CN105953666B - A kind of space articulation error compensation mechanism - Google Patents
A kind of space articulation error compensation mechanism Download PDFInfo
- Publication number
- CN105953666B CN105953666B CN201610008682.XA CN201610008682A CN105953666B CN 105953666 B CN105953666 B CN 105953666B CN 201610008682 A CN201610008682 A CN 201610008682A CN 105953666 B CN105953666 B CN 105953666B
- Authority
- CN
- China
- Prior art keywords
- connector
- frame structure
- guide rod
- panel
- compensation mechanism
- 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.)
- Expired - Fee Related
Links
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
- Quick-Acting Or Multi-Walled Pipe Joints (AREA)
Abstract
The present invention relates to carrier rocket ground filing provision technical field, specifically disclose a kind of space articulation error compensation mechanism, it is characterized in that, including integrated connector panel, frame structure, four linkages, four multi-freedom joint devices and benchmark panel, four linkages are symmetrically distributed in the inside of frame structure, it is connected between the integrated connector panel and frame structure by four linkages, connected between the frame structure and benchmark panel by four multi-freedom joint devices, after above technical scheme, executing agency can be flexibly connected with integrated connector panel, avoid because connector system is in docking, the servo-actuated and position that exists between benchmark panel and valve panel during coming off and angular error and cause the destruction of connector construction and rocket body structure.
Description
Technical field
The present invention relates to carrier rocket ground filing provision technical field, more particularly to a kind of space articulation error compensation machine
Structure.
Background technology
In terms of carrier rocket ground loading system connector, in order to realize that connector is docked with the automation of carrier rocket
With coming off, it is to avoid the centering produced by rocket body is swung with the wind and servo-actuated difficulty in docking and filling process, first have to solve
Designed automatic butt umbilical connector system is during docking, being servo-actuated and come off between benchmark panel and valve panel
The position of presence and angular error, it is to avoid as the destruction of connector construction and rocket body structure caused by above-mentioned deviation.
A kind of carrier rocket connector system space articulation is missed disclosed in Chinese invention patent CN104596363A specifications
Poor compensation mechanism, including 6 spring conductor rod devices, 12 spherical hinges, connector panel and suspension platform, above compensation mechanism
Above-mentioned deviation can be compensated, still, it is the 6-SPS mechanisms of general type, and the regulation of each spherical hinge directly influences 6 freedom
Degree, initial pose is difficult regulation, in addition, the bad matching of spring parameter, if connector panel has mass eccentricity, is difficult to choose and closes
Suitable spring parameter, furthermore, with multiple spherical hinges, because spherical hinge has gap, pose deviation is easily produced, while ball pivot
The corner of chain is restricted, is restricted compensation range.
In view of problem above, it is necessary to design a kind of space articulation error for carrier rocket connector system of improvement
Compensation mechanism.
The content of the invention
The present invention provides a kind of space articulation error compensation mechanism simple in construction, the purpose is to：By executing agency and collection
Accepted way of doing sth connector panel is flexibly connected, it is to avoid because connector system is in docking, servo-actuated and reference plane during coming off
The position that exists between plate and valve panel and angular error and cause the destruction of connector construction and rocket body structure, effectively improve
The automaticity of connector system.
To reach above-mentioned purpose, the technical solution adopted by 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 and benchmark panel, four companies
Lever apparatus is symmetrically distributed in the inside of frame structure, passes through four connecting rods between the integrated connector panel and frame structure
Device is connected, and is connected between the frame structure and benchmark panel by four multi-freedom joint devices.
The linkage includes screwed pipe, the first guide rod, the second guide rod, spring and folding shape connecting plate, and described first leads
One end of bar and one end of the second guide rod with the external screw thread that is adapted to screwed pipe, the first guide rod and the second guide rod respectively with spiral shell
The two ends threaded connection of line pipe, wherein the other end of the first guide rod wears a side frame of frame structure, the second guide rod it is another
End is provided with baffle plate, and the scuncheon of the frame structure is provided with the support member for being used for supporting the second guide rod, and the spring housing is located at
On second guide rod, the through hole run through above and below the side setting of the screwed pipe, and set and can wear in the direction vertical with through hole
If rolling over the groove of shape connecting plate, screwed pipe is rotationally connected with by shape connecting plate is rolled over by connector.
The multi-freedom joint device includes location nut, moving slide block, connector, spring and two fixed blocks, institute
The one end for stating moving slide block is connecting rod, and the other end end of connecting rod carries external screw thread, and connecting rod wears through hole and connecting rod on substrate
On be arranged with spring, the end thread of location nut and connecting rod is connected, and the connector is inside sliding block, the center of connector
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 two fixed blocks will even
Fitting is connected with moving slide block.
The four direction in one face of benchmark panel is respectively equipped with the cunning mutually assembled with four multi-freedom joint devices
Groove.
After above technical scheme, the present invention has following advantage compared with prior art：
1st, the space articulation error compensation mechanism is simple in construction, lightweight, is easy to arrange various charging lines, right
Energy effective compensation is because of rocket body swing during connecing, be servo-actuated and coming off and reverses the small differential seat angle brought and alternate position spike, from
Dynamicization degree is high.
2nd, each free degree compensation campaign of the space articulation error compensation mechanism is clearly more demarcated, and each free degree compensation rate is more
Greatly, especially up and down and Anterior-Posterior.
3rd, the initial pose static balance state of the space articulation error compensation mechanism can easily be accommodated, it is only necessary to adjust connecting rod dress
The spring put.
4th, compared with prior art, when needing identical pose compensation rate, the space articulation error compensation mechanism is to rocket
The additional force of upper charging valve panel is smaller.
Brief description of the drawings
Accompanying drawing 1 is a kind of structural representation of space articulation error compensation mechanism；
Accompanying drawing 2 is a kind of decomposition texture schematic diagram of space articulation error compensation mechanism；
Accompanying drawing 3 is a kind of structural representation of the linkage of space articulation error compensation mechanism；
Accompanying drawing 4 is a kind of partial enlargement structural representation of space articulation error compensation mechanism.
Wherein, the guide rod of 1. integrated connector panel, 2. frame structure, 3. linkage, 301. screwed pipe 302. first
The location nut 402. of 303. second guide rod, 304. 4. multi-freedom joint device of folding shape 305. baffle plate of connecting plate 401. is moved
The chute 8. of 6. support member of sliding block 403. connector, 404. fixed block, 405. connecting rod, 406. optical axis, 5. benchmark panel 7. connects
Spindle
Embodiment
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 panel 1, framework knot
Structure 2, four linkages 3, four multi-freedom joint devices 4 and benchmark panel 5, to reduce volume, four 3 pairs of linkages
Claim the inside for being distributed in frame structure 2, pass through four linkages 3 between the integrated connector panel 1 and frame structure 2
It is connected, is connected between the frame structure 2 and benchmark panel 5 by four multi-freedom joint devices 4.
Specifically, the linkage 3 includes screwed pipe 301, the first guide rod 302, the second guide rod 303, spring and folding shape
One end of connecting plate 304, one end of first guide rod 302 and the second guide rod 303 is with the outer spiral shell being adapted to screwed pipe 301
Line, the two ends of the first guide rod 302 and the second guide rod 303 respectively with screwed pipe 301 are threadedly coupled, wherein the first guide rod 302 is another
One end wears a side frame of frame structure 2, and the other end of the second guide rod 303 is provided with baffle plate 305, the side of the frame structure 2
Inframe side is provided with the support member 6 for being used for supporting the second guide rod 303, and the spring housing is on the second guide rod 303, the screwed pipe
The through hole run through above and below 301 side setting, and can wear the recessed of folding shape connecting plate 304 in the direction setting vertical with through hole
Groove, screwed pipe 301 is rotationally connected with by connector 403 by shape connecting plate 304 is rolled over.
In the width dimensions of each frame of design framework structure 2, due to integrated connector panel 1 and frame structure 2
It is closer to the distance, and the both sides of integrated connector panel 1 subsequently need installation locking mechanism, it is enough in order to be reserved to retaining mechanism
Installing space, in the case where not influenceing pipeline, circuit, should try one's best by size set it is smaller.
Specifically, the multi-freedom joint device 4 includes location nut 401, moving slide block 402, connector 403, bullet
Spring and two fixed blocks 404, one end of the moving slide block 402 is connecting rod 405, and the other end end of connecting rod 405 carries outer spiral shell
Line, connecting rod 405 wears and spring is arranged with the through hole on substrate and connecting rod 405, location nut 401 and the end spiral shell of connecting rod 405
Line is connected, and the connector 403 is inside sliding block, and the center of connector 403, which is provided with, to be used for and the connecting shaft in frame structure 2
8 connected through holes, the two ends of connector 403 are two optical axises 406, and two fixed blocks 404 are by connector 403 and moving slide block
402 are connected.
The four direction in 5 one faces of benchmark panel is respectively equipped with what is mutually assembled with four multi-freedom joint devices 4
Chute 7.
The function that the space articulation error compensation mechanism is mainly realized is that integrated connector panel 1 compares benchmark panel 5
There is the compensating action of a six degree of freedom.Wherein, the relative datum panel 5 of frame structure 2, connector panel opposing frame structure 2
The departure of each compensation three degree of freedom.It is described as follows：Connector panel opposing frame structure 2 is static, frame structure 2
It is synchronized with the movement by four groups of springs on multi-freedom joint device 4, a position deviation can be compensated.When relative more than one group
Spring in degree-of-freedom joint device 4 is static, and the spring in another group of relative multi-freedom joint device 4 is respectively to not Tongfang
To during motion, it is possible to achieve the compensation of a rotational freedom, thus, the multi-freedom joint device 4 can realize two altogether
The compensation of rotational freedom.Equally, the relative datum panel 5 of frame structure 2 is static, and four springs on four linkages 3 are same
Step motion a, it is possible to achieve position compensation.Spring in two linkages 3 on same axis is constituted one group, then altogether
There are two groups, when one of which spring is compressed, during another group of relaxing of spring, it is possible to achieve a position freedom compensation.Will be even
Two springs that paired linea angulata is relative in lever apparatus 3 constitute one group, then have two groups, another when one of which spring is compressed
During group relaxing of spring, it is possible to achieve a rotational freedom compensation.In summary described, the mechanism can realize six-freedom degree
Compensation.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
Scholar can understand present disclosure and implement according to this, and it is not intended to limit the scope of the present invention.It is all according to the present invention
The equivalent change or modification that Spirit Essence is made, should all be included within the scope of the present invention.
Claims (4)
1. a kind of space articulation error compensation mechanism, it is characterised in that：Including integrated connector panel, frame structure, four
Linkage, four multi-freedom joint devices and benchmark panel, four linkages are symmetrically distributed in the inside of frame structure,
It is connected between the integrated connector panel and frame structure by four linkages, the frame structure and benchmark panel
Between pass through four multi-freedom joint devices and connect.
2. a kind of space articulation error compensation mechanism according to claim 1, it is characterised in that：The linkage includes
Screwed pipe, the first guide rod, the second guide rod, spring and folding shape connecting plate, one end of first guide rod and one end of the second guide rod
With the external screw thread being adapted to screwed pipe, the first guide rod and the second guide rod are threadedly coupled with the two ends of screwed pipe respectively, wherein
The other end of first guide rod wears a side frame of frame structure, and the other end of the second guide rod is provided with baffle plate, the frame structure
Scuncheon be provided with the support member for being used for supporting the second guide rod, the spring housing on the second guide rod, the screwed pipe
The through hole run through above and below the setting of side, and the groove of folding shape connecting plate can be worn in the direction setting vertical with through hole, pass through
Connector is rotationally connected with screwed pipe by shape connecting plate is rolled over.
3. a kind of space articulation error compensation mechanism according to claim 1, it is characterised in that：Multi-freedom joint device
Including location nut, moving slide block, connector, spring and two fixed blocks, one end of the moving slide block is connecting rod, connecting rod
Other end end carries external screw thread, and connecting rod wears and spring is arranged with through hole and connecting rod on substrate, location nut and connecting rod
End thread is connected, and the connector is inside sliding block, and the center of connector, which is provided with, to be used for and the connecting shaft in frame structure
Connected through hole, the two ends of connector are two optical axises, and connector is connected by two fixed blocks with moving slide block.
4. a kind of space articulation error compensation mechanism according to claim 3, it is characterised in that：The benchmark panel one
The four direction in face is respectively equipped with the chute mutually assembled with four multi-freedom joint devices.
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 CN105953666A (en) | 2016-09-21 |
| CN105953666B true 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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108100276B (en) * | 2017-12-03 | 2021-07-23 | 中国直升机设计研究所 | Multi freedom error compensation device |
| CN108488518B (en) * | 2018-05-04 | 2020-02-14 | 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 |
| 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 |
| CN114243374B (en) * | 2022-02-24 | 2022-05-10 | 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 |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6257957B1 (en) * | 1999-12-01 | 2001-07-10 | Gerber Coburn Optical Inc. | Tactile feedback system |
| CN100449196C (en) * | 2006-12-30 | 2009-01-07 | 浙江大学 | Master-slave mode two-in-parallel twelve degree of freedom generalized force adjustment loading mechanism |
| CN100587642C (en) * | 2008-10-16 | 2010-02-03 | 上海交通大学 | Three freedom degree position and pose regulating and error compensating apparatus |
| CN102452074A (en) * | 2010-10-27 | 2012-05-16 | 鸿富锦精密工业（深圳）有限公司 | Parallel robot |
| CN102717381B (en) * | 2012-06-06 | 2015-08-12 | 北京理工大学 | Anthropomorphic robot body posture angle compensation of error method and apparatus |
| CN104596363B (en) * | 2015-02-06 | 2016-07-06 | 南京理工大学 | Carrier rocket connector system space articulation error compensation mechanism |
| 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN105953666A (en) | 2016-09-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105953666B (en) | A kind of space articulation error compensation mechanism | |
| CN104596363B (en) | Carrier rocket connector system space articulation error compensation mechanism | |
| JP6974478B2 (en) | Tower vibration damping device | |
| CN106002956B (en) | A kind of Planar Mechanisms self-balancing freedom degree parallel connection platform | |
| CN105299133A (en) | Positive and negative stiffness parallel mechanism | |
| CN107972018A (en) | A kind of four side chain parallel institutions | |
| CN106275502A (en) | A kind of gear test loads vacation wheel | |
| CN105856193B (en) | A kind of two degrees of freedom one-rotation parallel mechanism that two continuous pivot centers be present | |
| CN107756431A (en) | A kind of space single-degree-of-freedom four paws clamp system | |
| CN101163574A (en) | Robot hand for loading stocks | |
| CN102844604A (en) | Extendable camera support and stablization apparatus | |
| CN103091943A (en) | Extendable camera support and stabilization apparatus | |
| CN109848907A (en) | A kind of large-scale workpiece flexible docking device based on air bag | |
| CN111655569A (en) | Tilting motorcycle with three wheels and rigid rear axle | |
| CN106078688A (en) | A kind of heavy duty self-balancing 3-freedom parallel mechanism | |
| CN101520364B (en) | Inverted cup-type drop test bed cradle | |
| CN206825405U (en) | Isotropic space two degrees of freedom rotating parallel device people | |
| CN204495201U (en) | Carrier rocket connector system space articulation error compensation mechanism | |
| CN107246971A (en) | A kind of suspension system test equipment | |
| CN107336216A (en) | One kind three rotates broad sense decoupling parallel robot mechanism | |
| CN206741179U (en) | A kind of industrial camera pose adjusting apparatus | |
| CN106826775A (en) | A kind of isotropic space two degrees of freedom rotating parallel device people | |
| CN205375926U (en) | Mechanism is suspended in midair to self -adaptation | |
| CN205300400U (en) | Space butt joint error compensation mechanism | |
| CN106990647A (en) | A kind of industrial camera pose adjusting apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170718 Termination date: 20220108 |