression spring B 2, pressing plate A3 and screw B1.When docking with the bolt cap of tool ends end, be embedded among the bolt collar A4 by compressing compression spring B 2 and the rotating drive shaft A10 hook bolt that can make tool.
The tool ends end interface compresses mode:
In conjunction with Fig. 1～Fig. 7, in like manner, present embodiment is made up of input media, driving device, output unit and electric apparatus.Described input media is made up of motor (containing planetary reduction gear) B37; Driving device is made up of gear A 17, major axis of cam gear A 21, major axis of cam A25, cam A6 (two, this place refers to major axis of cam one side) totally; In order to realize that symmetry compresses, through the steel wire transmission input torque on the major axis of cam A25 is passed to minor axis of cam A30, minor axis of cam A30 drives the opposite side cam, so driving device also comprises wire wheel A26, steel wire B25, minor axis of cam A30 and cam A6 (totally two, this place refers to minor axis of cam one side); Described output unit refers to that by locking A5 (totally two, the cam of the cam of major axis of cam A25 and minor axis of cam A30 respectively drives) forms, and A1 is the tool ends end interface.Equally, electric system places on the circuit card bracing frame A16.
Motor B37 is fixed on the motor cabinet A7, motor cabinet A7 is fixed on the lower support ring A9 by screw, gear A 17 is fixed on the output shaft of motor B37 by holding screw B10, major axis of cam gear A 21 is implemented in the circumferentially fixing of major axis of cam A25 by key, realizes axial location by sleeve A28 (totally 5 in the sleeve consistent with A28).Major axis of cam A25 is supported by pair of bearings B22, bearing B22 is embedded among the bearing seat A24 (4) totally, it realizes axial location by roller bearing end cap A29, roller bearing end cap A29 is fixed on the bearing seat by pad B21 and screw B8, bearing seat is fixed on the lower support ring A9 by screw, and lower support ring A9 is fixed on the housing A2 by screw B6 and packing ring B11.Cam A6 on the major axis of cam A25 is implemented in the circumferentially fixing of major axis of cam A25 by key, realizes axial location by the shaft shoulder and sleeve A28.Locking refers to that A5 is supported in locking by plain bearing B34 and refers to that axle A35 goes up and by back-up ring A36 realization axial location, locking refers to that axle A35 is fixed in spindle seat A40 by lock screw.Locking refers to be equipped with on the A5 roller A27, plain bearing B33 and roller axle A42, and roller A27 is fixed on locking by circlip and refers on the A5.Spindle seat A40 is fixed on the upper support ring A12 by screw, and upper support ring A12 is fixed on the housing A2 by screw B6 and packing ring B11.Act on by an extension spring (not drawing among the figure) and to be installed in locking and to refer to ringbolt B32 on the A5 roller A27 is adjacent to all the time on cam A6.Totally two of wire wheel A26 are separately fixed on major axis of cam A25 and the minor axis of cam A30.Wire wheel A26 on the major axis of cam A25 realizes circumferentially fixing by key, realize axial location by the shaft shoulder and sleeve A28.Wire wheel A26 on the minor axis of cam A30 realizes circumferentially fixing by key, realize axial location by the shaft shoulder and sleeve.Major axis of cam A25 one side wire wheel drives minor axis of cam A30 one side wire wheel by steel wire B25 and rotates.Steel wire B25 (respectively there is a bead both sides) two ends are installed on two wire wheels by steel wire pressing plate A39 and pretension piece A43 respectively.Be embedded on the steel wire pressing plate A39 (being fixed on the wire wheel by screw) by a side bead that makes steel wire B25, can allow this side steel wire B25 be fixed on the wire wheel.The opposite side bead of steel wire is embedded among the pretension piece A43, and pretension piece A43 and screw B18 (it is suspended in the high spot that wire wheel stretches out) are by being threaded, and rotary screw B18 can realize pretension piece A43 to screw one lateral movement, thereby steel wire B25 is tightened up.Minor axis of cam A30 is supported on the bearing seat (identical with A24) by the pair of bearings identical with B22, and realizes axial restraint by roller bearing end cap.Minor axis of cam one side cam is realized circumferentially fixing by key B24, realize axial location by the shaft shoulder and sleeve.
The electric coupler docking mode:
In conjunction with Fig. 1～Fig. 7, because present embodiment and tool ends end interface compress mode sample one cover input media (motion coupling) altogether, so input media is identical.Driving device, output unit and electric apparatus are described below.Driving device is made up of gear A 17, major axis of cam gear A 21, major axis of cam A25, crank A20 and connecting rod A19; In order to realize the lateral stressed balance of output unit (slide block), through the steel wire transmission input torque on the major axis of cam A25 is passed to minor axis of cam A30, minor axis of cam A30 drives the opposite side piston crank mechanism, thereby two transverse forces that interlock the effect of pole pair slide block are offset.So driving device also comprises wire wheel A26, steel wire B25, minor axis of cam A30 and opposite side piston crank mechanism; Described output unit is slide block A13.The driving of electric system, control part place on the circuit card bracing frame A16, be used for the potentiometer B44 of absolute location sensing by being welded on pcb board, its shaft hole sleeve is on major axis of cam A25, be used for spacing Hall element B35 and be bonded at back-up block A23 by splicing, magnet steel B36 is set in major axis of cam gear A 21 sides.
Gear A 17, major axis of cam gear A 21, major axis of cam A25 are identical with embodiment 2.Crank A20 is fixed on the major axis of cam A25 through holding screw, connecting rod A19 is connected by bearing pin A32 with crank A20, owing to have relative motion between the two, plain bearing B41 has been placed at the position that links to each other with connecting rod on bearing pin, and at plain bearing B41 pad A33 is installed connecting rod A19 and crank A20 are separated, the other end of bearing pin A32 has screw thread, locks by nut B12.Slide block A13 and connecting rod A19 are by also being that bearing pin is connected.Equally, exist between slide block A13 and the connecting rod to relatively rotate, plain bearing B41 has been placed at the position that links to each other with connecting rod on bearing pin, and with pad A33 the connecting portion of connecting rod A19 and slide block A13 is separated.Electric coupler (seat hole) B15 is housed on the slide block A13, is fixed on the slide block A13 by screw B16.By preceding described, the piston crank mechanism symmetric arrangement, at opposite side, the connection locate mode of minor axis of cam piston crank mechanism that A30 drives is identical with the side of major axis of cam A25.
Cam A6 is for through the special design cam structure: when its rise process can drive locking and refers to that A5 makes tool ends end interface A1 be pressed on the housing A2; Refer to the journey of stopping far away of A5 in locking, the piston crank mechanism on major axis of cam A25 and the minor axis of cam A30 continues to drive, thereby finishes the butt joint of electric connection socket bore portion B15 and scalp acupuncture part B14 (being screwed on the tool ends end interface).Like this, by a cover input media B37, two kinds of functions (the tool ends end interface compresses and the electric coupler butt joint) have been realized.
Housing docks with the tool ends end interface:
As Fig. 1, Fig. 2 and shown in Figure 4, the interface of housing A2 of the present invention is the composite surface of being made up of the orthogonal cone of a pair of axis and cylinder.Housing A2 is cone structure, and tool ends end interface A1 is cylindrical hole (except the bottom), can provide bigger pose tolerance like this when the two docks.In addition, referring to Fig. 2, stretch out two cylinders on the conical surface of housing A2, may be stuck in the cone tank of tool ends end A1 shown in Figure 4, thereby the two is not relatively rotated, the realization relative pose is fixed.
Claims (4)
1. space robot track tool changing apparatus, described track tool changing apparatus comprises housing (A2), bottom cover (A8), lower support ring (A9), upper support ring (A12), circuit card bracing frame (A16), electric system, the first cover drive system and the second cover drive system, upper support ring (A12), lower support ring (A9), circuit card bracing frame (A16) from top to bottom is installed in the housing (A2) successively, electric system, the first cover drive system and the second cover drive system all place in the housing (A2), electric system places on the circuit card bracing frame (A16), and housing (A2) lower end surface is connected with bottom cover (A8); It is characterized in that:
The described first cover drive system comprises first input media, first driving device and first output unit, first input media is first to contain planetary reduction gear motor (B13), first driving device comprises first miniature gears (A18), shaft gear (A22) and transmission shaft (A10), and described first output unit is bolt collar (A4); First contains planetary reduction gear motor (B13) is fixed on the lower support ring (A9), first miniature gears (A18) is fixed on first and contains on the output shaft of planetary reduction gear motor (B13), shaft gear (A22) is installed on the transmission shaft (A10), first miniature gears (A18) and shaft gear (A22) engagement, transmission shaft (A10) is supported by a pair of deep groove ball bearing (B5), described a pair of deep groove ball bearing (B5) is embedded into respectively on lower support ring (A9) and the upper support ring (A12), and bolt collar (A4) is by compression spring (B2), pressing plate (A3) is fixed on the transmission shaft (A10); When docking with the bolt cap of tool ends end, be embedded in the bolt collar (A4) by compressing compression spring (B2) and rotating drive shaft (A10) hook bolt that can make tool;
The described second cover drive system comprises second input media, be used for second driving device of tool ends end locking, be used for the electric coupler butt joint second driving device, be used for second output unit of tool ends end locking and be used for second output unit of electric coupler butt joint; Second input media is second to contain planetary reduction gear motor (B37); Second driving device that is used for tool ends end locking comprises second miniature gears (A17), major axis of cam gear (A21), major axis of cam (A25), minor axis of cam (A30), two cams (A6), two wire wheels (A26) and steel wire (B25), and second output unit that is used for tool ends end locking is that two lockings refer to (A5); Second driving device that is used for the electric coupler butt joint comprises described second miniature gears (A17), described major axis of cam gear (A21) and two cover crank connecting rod mechanisms, and second output unit that is used for the electric coupler butt joint is slide block (A13);
Second contains planetary reduction gear motor (B37) is fixed on the motor cabinet (A7), motor cabinet (A7) is fixed on the lower support ring (A9), second miniature gears (A17) is fixed on second and contains on the output shaft of planetary reduction gear motor (B37), major axis of cam gear (A21) is installed on the major axis of cam (A25), second miniature gears (A17) and major axis of cam gear (A21) engagement, major axis of cam (A25) is supported by pair of bearings (B22), bearing (B22) is embedded in the corresponding bearing seat (A24), major axis of cam (A25) is realized axial location by major axis of cam roller bearing end cap (A29), major axis of cam roller bearing end cap (A29) is fixed on the bearing seat (A24), bearing seat (A24) is fixed on the lower support ring (A9), minor axis of cam (A30) also is supported on the bearing seat (A24) by pair of bearings (B22), and by minor axis of cam roller bearing end cap (A31) realization axial restraint, on major axis of cam (A25) and the minor axis of cam (A30) cam (A6) is installed respectively; Major axis of cam (A25) and minor axis of cam (A30) top respectively are provided with a locking and refer to axle (A35), each locking refers to that (A5) is supported in locking by plain bearing (B34) and refers to that axle (A35) upward and by back-up ring (A36) realizes axial location, each locking refers to that axle (A35) is fixed on the corresponding spindle seat (A40), spindle seat (A40) is fixed on the upper support ring (A12), each locking refers to that the root of (A5) is equipped with roller (A27), roller (A27) is installed on the corresponding roller axle (A42) by plain bearing (B33), and roller (A27) is adjacent to all the time on cam (A6); Profile by cam (A6) makes locking refer to (A5) by designed regular movement, thereby allows cam driven refer to motion from locking, and tool ends end interface (A1) is pressed on the housing (A2); Be fixed with a wire wheel (A26) respectively on major axis of cam (A25) and the minor axis of cam (A30), major axis of cam (A25) side wire wheel (A26) drives minor axis of cam (A30) side wire wheel (A26) by steel wire (B25) and rotates, and through the steel wire transmission input torque on the major axis of cam (A25) is passed to minor axis of cam (A30);
Every cover crank connecting rod mechanism comprises crank (A20) and connecting rod (A19), the crank (A20) of one cover crank connecting rod mechanism is fixed on the major axis of cam (A25), one end of connecting rod (A19) is connected by bearing pin (A32) with crank (A20), go up the position that links to each other with connecting rod (A19) at bearing pin (A32) and place plain bearing (B41), two cover crank connecting rod mechanism symmetric arrangement, the connection locate mode of the another set of piston crank mechanism that is driven by minor axis of cam (A30) is identical with a side of major axis of cam (A25); Slide block (A13) is connected with the other end of two connecting rods (A19), and electric coupler (B15) is housed on the slide block (A13).
2. space robot track tool changing apparatus according to claim 1 is characterized in that: locking refers to that the rise of (A5) can compaction tool end interface (A1); Refer to that in locking (A5) far stops journey, cam (A6) can dally, to realize the butt joint of electric coupler interface.
3. space robot track tool changing apparatus according to claim 1, it is characterized in that: the limit switch of the described second cover drive system adopts Hall element (B35), Hall element (B35) is bonded on the top back-up block (A23) of bearing seat (A24) by splicing, magnet steel (B36) is set in major axis of cam gear (A21) side, the second cover drive system adopts potentiometer (B40) to be used for the absolute location sensing, and potentiometer (B40) is welded on the pcb board.
4. according to claim 1,2 or 3 described space robot track tool changing apparatus, it is characterized in that: the interface of the housing of track tool changing apparatus (A2) is circular conical surface; Have the cylindrical hole that bigger pose tolerance is provided for the two butt joint on the sidewall of tool ends end interface (A1); Stretch out two interior cylinders of cone tank that may be stuck in tool ends end interface (A1) on the conical surface of housing (A2), housing (A2) and tool ends end interface (A1) are not relatively rotated, the realization relative pose is fixed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110230832 CN102390548B (en) | 2011-08-12 | 2011-08-12 | Space robot orbit tool replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110230832 CN102390548B (en) | 2011-08-12 | 2011-08-12 | Space robot orbit tool replacing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102390548A CN102390548A (en) | 2012-03-28 |
| CN102390548B true CN102390548B (en) | 2013-09-04 |
Family
ID=45857973
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110230832 Active CN102390548B (en) | 2011-08-12 | 2011-08-12 | Space robot orbit tool replacing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102390548B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103358325B (en) * | 2013-06-28 | 2015-04-29 | 哈尔滨工业大学 | Orbit tool changer based on grooved wheel mechanism |
| CN103386688B (en) * | 2013-07-30 | 2015-03-11 | 哈尔滨工业大学 | Tool replacing device for tail end of space robot |
| CN103406472B (en) * | 2013-08-12 | 2015-03-11 | 无锡威华电焊机制造有限公司 | Lifting mechanism of steel bar truss bending component |
| CN104816311B (en) * | 2015-04-20 | 2016-08-31 | 哈尔滨工业大学 | A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit |
| CN105382845B (en) * | 2015-12-23 | 2017-03-22 | 北京控制工程研究所 | Tail-end tool replacing device and replacing method for space manipulator |
| CN109760858B (en) * | 2018-12-18 | 2022-08-05 | 上海航天控制技术研究所 | Two-degree-of-freedom decoupling space adhering claw transmission device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3051327A (en) * | 1961-04-14 | 1962-08-28 | Us Industries Inc | Automatic manipulator apparatus |
| US5320395A (en) * | 1992-09-25 | 1994-06-14 | Oceaneering International, Inc. | Microconical interface fitting and interface grasping tool |
| US5466025A (en) * | 1993-01-15 | 1995-11-14 | Canadian Space Agency/Agence Spatiale Canadienne | End effector clamping jaw interface for attachment to an orbital replacement unit |
| CN101722509A (en) * | 2009-11-30 | 2010-06-09 | 哈尔滨工业大学 | Electrical connection integrated mechanism for locking space |
| CN101872918A (en) * | 2010-06-24 | 2010-10-27 | 哈尔滨工业大学 | Electromechanically connected quick-change connector for space in-orbit replaceable component |
| CN102107433A (en) * | 2010-12-31 | 2011-06-29 | 哈尔滨工业大学 | Space robot joint with on-track replaceable key component |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6929591B2 (en) * | 2002-12-16 | 2005-08-16 | Macdonald, Dettwiler And Associates Inc. | Tool storage holster |
-
2011
- 2011-08-12 CN CN 201110230832 patent/CN102390548B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3051327A (en) * | 1961-04-14 | 1962-08-28 | Us Industries Inc | Automatic manipulator apparatus |
| US5320395A (en) * | 1992-09-25 | 1994-06-14 | Oceaneering International, Inc. | Microconical interface fitting and interface grasping tool |
| US5466025A (en) * | 1993-01-15 | 1995-11-14 | Canadian Space Agency/Agence Spatiale Canadienne | End effector clamping jaw interface for attachment to an orbital replacement unit |
| CN101722509A (en) * | 2009-11-30 | 2010-06-09 | 哈尔滨工业大学 | Electrical connection integrated mechanism for locking space |
| CN101872918A (en) * | 2010-06-24 | 2010-10-27 | 哈尔滨工业大学 | Electromechanically connected quick-change connector for space in-orbit replaceable component |
| CN102107433A (en) * | 2010-12-31 | 2011-06-29 | 哈尔滨工业大学 | Space robot joint with on-track replaceable key component |
Non-Patent Citations (2)
| Title |
|---|
| 徐文福，梁斌，李成，刘宇.空间机器人捕获非合作目标的测量与规划方法.《机器人》.2010,第32卷(第1期),61-69. * |
| 王捷,谢宗武,蒋再男,刘业超,刘宏.卫星在轨自维护地面平台自主操作.《吉林大学学报(工学版)》.2008,第38卷(第5期),1231-1236. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102390548A (en) | 2012-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102390548B (en) | Space robot orbit tool replacing device | |
| KR101304175B1 (en) | Apparatus for generating fixing force for robot for inspecting cable | |
| CN106963160B (en) | A kind of four-freedom hybrid motion platform and dynamic simulating device | |
| CN102962848A (en) | Three-degree-of-freedom parallel mechanism for wrists and shoulders of robot | |
| CN101687598B (en) | Torque arm assembly for a backstopping clutch | |
| CN104608923A (en) | Honeycomb-type six-rotor transport aircraft | |
| CN104104180A (en) | Linear actuator | |
| CN101568387A (en) | Roller mill | |
| CN103935531A (en) | Two-dimensional vector adjusting mechanism | |
| CN104227412A (en) | Device for installing gearbox valve body | |
| CN103358325B (en) | Orbit tool changer based on grooved wheel mechanism | |
| CN102930938B (en) | Live center mechanism of cabling machine cradle | |
| CN204075705U (en) | For installing the device of gearbox valve body | |
| CN103818492B (en) | A kind of wheel leg compound carrying robot | |
| CN101623859A (en) | Assembly and disassembly device for elliptical manhole cover plate of pressure vessel | |
| CN102653098A (en) | Head gripper linking mechanism of plug-in machine | |
| CN110406668A (en) | A kind of easy to maintain solar energy unmanned plane with pooling feature | |
| CN103592120B (en) | Retarder test stand efficient equal-height adjusting means | |
| CN203332081U (en) | Rapid assembling and disassembling mechanism | |
| CN202140758U (en) | Multi-angle rotating and lodging device | |
| CN102837832A (en) | Connecting device for effective load of modularized spacecraft | |
| CN110345236A (en) | A kind of deceleration device of integrated arrestor | |
| CN201264203Y (en) | Quick-dismantling and quick-changing device of polishing wheel | |
| CN2936369Y (en) | Power driving module for model airplane | |
| CN109774821A (en) | Clamping device is used in a kind of assembly of automotive seat |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |