CN105953666A - Space docking error compensation mechanism - Google Patents
Space docking error compensation mechanism Download PDFInfo
- Publication number
- CN105953666A CN105953666A CN201610008682.XA CN201610008682A CN105953666A CN 105953666 A CN105953666 A CN 105953666A CN 201610008682 A CN201610008682 A CN 201610008682A CN 105953666 A CN105953666 A CN 105953666A
- Authority
- CN
- China
- Prior art keywords
- frame structure
- guide rod
- connector
- panel
- error compensation
- 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.)
- Granted
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F42—AMMUNITION; BLASTING
- F42B—EXPLOSIVE CHARGES, e.g. FOR BLASTING, FIREWORKS, AMMUNITION
- F42B15/00—Self-propelled projectiles or missiles, e.g. rockets; Guided missiles
- F42B15/36—Means for interconnecting rocket-motor and body section; Multi-stage connectors; Disconnecting means
Abstract
The invention relates to the technical field of carrier rocket ground refueling devices, and particularly discloses a space docking error compensation mechanism. The space docking error compensation mechanism includes an integrated connector panel, a frame structure, four connection rod devices, four multi-degree of freedom joint devices and a reference panel; the four connection rod devices are symmetrically distributed in the inner part of the frame structure; the integrated connector panel is connected to the frame structure through the four connection rod devices; and the frame structure is connected to the reference panel through the four multi-degree of freedom joint devices. According to the technical scheme, the execution mechanism is flexibly connected the integrated connector panel, damage to the connector structures and a rocket structure due to position and angle errors existing between the reference panel and a movable door panel can be avoided during docking, moving, and falling of the connector system.
Description
Technical field
The present invention relates to carrier rocket ground filing provision technical field, particularly relate to a kind of space articulation error
Compensation mechanism.
Background technology
In terms of carrier rocket ground loading system adapter, in order to realize the automatic of adapter and carrier rocket
Change docking and come off, it is to avoid dock and swing produced centering and servo-actuated with the wind due to rocket body in filling process
Difficulty, first has to solve designed automatic butt umbilical connector system in docking, servo-actuated and came off
The position existed between benchmark panel and valve panel in journey and angular error, it is to avoid caused by above-mentioned deviation
The destruction of connector construction and rocket body structure.
Disclosed in Chinese invention patent CN104596363A description, a kind of carrier rocket connector system is empty
Between butting error compensation mechanism, including 6 spring conductor rod devices, 12 spherical hinges, connector panel and
Suspension platform, above compensation mechanism can compensate above-mentioned deviation, but, it is the 6-SPS mechanism of general type,
The regulation of each spherical hinge directly influences 6 degree of freedom, and initial pose is difficult to regulation, it addition, spring ginseng
The bad coupling of number, if connector panel has mass eccentricity, is then difficult to choose suitable spring parameter, furthermore,
Use multiple spherical hinge, owing to spherical hinge exists gap, easily produce pose deviation, simultaneously the turning of spherical hinge
Angle is restricted, makes compensation range be restricted.
In view of problem above, it is necessary to design the space pair for carrier rocket connector system of a kind of improvement
Meet error compensation mechanism.
Summary of the invention
The present invention provides the space articulation error compensation mechanism of a kind of simple in construction, its objective is: will perform machine
Structure flexibly connects with integrated connector panel, it is to avoid due to connector system docking, servo-actuated and
The position and the angular error that exist between benchmark panel and valve panel during coming off and cause adapter to be tied
Structure and the destruction of rocket body structure, be effectively improved the automaticity of connector system.
For reaching above-mentioned purpose, the technical solution used in the present invention is: a kind of space articulation error compensation mechanism,
Including: integrated connector panel, frame structure, four linkages, four multi-freedom joint devices
With benchmark panel, four linkages are symmetrically distributed in the inside of frame structure, described integrated connector face
It is connected by four linkages between plate with frame structure, passes through between described frame structure and benchmark panel
Four multi-freedom joint devices connect.
Described linkage includes corrugated tubing, the first guide rod, the second guide rod, spring and folding shape connecting plate, institute
State one end of the first guide rod and one end of the second guide rod all with the external screw thread adaptive with corrugated tubing, the first guide rod
Threadeding with the two ends of corrugated tubing respectively with the second guide rod, wherein the other end of the first guide rod wears framework knot
One side frame of structure, the other end of the second guide rod is provided with baffle plate, and the scuncheon of described frame structure is provided with use
In supporting the support member of the second guide rod, described spring housing is located on the second guide rod, and the side of described corrugated tubing sets
Put the through hole run through up and down, and the groove that can wear folding shape connecting plate be set in the direction vertical with through hole,
By connector, folding shape connecting plate is rotationally connected with corrugated tubing.
It is solid that described multi-freedom joint device includes positioning nut, moving slide block, connector, spring and two
Determining block, one end of described moving slide block is connecting rod, and the other end end of connecting rod wears with external screw thread, connecting rod
Being arranged with spring on through hole on substrate and connecting rod, location nut is connected with the end thread of connecting rod, described company
Fitting is located at inside slide block, and the center of connector is provided with the through hole for being connected with the connecting shaft in frame structure,
The two ends of connector are two optical axises, and connector is connected by two fixed blocks with moving slide block.
The four direction in described one face of benchmark panel is respectively equipped with and fills mutually with four multi-freedom joint devices
The chute joined.
After using above technical scheme, the present invention compared with prior art has the advantage that
1, the simple in construction of this space articulation error compensation mechanism, lightweight, it is simple to arrange various filler pipe
Road, in docking, servo-actuated and can swing and reverse brought small because of rocket body by effective compensation during coming off
Differential seat angle and alternate position spike, automaticity is high.
2, to compensate motion more clearly demarcated for each degree of freedom of this space articulation error compensation mechanism, and each degree of freedom
Compensation dosage is bigger, especially upper and lower and Anterior-Posterior.
3, the initial pose static balance state of this space articulation error compensation mechanism can easily be accommodated, it is only necessary to adjusts
Spring on joint linkage.
4, compared to existing technology, when needing identical pose compensation dosage, this space articulation error compensation machine
Structure is less to the additional force of charging valve panel on rocket.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of a kind of space articulation error compensation mechanism；
Accompanying drawing 2 is the decomposition texture schematic diagram of a kind of space articulation error compensation mechanism；
Accompanying drawing 3 is the structural representation of the linkage of a kind of space articulation error compensation mechanism；
Accompanying drawing 4 is the partial enlargement structural representation of a kind of space articulation error compensation mechanism.
Wherein, 1. integrated connector panel 2. frame structure 3. linkage 301. corrugated tubing 302. first
Guide rod 303. second guide rod 304. folding shape connecting plate 305. baffle plate 4. multi-freedom joint device 401. positions
Nut 402. moving slide block 403. connector 404. fixed block 405. connecting rod 406. optical axis 5. benchmark panel 6.
Support member 7. chute 8. connecting shaft
Detailed description of the invention
Below in conjunction with the accompanying drawings and embodiment the invention will be further described:
As shown in Figures 1 to 4, a kind of space articulation error compensation mechanism, including: integrated connector face
Plate 1, frame structure 3, four multi-freedom joint devices 4 of 2, four linkages and benchmark panel 5,
For reducing volume, four linkages 3 are symmetrically distributed in the inside of frame structure 2, and described integrated form connects
It is connected by four linkages 3 between device panel 1 with frame structure 2, described frame structure 2 and benchmark
Connected by four multi-freedom joint devices 4 between panel 5.
Concrete, described linkage 3 include corrugated tubing the 301, first guide rod the 302, second guide rod 303,
Spring and folding shape connecting plate 304, one end of described first guide rod 302 and one end of the second guide rod 303 all carry
Have and the external screw thread of corrugated tubing 301 adaptation, the first guide rod 302 and the second guide rod 303 respectively with corrugated tubing 301
Two ends threaded, wherein the other end of the first guide rod 302 wears a side frame of frame structure 2,
The other end of two guide rods 303 is provided with baffle plate 305, and the scuncheon of described frame structure 2 is provided with for supporting
The support member 6 of the second guide rod 303, described spring housing is located on the second guide rod 303, described corrugated tubing 301
Side the through hole run through up and down is set, and arrange in the direction vertical with through hole and can wear folding shape connecting plate
The groove of 304, is rotationally connected with corrugated tubing 301 by connector 403 by folding shape connecting plate 304.
When the width dimensions of each frame of design framework structure 2, due to integrated connector panel 1 and framework
Structure 2 close together, and follow-up needs the in integrated connector panel 1 both sides install retaining mechanism, in order to
Reserve enough installing spaces to retaining mechanism, in the case of not affecting pipeline, circuit, should try one's best chi
Very little setting smaller.
Concrete, described multi-freedom joint device 4 includes positioning nut 401, moving slide block 402, connecting
Fitting 403, spring and two fixed blocks 404, one end of described moving slide block 402 is connecting rod 405, connecting rod
The other end end of 405 is with external screw thread, and connecting rod 405 wears on the through hole on substrate and connecting rod 405 sheathed
Having spring, location nut 401 to be connected with the end thread of connecting rod 405, described connector 403 is located at slide block
Inside, the center of connector 403 is provided with the through hole for being connected with the connecting shaft 8 in frame structure 2, even
The two ends of fitting 403 are two optical axises 406, and two fixed blocks 404 are by connector 403 and moving slide block 402
It is connected.
The four direction in described 5 one faces of benchmark panel is respectively equipped with and four multi-freedom joint device 4 phases
The chute 7 of assembling.
The function that this space articulation error compensation mechanism mainly realizes is that benchmark compared by integrated connector panel 1
Panel 5 has the compensating action of a six degree of freedom.Wherein, frame structure 2 relative datum panel 5, connection
Device panel opposing frame structure 2 respectively compensates the departure of three degree of freedom.It is described as follows: adapter
Panel opposing frame structure 2 is static, and frame structure 2 is by four groups of springs on multi-freedom joint device 4
It is synchronized with the movement, a position deviation can be compensated.Bullet in one group of relative multi-freedom joint device 4
Spring is static, the spring in another relative multi-freedom joint device 4 of group respectively when different directions moves,
Can realize the compensation of a rotational freedom, thus, this multi-freedom joint device 4 can realize two altogether
The compensation of individual rotational freedom.Equally, frame structure 2 relative datum panel 5 is static, four linkages
Four springs on 3 are synchronized with the movement, it is possible to achieve a position compensation.By two connecting rods on same axis
Spring in device 3 forms one group, then have two groups, and when one of which spring is compressed, another organizes spring
Time lax, it is possible to achieve a position freedom compensates.By relative for linea angulata paired in linkage 3 two
Spring forms one group, then have two groups, when one of which spring is compressed, during another group relaxing of spring, and can
To realize a rotational freedom compensation.Comprehensive the above, this mechanism can realize the benefit of six-freedom degree
Repay.
Above-described embodiment only for technology design and the feature of the present invention are described, its object is to allow and is familiar with this skill
The personage of art will appreciate that present disclosure and implements according to this, can not limit the protection model of the present invention with this
Enclose.All equivalence changes made according to spirit of the invention or modification, all should contain the protection in the present invention
Within the scope of.
Claims (4)
1. a space articulation error compensation mechanism, it is characterised in that: include integrated connector panel,
Frame structure, four linkages, four multi-freedom joint devices and benchmark panel, four linkages
It is symmetrically distributed in the inside of frame structure, by four between described integrated connector panel and frame structure
Linkage is connected, and is connected by four multi-freedom joint devices between described frame structure with benchmark panel.
A kind of space articulation the most according to claim 1 error compensation mechanism, it is characterised in that: institute
State linkage and include corrugated tubing, the first guide rod, the second guide rod, spring and folding shape connecting plate, described first
One end of guide rod and one end of the second guide rod are all with the external screw thread adaptive with corrugated tubing, the first guide rod and second
Guide rod is threadeded with the two ends of corrugated tubing respectively, and wherein the other end of the first guide rod wears the one of frame structure
Side frame, the other end of the second guide rod is provided with baffle plate, and the scuncheon of described frame structure is provided with for supporting
The support member of the second guide rod, described spring housing is located on the second guide rod, and the side of described corrugated tubing is arranged up and down
The through hole run through, and the groove that can wear folding shape connecting plate is set in the direction vertical with through hole, by even
Folding shape connecting plate is rotationally connected with corrugated tubing by fitting.
A kind of space articulation the most according to claim 1 error compensation mechanism, it is characterised in that: many
Degree-of-freedom joint device includes positioning nut, moving slide block, connector, spring and two fixed blocks, described
One end of moving slide block is connecting rod, and the other end end of connecting rod is with external screw thread, and connecting rod wears leading on substrate
Being arranged with spring on hole and connecting rod, location nut is connected with the end thread of connecting rod, and described connector is located at cunning
Inside block, the center of connector is provided with the through hole for being connected with the connecting shaft in frame structure, connector
Two ends are two optical axises, and connector is connected by two fixed blocks with moving slide block.
A kind of space articulation the most according to claim 3 error compensation mechanism, it is characterised in that: institute
The four direction stating one face of benchmark panel is respectively equipped with the cunning assembled mutually with four multi-freedom joint devices
Groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610008682.XA CN105953666B (en) | 2016-01-08 | 2016-01-08 | A kind of space articulation error compensation mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610008682.XA CN105953666B (en) | 2016-01-08 | 2016-01-08 | A kind of space articulation error compensation mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105953666A true CN105953666A (en) | 2016-09-21 |
| CN105953666B CN105953666B (en) | 2017-07-18 |
Family
ID=56917125
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610008682.XA Expired - Fee Related CN105953666B (en) | 2016-01-08 | 2016-01-08 | A kind of space articulation error compensation mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105953666B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100276A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of multiple degrees of freedom error-compensating apparatus |
| CN108488518A (en) * | 2018-05-04 | 2018-09-04 | 中国人民解放军国防科技大学 | Interface device for butt joint of gas-liquid filling pipeline and gas-liquid filling pipeline assembly |
| CN109297370A (en) * | 2018-09-30 | 2019-02-01 | 北京航天发射技术研究所 | A kind of flexible clamping type connector centralising device |
| CN114243374A (en) * | 2022-02-24 | 2022-03-25 | 中国空气动力研究与发展中心高速空气动力研究所 | Automatic plugging device with six degrees of freedom and self-adaptive position and posture adjustment and calibration method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6257957B1 (en) * | 1999-12-01 | 2001-07-10 | Gerber Coburn Optical Inc. | Tactile feedback system |
| CN101016971A (en) * | 2006-12-30 | 2007-08-15 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
| CN101387889A (en) * | 2008-10-16 | 2009-03-18 | 上海交通大学 | Three freedom degree position and pose regulating and error compensating apparatus |
| CN102717381A (en) * | 2012-06-06 | 2012-10-10 | 北京理工大学 | Method and device for compensating body posture angle errors of humanoid robot |
| US8794098B2 (en) * | 2010-10-27 | 2014-08-05 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Parallel robot |
| CN104596363A (en) * | 2015-02-06 | 2015-05-06 | 南京理工大学 | Space docking error compensation mechanism of carrier rocket connector system |
| CN205300400U (en) * | 2016-01-08 | 2016-06-08 | 赵纯 | Space butt joint error compensation mechanism |
-
2016
- 2016-01-08 CN CN201610008682.XA patent/CN105953666B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6257957B1 (en) * | 1999-12-01 | 2001-07-10 | Gerber Coburn Optical Inc. | Tactile feedback system |
| CN101016971A (en) * | 2006-12-30 | 2007-08-15 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
| CN101387889A (en) * | 2008-10-16 | 2009-03-18 | 上海交通大学 | Three freedom degree position and pose regulating and error compensating apparatus |
| US8794098B2 (en) * | 2010-10-27 | 2014-08-05 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Parallel robot |
| CN102717381A (en) * | 2012-06-06 | 2012-10-10 | 北京理工大学 | Method and device for compensating body posture angle errors of humanoid robot |
| CN104596363A (en) * | 2015-02-06 | 2015-05-06 | 南京理工大学 | Space docking error compensation mechanism of carrier rocket connector system |
| CN205300400U (en) * | 2016-01-08 | 2016-06-08 | 赵纯 | Space butt joint error compensation mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100276A (en) * | 2017-12-03 | 2018-06-01 | 中国直升机设计研究所 | A kind of multiple degrees of freedom error-compensating apparatus |
| CN108100276B (en) * | 2017-12-03 | 2021-07-23 | 中国直升机设计研究所 | Multi freedom error compensation device |
| CN108488518A (en) * | 2018-05-04 | 2018-09-04 | 中国人民解放军国防科技大学 | Interface device for butt joint of gas-liquid filling pipeline and gas-liquid filling pipeline assembly |
| CN109297370A (en) * | 2018-09-30 | 2019-02-01 | 北京航天发射技术研究所 | A kind of flexible clamping type connector centralising device |
| CN109297370B (en) * | 2018-09-30 | 2020-09-18 | 北京航天发射技术研究所 | Elastic clamping type connector centering device |
| CN114243374A (en) * | 2022-02-24 | 2022-03-25 | 中国空气动力研究与发展中心高速空气动力研究所 | Automatic plugging device with six degrees of freedom and self-adaptive position and posture adjustment and calibration method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105953666B (en) | 2017-07-18 |
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Granted publication date: 20170718 Termination date: 20220108 |