CN102837832B - Connecting device for effective load of modularized spacecraft - Google Patents
Connecting device for effective load of modularized spacecraft Download PDFInfo
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- CN102837832B CN102837832B CN201210347393.4A CN201210347393A CN102837832B CN 102837832 B CN102837832 B CN 102837832B CN 201210347393 A CN201210347393 A CN 201210347393A CN 102837832 B CN102837832 B CN 102837832B
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Abstract
The invention discloses a connecting device for an effective load of a modularized spacecraft. The device mainly comprises an effective load component 1, a mounting bottom plate 2, a supporting sleeve 3, a reamed hole bolt 4, a guide pin shaft 6, a transmission component 7, a worm wheel and worm speed-down motor component 8 and a motor mounting plate 9. According to the connecting device, the worm wheel and the worm speed-down motor is used as a driving link, and gear and rack transmission is used, so that the integral structure is compact, the transmission efficiency is high and accurate control is facilitated; and the effective load is connected and disassembled in a mode that a wine bottle-shaped slot is combined with a fixed joint, so that a simple structure and easiness in implementation are realized. As a whole, compared with the prior art, the connecting device has the advantages of compact axial size, simple structure, stable work, capability of repeatedly realizing connection and disassembly of the effective load and the like, and is suitable for in-orbit replacement of the effective load of the modularized spacecraft.
Description
Technical field
The present invention relates to a kind of for realizing the mechanical connecting device that modularization spacecraft capacity weight is changed in-orbit.
Prior art
Modularization spacecraft proposes in recent years and the novel spacecraft of the one developed.Conventional spacecraft capacity weight is designed to the modular unit of standard, and by changing modular unit in-orbit, spacecraft completes the tasks such as fuel make up in-orbit, unit replacement, device upgrade, greatly improves spacecraft and serves in-orbit and space viability.And the mechanical connecting device between capacity weight and spacecraft occupies an important position in spacecraft module design process.
In existing Spacecraft guidance and control, bindiny mechanism mainly adopts rod-cone formula docking mechanism, and release gear then more adopts Fire load.Rod-cone formula docking mechanism structure is simple, lightweight; But relative to the modularization spacecraft of small volume, the axial dimension of rod-cone formula docking mechanism is comparatively large, cannot utilize spacecraft inner space rationally and effectively, thus be not suitable for connection and the replacing of modularization spacecraft capacity weight.Fire load spacecraft uses the earliest, most widely used release gear, has the advantages such as volume is little, lightweight, technology maturation, dependable performance; But Fire load control program when applying is strict, and concrete operations are loaded down with trivial details, impacts comparatively large during work and producing with pernicious gas, having had a strong impact on the normal work of spacecraft intra-payload.In addition, can not reuse after Fire load work, capacity weight cannot be met and change requirement in-orbit.
Summary of the invention
In existing Spacecraft guidance and control, connect, release gear exists many weak points, as axial dimension is comparatively large, during work, there is greater impact vibration, the problem such as after work, cannot to reuse.These factors not only have ignored modularization spacecraft and have the features such as volume is little, replaceable, and greatly hinder spacecraft capacity weight and complete replacing task timely and effectively, and then constrain the development of spacecraft module.
Therefore, it is less that object of the present invention invents a kind of axial dimension exactly, and structure is simple, and stable working is reliable, can repeat the modular mechanical connecting device realizing connecting in-orbit and dismantling capacity weight.
Technical scheme of the present invention is:
Consult Fig. 1-Fig. 9, modularization spacecraft capacity weight connecting device, mainly include effect load components 1, mounting base 2, stop sleeve 3, hinged bolts 4, guiding bearing pin 6, transmission component 7, Worm reduction motor assembly 8, motor mounting plate 9;
The installation end face of capacity weight assembly 1 is connected with permanent joint 11 and guide-localization bearing pin 12, end face center is provided with trigger switch pressure head 10;
Mounting base 2 is fixedly installed in spacecraft body, an end face of mounting base 2 leans on mutually with an end face of capacity weight assembly 1, this end face is distributed with a series of circular hole of running through and elongated slot, mainly comprises: turntable bearing assembly connection hole, permanent joint jack, guide-localization bearing pin jack, T-slot, hinged bolts connecting bore.The permanent joint 11 of capacity weight assembly 1 end face, guide-localization bearing pin 12 and trigger switch pressure head 10 pass respectively by the permanent joint jack on mounting base 2, guide-localization bearing pin jack and trigger switch pressure head through hole; Carry out regulating and centering when loading for the ease of module, can chamfering on described permanent joint jack and guiding bearing pin jack.
Stop sleeve 3, hinged bolts 4, guiding bearing pin 6, transmission component 7, Worm reduction motor assembly 8, motor mounting plate 9 other end of mounting base 2 be equipped with;
The outer race being fixed on the hinged bolts 4 on mounting base 2 has stop sleeve 3, for support motor adapter plate 9; Motor mounting plate 9 is for installing Worm reduction motor assembly 8, and hinged bolts 4, except having linkage function, also has positioning function, can be used for the connection and positioning realizing motor mounting plate 9.
Consult Fig. 4, described transmission component 7 mainly comprises tooth bar 5, miniature gears 13 and turntable bearing assembly 14.The form that miniature gears 13 is connected by key with the output shaft of Worm reduction motor assembly 8 coordinates, and realizes axial location between the end face of miniature gears 13 and output shaft end face with shaft end ring and screw.Turntable bearing assembly 14 is primarily of turntable bearing inner ring, ball and turntable bearing outer ring composition, the thickness of turntable bearing outer ring and inner ring is unequal, turntable bearing inner ring is fastened on mounting base 2, and miniature gears 13 and tooth bar 5 are all positioned at the periphery of turntable bearing outer ring and are all engaged with.
Each tooth bar 5 is connected with the guiding bearing pin 6 on it, and guiding bearing pin 6 can only corresponding T-slot linear movement on mounting base 2, makes tooth bar 5 also can only along T-slot straight-line motion.The bottle shape elongated slot that width is different is had in the middle part of tooth bar 5, the width of narrower part is identical with the thin neck place width of permanent joint 11 in capacity weight assembly 1, permanent joint 11 narrower part cannot pass from elongated slot, the width of elongated slot wider portion is more bigger than the head width of permanent joint 11 in capacity weight assembly 1, permanent joint 11 can from elongated slot wider portion mistake.
Worm reduction motor assembly 8 is primarily of motor and worm type of reduction gearing composition.The angle of spiral of worm screw is less than the equivalent friction angle of active flank, worm type of reduction gearing is made just to have self-locking property, this self-locking property ensure that Worm reduction motor in the event of a power failure, its output shaft can not rotate due to the effect of external force, thus realizes the positive lock of capacity weight assembly 1.
Use procedure one: the connection procedure of modularization spacecraft capacity weight connecting device
As shown in Figure 10, capacity weight assembly 1 is at plus load, as under the effect of mechanical arm etc., close to mounting base 2 from afar.Now, under the guide-localization effect of guide-localization bearing pin 12, permanent joint 11 successively on mounting base 2 on permanent joint jack, tooth bar 5 the broadside place of bottle shape elongated slot pass through; Until the through hole extruding Worm reduction motor switch of the trigger switch pressure head 10 of capacity weight assembly 1 end face on mounting base 2, start Worm reduction motor assembly 8.Worm reduction motor assembly 8 connects drive miniature gears 13 by key, power is by gear transmission and rack pinion, tooth bar 5 is delivered to successively from the external toothing of miniature gears 13, turntable bearing assembly 14, tooth bar 5 is under the directional tagging of guiding bearing pin 6, produce along T slot on mounting base 2 and move, the permanent joint 11 on tooth bar 5 on bottle shape elongated slot and capacity weight assembly 1 and the permanent joint jack generation relative displacement on mounting base 2.Worm reduction motor turns an angle automatic train stop, permanent joint jack now on mounting base 2 communicates with the narrow limit of bottle shape elongated slot on tooth bar 5, permanent joint 11 on capacity weight assembly 1 cannot pass through from the narrow limit of bottle shape elongated slot on tooth bar 5, capacity weight assembly 1 and mounting base 2 relative position are fixed, and complete the connection of capacity weight.
Use procedure two: the unloading process of modularization spacecraft capacity weight connecting device
Consult Figure 11, pass through signal control, Worm reduction motor assembly 8 reverses, Worm reduction motor assembly 8 connects drive miniature gears 13 by key, power is by gear transmission and rack pinion, tooth bar 5 is delivered to successively, elongated slot and permanent joint jack generation relative displacement on tooth bar 5 from miniature gears 13, turntable bearing external toothing.On mounting base 2, the relative position of permanent joint jack and bottle shape elongated slot on tooth bar 5 is communicated from narrow limit and becomes broadside and communicate, and permanent joint 11 can pass through from broadside.At plus load, as under the effect of mechanical arm etc., permanent joint 11 is extracted out from mounting base 2, and capacity weight assembly is separated with mounting base, completes dismounting.
Effect of the present invention is: described modularization spacecraft capacity weight connecting device uses Worm reduction motor as driving link, the advantages such as maturation, compact conformation and the dependable performance of possessing skills due to Worm reduction motor, ensure that reliability and the validity of propulsion source, Worm reduction motor has reverse self-locking when stopping simultaneously, ensure that the reliability that connecting device connects when motor stalling; Use ball turntable bearing, reduce frictional loss, improve driving efficiency; Use rack pinion, make compact overall structure, driving efficiency is high, is convenient to accurate control; Use the mode connection disassembling capacity weight that " bottle " shape elongated slot combines with permanent joint, structure is simple, is easy to realize.
As a whole, compare and prior art, it is compact that the present invention has axial dimension, and structure is simple, stable working, can repeat to realize the advantages such as the connection disassembling of capacity weight, be suitable for the replacing in-orbit of modularization spacecraft capacity weight.
Accompanying drawing explanation
Fig. 1 is the modularization spacecraft capacity weight connecting device axonometric drawing that the present invention proposes;
Fig. 2 is capacity weight assembly axonometric drawing;
Fig. 3 is mounting base axonometric drawing;
Fig. 4 is transmission component planar view;
Fig. 5 is motor mounting plate axonometric drawing;
Fig. 6 is rack shaft mapping;
Fig. 7 is guiding bearing pin axonometric drawing;
Fig. 8 is permanent joint axonometric drawing;
Fig. 9 is guide-localization bearing pin axonometric drawing;
Figure 10 is connecting device coupled condition axonometric drawing;
Figure 11 is connecting device disassembly status axonometric drawing;
Wherein: 1. capacity weight assembly; 2. mounting base; 3. stop sleeve; 4. hinged bolts; 5. tooth bar; 6. lead bearing pin; 7. transmission component; 8. Worm reduction motor assembly; 9. motor mounting plate; 10. trigger switch pressure head; 11. permanent joints; 12. guide-localization bearing pins; 13. miniature gearss; 14 turntable bearing assemblies.
Embodiment
Consult Fig. 1-Fig. 9, the modularization spacecraft capacity weight connecting device in the present embodiment mainly includes effect load components 1, mounting base 2, stop sleeve 3, hinged bolts 4, guiding bearing pin 6, transmission component 7, Worm reduction motor assembly 8, motor mounting plate 9;
The main body of capacity weight assembly 1 is six prism structures, and around hexagonal centre circumference uniform distribution three permanent joints 11 and three guide-localization bearing pins 12 on installation end face, permanent joint 11 and guide-localization bearing pin 12 are threaded connection and are arranged on six prismatic main; Be provided with trigger switch pressure head 10 at its end face center, under plus load effect, on mounting base 2, through hole extrudes the switch of correspondence position Worm reduction motor assembly 8, for starter motor.
Mounting base 2 is fixedly installed in spacecraft body, profile is the six prism configurations consistent with capacity weight assembly 1 six prism structure, it is distributed with a series of circular hole of running through and elongated slot, mainly comprises: turntable bearing assembly connection hole, permanent joint jack, guide-localization bearing pin jack, T-slot, hinged bolts connecting bore.An end face of mounting base 2 leans on mutually with an end face of capacity weight assembly 1, and the permanent joint 11 of capacity weight assembly 1 end face, guide-localization bearing pin 12 and trigger switch pressure head 10 pass respectively by the permanent joint jack on mounting base 2, guide-localization bearing pin jack and trigger switch pressure head through hole; It is carry out regulating and centering when loading for the ease of module that described permanent joint jack and guiding bearing pin jack are processed with chamfering.
Stop sleeve 3, hinged bolts 4, guiding bearing pin 6, transmission component 7, Worm reduction motor assembly 8, motor mounting plate 9 other end of mounting base 2 be equipped with;
The outer race being fixed on the hinged bolts 4 on mounting base 2 has stop sleeve 3, for support motor adapter plate 9; Motor mounting plate 9 is for installing Worm reduction motor assembly 8, and hinged bolts 4, except having linkage function, also has positioning function, can be used for the connection and positioning realizing motor mounting plate 9.
Consult Fig. 4, described transmission component 7 mainly comprises tooth bar 5, miniature gears 13 and turntable bearing assembly 14.The form that miniature gears 13 is connected by key with the output shaft of Worm reduction motor assembly 8 coordinates, and realizes axial location between the end face of miniature gears 13 and output shaft end face with shaft end ring and screw.Turntable bearing assembly 14 is primarily of turntable bearing inner ring, ball and turntable bearing outer ring composition, the thickness of turntable bearing outer ring and inner ring is unequal, turntable bearing inner ring is connected by screw and is fixed on mounting base 2, and miniature gears 13 and the uniform tooth bar 5 of three circumferences are all positioned at the periphery of turntable bearing outer ring and are all engaged with.
Each tooth bar 5 is together by a threaded connection with the guiding bearing pin 6 on it, and guiding bearing pin 6 can only corresponding T-slot linear movement on mounting base 2, makes tooth bar 5 also can only along T-slot straight-line motion.The bottle shape elongated slot that width is different is had in the middle part of tooth bar 5, the width of narrower part is identical with the thin neck place width of permanent joint 11 in capacity weight assembly 1, permanent joint 11 narrower part cannot pass from elongated slot, the width of elongated slot wider portion is more bigger than the head width of permanent joint 11 in capacity weight assembly 1, permanent joint 11 can from elongated slot wider portion mistake.
Worm reduction motor assembly 8 is primarily of motor and worm type of reduction gearing composition.The angle of spiral of worm screw is less than the equivalent friction angle of active flank, worm type of reduction gearing is made just to have self-locking property, this self-locking property ensure that Worm reduction motor in the event of a power failure, its output shaft can not rotate due to the effect of external force, thus realizes the positive lock of capacity weight assembly 1.
Use procedure one: the connection procedure of modularization spacecraft capacity weight connecting device
As shown in Figure 10, capacity weight assembly 1 is at plus load, as under the effect of mechanical arm etc., close to mounting base 2 from afar.Now, under the guide-localization effect of guide-localization bearing pin 12, permanent joint 11 successively on mounting base 2 on permanent joint jack, tooth bar 5 the broadside place of bottle shape elongated slot pass through; Until the through hole extruding Worm reduction motor switch of the trigger switch pressure head 10 of capacity weight assembly 1 end face on mounting base 2, start Worm reduction motor assembly 8.Worm reduction motor assembly 8 connects drive miniature gears 13 by key, power is by gear transmission and rack pinion, tooth bar 5 is delivered to successively from the external toothing of miniature gears 13, turntable bearing assembly 14, tooth bar 5 is under the directional tagging of guiding bearing pin 6, produce along T slot on mounting base 2 and move, the permanent joint 11 on tooth bar 5 on bottle shape elongated slot and capacity weight assembly 1 and the permanent joint jack generation relative displacement on mounting base 2.Worm reduction motor turns an angle automatic train stop, permanent joint jack now on mounting base 2 communicates with the narrow limit of bottle shape elongated slot on tooth bar 5, permanent joint 11 on capacity weight assembly 1 cannot pass through from the narrow limit of bottle shape elongated slot on tooth bar 5, capacity weight assembly 1 and mounting base 2 relative position are fixed, and complete the connection of capacity weight.
Use procedure two: the unloading process of modularization spacecraft capacity weight connecting device
Consult Figure 11, pass through signal control, Worm reduction motor assembly 8 reverses, Worm reduction motor assembly 8 connects drive miniature gears 13 by key, power is by gear transmission and rack pinion, tooth bar 5 is delivered to successively, elongated slot and permanent joint jack generation relative displacement on tooth bar 5 from miniature gears 13, turntable bearing external toothing.On mounting base 2, the relative position of permanent joint jack and bottle shape elongated slot on tooth bar 5 is communicated from narrow limit and becomes broadside and communicate, and permanent joint 11 can pass through from broadside.At plus load, as under the effect of mechanical arm etc., permanent joint 11 is extracted out from mounting base 2, and capacity weight assembly is separated with mounting base, completes dismounting.
Claims (1)
1. modularization spacecraft capacity weight connecting device, is characterized in that: comprise effective load components (1), mounting base (2), stop sleeve (3), hinged bolts (4), guiding bearing pin (6), transmission component (7), Worm reduction motor assembly (8), motor mounting plate (9);
The installation end face of capacity weight assembly (1) is connected with permanent joint (11) and guide-localization bearing pin (12), end face center is provided with trigger switch pressure head (10);
Mounting base (2) is fixedly installed in spacecraft body, an end face of mounting base (2) leans on mutually with the installation end face of capacity weight assembly (1), this end face of mounting base (2) is distributed with a series of circular hole of running through and elongated slot, comprises: turntable bearing assembly connection hole, permanent joint jack, guide-localization bearing pin jack, T-slot, hinged bolts connecting bore; The permanent joint (11) of capacity weight assembly (1) end face, guide-localization bearing pin (12) and trigger switch pressure head (10) pass respectively by the permanent joint jack on mounting base (2), guide-localization bearing pin jack and trigger switch pressure head through hole;
Stop sleeve (3), hinged bolts (4), guiding bearing pin (6), transmission component (7), Worm reduction motor assembly (8), motor mounting plate (9) other end of mounting base (2) be equipped with;
Hinged bolts (4) outer race be fixed on mounting base (2) has stop sleeve (3), for support motor adapter plate (9); Motor mounting plate (9) is for installing Worm reduction motor assembly (8);
Described transmission component (7) comprises multiple tooth bar (5), miniature gears (13) and turntable bearing assembly (14); The form that miniature gears (13) is connected by key with the output shaft of Worm reduction motor assembly (8) coordinates, and realizes axial location between the end face of miniature gears (13) and output shaft end face with shaft end ring and screw; Turntable bearing assembly (14) is made up of turntable bearing inner ring, ball and turntable bearing outer ring, the thickness of turntable bearing outer ring and inner ring is unequal, turntable bearing inner ring is fastened on mounting base (2), and miniature gears (13) and tooth bar (5) are all positioned at the periphery of turntable bearing outer ring and are all engaged with;
Each tooth bar (5) is connected with the guiding bearing pin (6) on it, the corresponding T-slot linear movement of guiding bearing pin (6) only on mounting base (2); Tooth bar (5) middle part has the different bottle shape elongated slot of width, and the width of narrower part is identical with the thin neck place width of permanent joint (11) in capacity weight assembly (1); The head width of the width permanent joint (11) middle than capacity weight assembly (1) of elongated slot wider portion is bigger;
Worm reduction motor assembly (8) is made up of motor and worm type of reduction gearing; The angle of spiral of worm screw is less than the equivalent friction angle of active flank.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347393.4A CN102837832B (en) | 2012-09-18 | 2012-09-18 | Connecting device for effective load of modularized spacecraft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210347393.4A CN102837832B (en) | 2012-09-18 | 2012-09-18 | Connecting device for effective load of modularized spacecraft |
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| CN102837832A CN102837832A (en) | 2012-12-26 |
| CN102837832B true CN102837832B (en) | 2015-01-28 |
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| CN201210347393.4A Active CN102837832B (en) | 2012-09-18 | 2012-09-18 | Connecting device for effective load of modularized spacecraft |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105151329B (en) * | 2015-09-02 | 2017-03-29 | 李新洪 | In-orbit replaceable module carries adaptor interface device, adaptation method and system |
| CN107628278A (en) * | 2017-07-31 | 2018-01-26 | 北京空间飞行器总体设计部 | With the autonomous in-orbit replaceable units being oriented to linkage function |
| CN110775305B (en) * | 2019-11-11 | 2023-03-14 | 西北工业大学 | Self-locking type plane connecting device of modular docking mechanism |
| CN112067230A (en) * | 2020-07-31 | 2020-12-11 | 中国航天空气动力技术研究院 | Lifting positioning mechanism |
| CN112520069A (en) * | 2020-12-11 | 2021-03-19 | 中国科学院沈阳自动化研究所 | Labor-saving device for track operation of load supporting frame in space station cabin |
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| US5125601A (en) * | 1991-12-26 | 1992-06-30 | The United States Of America As Represented By The Administrator, National Aeronautics And Space Administration | Payload retention device |
| US6206327B1 (en) * | 1999-03-31 | 2001-03-27 | Lockheed Martin Corporation | Modular spacecraft bus |
| CN201971170U (en) * | 2010-11-25 | 2011-09-14 | 西北工业大学 | Electromechanical integrated general butt joint device |
| CN202879803U (en) * | 2012-09-18 | 2013-04-17 | 西北工业大学 | Modularization spacecraft effective load connecting device |
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Effective date of registration: 20190516 Address after: 100089 Unit 908, 9 Floor, No. 16 Haidian Zhongjie, Haidian District, Beijing Patentee after: Beijing Kunfei Aerospace Technology Co., Ltd. Address before: 710072 No. 127 Youyi West Road, Shaanxi, Xi'an Patentee before: Northwestern Polytechnical University |
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