CN105519253B - A kind of modularization allosteric type spacecraft general module - Google Patents

Abstract

The invention discloses a kind of modularization allosteric type spacecraft general module, comprise template module body and four joints, template module body bottom profile is square, side is semicircle cambered surface, respectively there are an oblong breach in four limit central authorities, and for laying joint, intermediate rest space is load storehouse; Described joint is column, cross sectional shape towards template module body one side is semicircle, relative another side is plane, there is axle at joint two ends, stretch in template module body, and can do 180 ° around axle relative to template module body and rotate, connection and lockout mechanism is provided with in plane, when two joints planar registration and when fitting, the connection in joint and lockout mechanism interact, and complete connection.The present invention can realize the connection of intermodule, disconnection, relative rotation motion of driving system, can when not by realizing complicated structural remodeling when attitude control system or mechanical arm.<pb pnum="1" />

Description

A kind of modularization allosteric type spacecraft general module

Technical field

The present invention relates to a kind of general module structure design of modularization allosteric type spacecraft.

Background technology

At present, the many employings of modularization spacecraft two kinds of organizational forms: one be intermodule by different types of chain connection, hinge provides the relative motion degree of freedom of fixed type, but hinge can not disconnect, the annexation of modules is fixed, and the structure of whole system is fixed; Make in this way, system can only reach several configurations designed in advance, and structural remodeling is limited in one's ability, and more difficult realization is increased by module, subtracts, replaces and reach the functional reconstruct such as malfunctioning module abandons, function enhancing, task change.Another kind is that intermodule is connected by rigidity mating interface, and modules can disconnect completely, but the module after connecting does not possess relative motion degree of freedom; Make in this way, although system has the re-configurability of maximum degree of freedom, the docking of module, disconnection process often need the attitude control system by module self, or mechanical arm system, and implementation procedure is more complicated, and consumed energy is larger.

Summary of the invention

In order to overcome the contradiction between prior art structural remodeling ability and structural remodeling implementation complexity, the present invention proposes a kind of modularization allosteric type spacecraft general module, module there is multiple bindiny mechanism having rotational freedom, the module be connected can carry out relative rotation motion of driving system, under keeping system is holistic prerequisite, can by the connection of different bindiny mechanism, disconnect, realize the change of intermodule annexation, whole process is without the need to by attitude control system or mechanical arm, simple implementation is used to realize degree of freedom structural remodeling ability high as far as possible, for diversified AEROSPACE APPLICATION in future provides a kind of spacecraft platform of dexterity.

The technical solution adopted for the present invention to solve the technical problems is: comprise template module body and four joints; Described template module body bottom profile is square, and side is semicircle cambered surface, and respectively there are an oblong breach in four limit central authorities, and for laying joint, intermediate rest space is load storehouse; Described joint is column, cross sectional shape towards template module body one side is semicircle, relative another side is plane, there is axle at joint two ends, stretch in template module body, and can do 180 ° around axle relative to template module body and rotate, connection and lockout mechanism is provided with in plane, when two joints planar registration and when fitting, the connection in joint and lockout mechanism can interact, and complete connection.

The invention has the beneficial effects as follows: the general module structure of the modularization allosteric type spacecraft that the present invention proposes, be equipped with 4 in four limit central authorities and can make 180 ° of jointings rotated, the connection of intermodule, disconnection, relative rotation motion of driving system can be realized, due to Redundancy Design and the symmetric configuration of joint, do not require when joint is separated that corresponding module and whole system disconnect mechanical connection completely, therefore can when not by realizing complicated structural remodeling when attitude control system or mechanical arm.

Accompanying drawing explanation

Fig. 1 is the overall structure of general module;

Fig. 2 is template module body;

Fig. 3 is connector;

Fig. 4 (a) ~ Fig. 4 (g) is the process signal of embodiment 1;

Fig. 5 (a) ~ Fig. 5 (e) is the process signal of embodiment 2:

In figure, 1-template module body, the public bindiny mechanism of 2-, the female bindiny mechanism of 3-, 4-semicircle cambered surface, 5-oblong breach, 6-joint face.

Detailed description of the invention

The present invention includes template module body, 2 public connectors, 2 female connectors; Wherein said template module body bottom profile is square, and side is semicircle cambered surface, and respectively there are an oblong breach in four limit central authorities, and for laying joint, and opposite side joint is all male or is all mother, and intermediate rest space is used for laying other functions or task component; Described joint is column, outline cross sectional shape is put together with half square for semicircle, there is axle at two ends, stretch in mould plate, and can do 180 ° of rotations around axle counter mould plate, joint side is joint face, connection, lockout mechanism is provided with in joint, when box to pin joint face aligns and fits, the mechanism in joint can interact, and completes connection; Because module board side is semicircle cambered surface, when joint pivots, it is outside that joint joint face is in module board appearance profile all the time completely, no matter namely what position joint rotates to, all can be interconnected with other joint.

Below in conjunction with drawings and Examples, the present invention is further described.

Following examples use the general module of varying number to realize, and general module comprises Ge Mu bindiny mechanism 3 of template module body 1,2 Ge Gong bindiny mechanism 2,2; Wherein bindiny mechanism's male and female is paired, when joint face just pair time, can reliably connect; Described template module body 1 bottom profile is square, and side is that semicircle cambered surface 4, four limit central authorities respectively have an oblong breach 5, for laying joint, avoid interference its motion, and the joint that opposite side is installed is all or is all mother male, intermediate rest space is used for laying other functions or task component; Described joint is column, outline cross sectional shape is put together with half square for semicircle, there is axle at two ends, stretch in mould plate, and can do 180 ° of rotations around axle counter mould plate, joint side is joint face 6, connection, lockout mechanism is provided with in joint, when box to pin joint face aligns and fits, the mechanism in joint can interact, and completes connection; Because module board side is semicircle cambered surface, when joint pivots, it is outside that joint joint face is in module board appearance profile all the time completely, no matter namely what position joint rotates to, all can be interconnected with other joint.

Embodiment 1:

This example as shown in Figure 4, comprises a system be made up of 2 pieces of general modules, by some simple mode of motion, illustrates that the present invention realizes the base model of system architecture reconstruct.

As shown in Fig. 4 (a), initial condition module a and module b is interconnected by joint 9 and joint 14, and 2 modules are in flush position, and joint 7,9,11,13 is male joint, and joint 8,10,12,14 is female joint, and system of axes is fixed on module a; Joint 9, around parallel x-axis direction half-twist, makes module b upwards overturn, and 2 modules will become state shown in Fig. 4 (b); Swivel 7,8,10, makes its joint face concordant with module a upper surface, swivel 11,12,13, make its joint face concordant with module b left surface, then joint 14 is around parallel x-axis direction half-twist, and module b is overturn downwards from the left side, and 2 modules will become state shown in Fig. 6; Under Fig. 4 (c) state, can jointing 7,12, break connector 9,14, by the process with the process contrary from Fig. 4 (a) to Fig. 4 (c), is transformed to state shown in Fig. 4 (d); Or can jointing 10,11, break connector 9,14, by similar procedure, is transformed to state shown in Fig. 4 (e); Can jointing 8,13, break connector 9,14, by similar procedure, is transformed to state shown in Fig. 4 (f); From the process that Fig. 4 (a) upwards stirs to Fig. 4 (c) for module b, similarly, module b also can stir downwards, completes the process from Fig. 4 (a) to Fig. 4 (g).

Embodiment 2:

The present embodiment as shown in Figure 5, comprises a modularization spacecraft be made up of 6 pieces of general modules, by a series of conversion, becomes cube structure from strip structure, the process for complicated allosteric type situation is described.

As shown in Fig. 5 (a), initial condition 6 module becomes chain to connect, every two intermodules all lean on pair of joint to connect, joint 15,17,19,21,23,25,27,29,31,33,35,37 is male joint, joint 16,18,20,22,24,26,28,30,32,34,36,38 is female joint, and system of axes is fixed on module d; By the process described in detail in embodiment 1, module a, f upwards overturn, and whole system becomes state shown in Fig. 5 (b); Jointing 18,21, and joint 32,35, break connector 17,22, and joint 33,38, joint 18,21 respectively rotates 45 °, and equally, joint 32,35 also respectively rotates 45 °, module a, f is holded up, and becomes state shown in Fig. 5 (c); Joint 20,23 respectively rotates 45 °, joint 28,31 respectively rotates 45 °, become state as Suo Shi Fig. 5 (d), before rotateing in place, the orientation of joint 15,26,27,36 need be adjusted, when rotation is completed, joint 15,26 joint face is bonded to each other, and joint 27,36 joint face is bonded to each other; Joint 25,30 respectively rotates 45 °, adjusts the orientation of joint 16,17,22,19,24,37,38,33,34,28 simultaneously, becomes state shown in Fig. 5 (e), and ensures that the joint face of the pair of joint contacted is facing each other.In whole process, the pair of joint contacted is always a male joint and a female joint, can connect.

Described male joint mechanism comprises and connects projection, connecting rod, tooth bar, gear, motor, and connecting rod, tooth bar, gear and motor are fixing in the enclosure; Described shell be semicircle towards the cross sectional shape of rotational motion control mechanism one side, is plane, plane has through hole towards female joint mechanism one side, motor driven gear rotation, and then is stretched out from through hole by tooth bar and the connecting rod band projection that is dynamically connected or retracted; Shell two ends are hinged on rotational motion control mechanism; The head of described connection projection is wedge shape, and has bar-shaped trough, and middle part has the square lock slots that width is greater than bar-shaped trough;

Described female joint mechanism comprises leading screw, lock slider, bearing, belt wheel, Timing Belt and motor, all fixes in the enclosure; Described shell is semicircle towards the cross sectional shape of rotational motion control mechanism one side, is plane, plane has link slot towards male joint mechanism one side; Motor drives screw turns by Timing Belt, and leading screw both sides thread rotary orientation is contrary, drives lock slider along leading screw simultaneously to two lateral movements or simultaneously to central motion, namely lock slider slips into or skids off link slot; The cross section of described lock slider conforms to the square lock slots size being connected projection;

Rotational motion control mechanism comprises belt wheel, Timing Belt, axle and motor, all fixes in the enclosure; Described shell is cuboid, and the groove conformed to male joint mechanism or female joint mechanism is left in side, and this side is semicircle cambered surface; Motor drives male joint mechanism or female joint mechanism to rotate around jointed shaft by Timing Belt and axle;

During connection, the plane of male joint mechanism and female joint mechanism is fitted, two joint alignment; Electric machine rotation in male joint mechanism, release and connect the link slot that projection inserts female joint mechanism, connecting projection head is wedge shape, can eliminate the alignment error of two joints during insertion within the specific limits; After connection projection inserts link slot completely, electric machine rotation in female joint mechanism, promotes lock slider and inserts in the lock slots of connection projection, completes to connect locking; Afterwards, the rotational motion control mechanism in male joint mechanism and female joint mechanism can carry out rotational motion respectively, and the module connected to make it produces relative motion.

Claims (1)

1. a modularization allosteric type spacecraft general module, comprise template module body, two male joints and two female joints, it is characterized in that: described template module body bottom profile is square, side is semicircle cambered surface, respectively there are an oblong breach in four limit central authorities, for laying joint, the joint that opposite side is installed is all male or is all mother, and the intermediate rest space of template module body is load storehouse; Described joint is column, cross sectional shape towards template module body one side is semicircle, relative another side is plane, there is axle at joint two ends, stretch in template module body, and can do 180 ° around axle relative to template module body and rotate, connection and lockout mechanism is provided with in plane, when two joints planar registration and when fitting, the connection in joint and lockout mechanism interact, and complete connection.