CN106426145B - A kind of soft capture locking device in space and locking method is captured accordingly - Google Patents
A kind of soft capture locking device in space and locking method is captured accordingly Download PDFInfo
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- CN106426145B CN106426145B CN201611117711.2A CN201611117711A CN106426145B CN 106426145 B CN106426145 B CN 106426145B CN 201611117711 A CN201611117711 A CN 201611117711A CN 106426145 B CN106426145 B CN 106426145B
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- capture
- adapter
- gear
- rotating ring
- floating
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
Locking method is captured the invention discloses a kind of soft capture locking device in space and accordingly, and in particular to the capture of space manipulator end and locking device.The present invention is divided into active capture mechanism and adapter two parts, and the active capture mechanism is made of capture component and pulling assembly.The present invention is divided into capture, locking, release three processes of separation；When capture, the rotating ring of capture component is rotated forward, and wirerope is gradually collapsed by complete open configuration, until complete clamp adapter pull rod；When locking, pulling assembly drives capture component to move up, until adapter is pressed on completely on active capture mechanism end face；When release separation, the rotating ring reversion of capture component, wirerope returns to complete open configuration by rounding state, and space manipulator carries soft capture locking device and separates with adapter realization.The present invention can be used for space manipulator to the soft capture of the small-sized load in space and sealed, achieve the beneficial effect that small, light-weight, small in size, big tolerance is impacted in capture.
Description
Technical field
The present invention relates to space intelligents to arrest technical field, and in particular to a kind of soft capture locking device of space manipulator
And locking method is captured accordingly, which can realize soft capture, locking and the release to the small-sized load in space.
Background technique
Space manipulator needs to complete a series of spatial operation task, wherein the capture and locking to target are mechanical arms
One of basic task.Currently, the mission planning of space manipulator includes in-orbit assembling, ORU module replacing, spacecraft
In-orbit maintenance etc., requires to capture space loading and locked.With the construction at Chinese Space station, in-orbit operation experiments
It expands, the task of arresting of space loading also persistently increases, and the demand to space manipulator end capture locking tool is also increasingly
Strongly.But current in-orbit tool of arresting is mostly that rigidity is arrested, and can be flown to comprising space loading in mechanical arm acquisition procedure
Row device brings biggish shock vibration, is unfavorable for the in-orbit automatic control of aircraft.It is therefore desirable to design one kind soft capture can be achieved
End arresting agency improve the reliability and peace of the in-orbit capture of mechanical arm to reduce the in-orbit rigid shock arrested of mechanical arm
Quan Xing.
Summary of the invention
To be solved by this invention is that rigidity of the current space manipulator end capture mechanism in capture process arrests punching
The excessive problem of load is hit, captures locking method the present invention provides a kind of soft capture locking device in space and accordingly.
The soft capture locking device in a kind of space provided by the invention, by the adapter and space mechanism in the small-sized load in space
The active capture mechanism of arm end forms, it is characterised in that: the adapter is by positioning base, pull rod and multiple guiding valve groups
At；The active capture mechanism is made of capture component and pulling assembly；Wherein,
The capture component is by mobile shell, internal gear, gear linkage, rotating ring, fixed ring, multiple wirerope groups
Part, angular contact bearing, external gear, driving assembly bracket, planetary reduction gear, capture motor, capture brake and capture encoder
Composition, capture brake connection capture motor, captures the output end connection planetary reduction gear of motor, and planetary reduction gear connects external tooth
Wheel, external gear driving connect internal gear, and internal gear is connect with rotating ring by gear linkage；Fixed ring is fixedly connected on movement
Shell；Driving assembly bracket is used to support fixed planetary reduction gear and capture motor；Angular contact bearing is for undertaking gear connection
Part, rotating ring load and guarantee the rotation of internal gear, gear linkage, rotating ring relative to the mobile shell；Rotating ring
Three sets of steel wire rope components are evenly distributed with each in fixed ring, and in the steel wire rope component on every set rotating ring and adjacent fixed ring
Steel wire rope component shares steel cable；The steel wire rope component belongs to Hooke's hinge structure, there is two freedom degrees of pitching and deflection,
To realize wirerope being freely rotated within the required range；
The pulling assembly is by cover board, driving assembly seat, shell, guide rail, ball-screw, sliding block, docking end face, lead screw shaft
Hold block, floating connection component, tension encoder, tension brake, tension motor, retarder, motor output gear, lead screw defeated
Enter gear and leading screw bearing composition, wherein the tension brake connection tenses motor, the output end connection for tensing motor
Retarder, the retarder connect motor output gear, and motor output gear connects lead screw input gear, and lead screw input gear connects
Ball-screw is connect, and the end of ball-screw passes through lead screw input gear and is fixed in leading screw bearing, the ball-screw
Output end connects floating connection component, and the other end of ball-screw is arranged in lead screw shaft end block；The sliding block is fixedly connected
On floating connection component, and sliding block is set on guide rail；Floating connection component is fixedly connected with mobile shell；The docking
End face is used for the positioning during locked to adapter；The floating connection component is by feed screw nut, mobile bracket, floating cover
Plate, floating axle and butterfly spring composition, wherein feed screw nut is set in the outside of ball-screw, and feed screw nut is by ball-screw
Rotary motion be converted into the axial movement of floating connection component；The floating axle is fixedly connected on feed screw nut, mobile branch
Frame is fixedly connected with floating cover, and butterfly spring is pressed between floating axle and floating cover by floating cover, and butterfly spring provides certain
Pretightning force, the pretightning force are transmitted on sliding block by mobile bracket.
Respectively arranged three sets of wirerope groups in the fixed ring or rotating ring of a kind of soft capture locking device in space
Part is in 120 ° of circumference uniform distributions in fixed ring or rotating ring respectively.
A kind of soft capture locking device in space, steel wire rope component described in every set is by support plate, deflection rollers seat, partially
Tumbler axis, pitching roller shaft seat, pitching roller bearing and wirerope composition, the support plate are fixedly connected in rotating ring or fixed ring,
The pitching roller shaft seat is pivotally connected by deflection rollers and the support plate, and pitching roller bearing edge is vertical and does not intersect at described inclined
The direction of tumbler axis is pivotally connected the pitching roller shaft seat, and wirerope is fixed on the pitching roller bearing；
Three groups of circular groove structures are arranged on the rotating ring, and three groups of annular groove knots are arranged in the fixed ring
Structure, every group of groove one group of groove transition docking corresponding with rotating ring in the fixed ring, for placing wirerope；Initially
Under state, wirerope opens completely, and due to being limited by deflection rollers seat and pitching roller shaft seat, wirerope is collapsed in rotating ring
In the groove of fixed ring.
A kind of soft capture locking device in space, the docking end face are equipped with multiple positioning ball grooves and multiple end faces
Tooth, the positioning ball groove and the guiding valve of the adapter cooperate one by one, carry out coarse positioning；The positioning bottom of the adapter
Seat is equipped with multiple teeth, and the end-tooth cooperates one by one with the tooth on the positioning base, carries out fine positioning.
A kind of capture locking method of the soft capture locking device in the space, comprising the following steps:
Capture step of the active capture mechanism to adapter；
The sealed step of the tension of active capture mechanism and adapter；
Release separating step of the active capture mechanism to adapter.
Capture step of the active capture mechanism to adapter specifically: space manipulator carry active capture mechanism by
It walks close to adapter, until the pull rod on adapter enters the capture range of active capture mechanism；Driver receives capture and refers to
It enables, driving capture motor rotates forward, and is transmitted rotary movement on internal gear by planetary reduction gear and external gear, and internal gear is logical
Gear linkage is crossed to transmit rotary movement on rotating ring；Rotating ring rotates forward, adjacent wirerope on rotating ring and fixed ring
Component rotates backward, and distance is more and more remoter between the two, so that the wirerope opened completely under original state is from rotating ring and admittedly
Determine to detach in the groove of ring, gradually tighten；In the process, capture motor maintains to rotate forward, until wirerope is close to straight line
State, Drag link tightener is in the centre of three groups of wirerope at this time, to realize the capture to adapter.
The active capture mechanism is to the sealed step of the tension of adapter specifically: and driver, which receives, tenses sealed instruction,
It drives the tension motor to rotate forward, and lead screw input gear is transmitted rotary movement to by retarder and motor output gear
On；Lead screw input gear transmits rotary movement on ball-screw, and by feed screw nut is converted rotary motion to floating
Moving axis moves up；Has the tendency that axial opposite sliding between floating axle and mobile bracket；The ball-screw transmitting fortune
While dynamic, axial force also is converted by torque and is exported by feed screw nut, feed screw nut compresses butterfly spring, butterfly spring by floating axle
Pressure pass through floating cover simultaneously and be transmitted on mobile bracket, realize that the axial direction of mobile bracket moves up, mobile bracket and movement
Shell is fixedly connected, and capture component is driven to move up, and is realized and is tensed to adapter；When active capture mechanism tenses adapter
When guiding valve to its docking end face and adapter starts to contact, it is sliding to be oriented to positioning ball groove of the bulb of valve slowly to docking end face
Enter, active capture mechanism realizes the coarse positioning to adapter；Continue in active capture mechanism by adapter cinching process, when thick
It can reach the docking range of tolerable variance of fine positioning after the completion of positioning, the end-tooth docked on the end-tooth and adapter of end face is matched
It closes, realizes the fine positioning to adapter.
Release separating step of the active capture mechanism to adapter specifically: driver reception is released order, and is driven
The capture motor reversal, is transmitted rotary movement on rotating ring, rotating ring by planetary reduction gear, external gear, internal gear
It inverts, adjacent steel wire rope component rotates towards each other on rotating ring and fixed ring, between the two more and more closer, three wirerope of distance
It is slowly flared to arcuation from complete tightening state, and is collapsed in rotating ring and the groove of fixed ring, in the process, three steel
Pull rod in cord release adapters, the release and separation of the complete paired adapters of active capture mechanism.
The present invention have it is following apparent the utility model has the advantages that
1, the rigid shock in acquisition procedure is small, and the present invention captures adapter pull rod using wirerope, realizes to space
The soft capture of load, capture impact force are small；
2, capture tolerance is big, and capture tolerance of the invention is the radial zone of active capture mechanism, in active capture mechanism
Under identical size condition, capture tolerance is larger；
3, small in size, light-weight, the constraint of volume and weight of the invention by capture tolerance and coupling mechanism force, identical
Under the conditions of capturing tolerance and coupling mechanism force, small in size, light-weight beneficial effect is reached.
Detailed description of the invention
Fig. 1 is active capture mechanism capture adapter schematic diagram of the present invention；
Fig. 2 is the structural schematic diagram of adapter of the present invention；
Fig. 3 is the structural schematic diagram of active capture mechanism of the present invention；
Fig. 4 is the structural schematic diagram of capture component in active capture mechanism；
Fig. 5 is the structural schematic diagram of steel wire rope component in capture component；
Fig. 6 is the structural schematic diagram of pulling assembly in active capture mechanism；
Fig. 7 is the structural schematic diagram of floating connection component in pulling assembly；
Fig. 8 is the structural schematic diagram that end face is docked in pulling assembly；
Marked in the figure:
201. capture components, 202. pulling assemblies
1. adapter, 2. active capture mechanisms, 3. positioning bases, 4. pull rods, 5. guiding valves, 6. mobile shells, 7. internal tooths
Wheel, 8. gear linkages, 9. rotating rings, 10. fixed rings, 11. steel wire rope components, 12. angular contact bearings, 13. external gears, 14.
Driving assembly bracket, 15. planetary reduction gears；16. capture motor, 17. capture brakes, 18. capture encoders, 19. support plates,
20. deflection rollers seat, 21. deflection rollers, 22. pitching roller shaft seats, 23. pitching roller bearings, 24. wirerope, 25. cover boards, 26. drivings
Assembly sea, 27. shells, 28. guide rails, 29. ball-screws, 30. sliding blocks, 31. docking end faces, 32. lead screw shaft end blocks, 33. are floated
Dynamic connection component, 34. tense encoders, 35. tense brakes, 36. tense motors, 37. retarders, 38. motor output gears,
39. lead screw input gear, 40. leading screw bearings, 41. feed screw nuts, 42. mobile brackets, 43. floating covers, 44. floating axles, 45.
Butterfly spring.
Specific embodiment
Locking method is captured the invention discloses a kind of soft capture locking device in space and accordingly, and in particular to space machine
The capture of tool arm end and locking device.The present invention is divided into active capture mechanism and adapter two parts, the installation of active capture mechanism
In space manipulator end, adapter is installed on space loading；The adapter is by positioning base, multiple guiding valves and pull rod
Composition；The active capture mechanism is made of capture component and pulling assembly.The present invention is divided into capture, locking, release separation three
A process；When capture, the rotating ring of capture component is rotated forward, and wirerope is gradually collapsed by complete open configuration, until clamping completely
Adapter pull rod；When locking, pulling assembly drives capture component to move up, so that wirerope is driven by tensing the pull rod of adapter
Adapter is gradually close to active capture mechanism, until adapter is pressed on completely on active capture mechanism end face；When release separation,
The rotating ring of capture component inverts, and wirerope returns to complete open configuration by rounding state, and space manipulator carries soft capture lock
Tight device is separated with adapter realization.The present invention can be used for space manipulator to the soft capture of the small-sized load in space and sealed, take
Obtained the beneficial effect that small, light-weight, small in size, big tolerance is impacted in capture.
The present invention is described in further detail with reference to the accompanying drawings and examples.
Embodiment
Fig. 1 is active capture mechanism [2] capture adapter [1] schematic diagram of the present invention.As shown in Figure 1, the present invention is by being adapted to
Device [1] and active capture mechanism [2] form, and active capture mechanism [2] is installed on space manipulator (not shown) end.
Incorporated by reference to referring to Fig. 1 and Fig. 2, space manipulator carries active capture mechanism [2] gradually close to adapter [1], directly
Pull rod [4] on to adapter [1] enters the capture range of active capture mechanism [2], and active capture mechanism [2] is to adapter
[1] it is captured；After the completion of capture, active capture mechanism [2] pulls adapter [1] gradually close to active capture mechanism [2],
Until the end face of the two mutually fits, active capture mechanism [2] is braked at this time, guarantees certain coupling mechanism force, to complete sealed
Movement；When separation release, active capture mechanism [2] reversion gradually unclamps adapter [1], completes release movement, then actively catch
It obtains mechanism [2] and recession is carried by space manipulator, realize the separation with adapter [1].
Fig. 2 is the structural schematic diagram of adapter of the present invention [1].As shown in Fig. 2, adapter [1] is by positioning base [3], drawing
Bar [4] and three guiding valves [5] compositions, and uniformly there are six end-tooths on positioning base [3].
Fig. 3 is the structural schematic diagram of active capture mechanism [2] of the present invention.As shown in figure 3, active capture mechanism [2] is by catching
Obtain component [201] and pulling assembly [202] composition.Capture component [201] is drawn for adapter [1] to be captured and discharged
Tight component [202] is used to carry out tensing to adapter [1] and sealed.In acquisition procedure, when the pull rod [4] of adapter [1] enters
When the range of tolerable variance of active capture mechanism [2], the inner core of capture component [201] is rotated forward, and realizes the capture to adapter [1]；It draws
During tight, pulling assembly [202] drags pull rod [4] and works as master so that adapter [1] is gradually close to active capture mechanism [2]
When the guiding valve [5] that adapter [1] is tensioned to its end face and adapter [1] is started contact by dynamic capture mechanism [2], it is oriented to valve
[5] bulb slowly slides into the positioning ball groove (referring to Fig. 8) of active capture mechanism [2], active capture mechanism [2] realization pair
The coarse positioning of adapter [1]；The docking range of tolerable variance that can reach fine positioning after the completion of coarse positioning, in active capture mechanism
[2] continue in adapter [1] cinching process, the end-tooth (referring to Fig. 8) of active capture mechanism [2] and adapter [1] bottom
End-tooth (referring to Fig. 2) cooperation on seat [3], realizes the fine positioning to adapter [1], to realize active capture mechanism
[2] to the sealed of adapter [1]；During release, the inner core of capture component [201] is inverted, the pull rod in release adapters [1]
[4], to realize release function.
Fig. 4 is the structural schematic diagram of capture component [201] in active capture mechanism [2].Capture component [201] is by mobile outer
Shell [6], internal gear [7], gear linkage [8], rotating ring [9], fixed ring [10], steel wire rope component [11], angular contact bearing
[12], external gear [13], driving assembly bracket [14], planetary reduction gear [15], capture motor [16], capture brake [17] and
Capture encoder [18] composition.Capture component [201] is for realizing the capture and release to adapter [1].Capture brake
[17] output end of connection capture motor [16], capture motor [16] connects planetary reduction gear [15], planetary reduction gear [15]
Output end connects external gear [13], and external gear [13] and internal gear [7] engaged transmission, internal gear [7] and rotating ring [9] pass through tooth
Connector [8] connection is taken turns, fixed ring [10] is fixedly connected with mobile shell [6], and totally six sets of steel wire rope component [11], and rotating
Each three sets of setting on ring [9] and fixed ring [10], angular contact bearing [12] setting in gear linkage [8] and rotating ring [9] and
Between mobile shell [6], for undertaking load and guaranteeing that gear linkage [8] and rotating ring [9] have relative to mobile shell [6]
Standby turning power, driving assembly bracket [14] are used to support planetary reduction gear [15] and capture motor [16].Capture encoder
[18] for information such as monitoring velocity, positions.
Fig. 5 is a set of steel wire rope component [11] structural schematic diagram in capture component [201].As shown in figure 5, steel wire rope component
[11] by support plate [19], deflection rollers seat [20], deflection rollers [21], pitching roller shaft seat [22], pitching roller bearing [23] and steel
Cord [24] composition, the support plate [19] are fixedly connected in rotating ring [9] or fixed ring [10], the pitching roller shaft seat
[22] it is pivotally connected with the support plate [19] by deflection rollers [21], pitching roller bearing [23] is along vertical and described in not intersecting at
The direction of deflection rollers [21] is pivotally connected the pitching roller shaft seat [22], and wirerope [24] is fixed at the pitching roller bearing
[23] on.Steel wire rope component [11] belongs to Hooke's hinge structure, has two freedom degrees of pitching and deflection, it can be achieved that wirerope [24] exists
Being freely rotated in required range.Each uniformly distributed three sets of steel wire rope components [11] on rotating ring [9] and fixed ring [10], every set rotation
The steel wire rope component [11] in steel wire rope component [11] and adjacent fixed ring [10] on ring [9] shares steel cable.Please
Referring to fig. 4, three groups of circular groove structures are arranged on the rotating ring [9], every group of circular groove structure is for placing every steel
One end of cord [24]；Three groups of circular groove structures, the phase of every group of groove and rotating ring [9] are arranged on the fixed ring [10]
Groove transition is answered to dock, every group of circular groove structure is used to place the other end of every wirerope [24].
Under original state, wirerope [24] opens completely, due to by deflection rollers seat [20] and pitching roller shaft seat [22]
Limitation, wirerope [24] collapse in rotating ring [9] and the groove of fixed ring [10].In acquisition procedure, space manipulator is taken
Band active capture mechanism [2] is gradually close to adapter [1], until the pull rod [4] on adapter [1] enters active capture mechanism
[2] capture range；Driver receives capture instruction, and driving capture motor [16] rotates forward, and passes through planetary reduction gear [15]
And external gear [13] transmits rotary movement on internal gear [7], internal gear [7] transmits rotary movement on rotating ring [9]；
Rotating ring [9] rotates forward, and adjacent steel wire rope component [11] rotates backward, and distance is more and more remoter between the two, so that wirerope
[24] it detaches from groove, gradually tightens；In the process, capture motor [16] maintains to rotate forward, until wirerope [24]
Close to linear state, pull rod [4] tightening at this time is in the centre of three groups of wirerope [24], to realize the capture to adapter [1].
After the completion of capture, capture brake [17] starting makes pull rod [4] maintain trapped state.
In addition, capture component [201] is also used for active capture mechanism and releases adapter [1] in active capture mechanism [2]
Put separation.During release, driver reception is released order, and is driven capture motor [16] reversion, is passed through planetary reduction gear
[15], external gear [13], internal gear [7] transmit rotary movement on rotating ring [9], rotating ring [9] reversion, fixed ring [10]
The steel wire rope component [11] adjacent on rotating ring [9] rotates towards each other, and distance is more and more closer between the two, and wirerope [24] is from complete
Full tightening state is slowly flared to arcuation, and collapses in rotating ring [9] and the groove of fixed ring [10], in the process, steel
The pull rod [4] of cord [24] release adapters [1], the release and separation of active capture mechanism [2] complete paired adapters [1].
Fig. 6 is the structural schematic diagram of pulling assembly [202] in active capture mechanism [2].As shown in fig. 6, pulling assembly
[202] by cover board [25], driving assembly seat [26], shell [27], guide rail [28], ball-screw [29], sliding block [30], butt end
Face [31], floating connection component [33], tenses encoder [34], tenses brake [35], tenses electricity lead screw shaft end block [32]
Machine [36], retarder [37], motor output gear [38], lead screw input gear [39] and leading screw bearing [40] composition, wherein institute
It states and tenses brake [35] connection tension motor [36], the output end for tensing motor [36] connects retarder [37], described
Retarder [37] connects motor output gear [38], and motor output gear [38] connects lead screw input gear [39], lead screw input
Gear [39] connects ball-screw [29], and the end of ball-screw [29] passes through lead screw input gear [39] and is fixed on lead screw
On support [40], the output end of the ball-screw [29] connects floating connection component [33], lead screw shaft end block [32] setting
In the other end of ball-screw [29]；The sliding block [30] is fixedly connected on floating connection component [33], and sliding block
[30] it is set on guide rail [28]；Floating connection component [33] is fixedly connected with mobile shell [6]；The docking end face [31] is used
To the positioning of adapter [1] during locking.Pulling assembly [202] is realized to the tension of adapter [1] and sealed.Tense and
During sealed, driver, which receives, tenses sealed instruction, drives the tension motor [36] to rotate forward, passes through retarder [37] and electricity
Machine output gear [38] transmits rotary movement on lead screw input gear [39]；Lead screw input gear [39] and ball-screw
[29] it is connected, is transmitted rotary movement on ball-screw [29] by pin, and will revolved by floating connection component [33]
Transhipment turn turns to floating connection component [33] and moves up along axial；While ball-screw [29] passing movement,
Also it converts axial force for torque to export by floating connection component [33], floating connection component [33] and mobile shell [6] are logical
It crosses bolt to be fixedly connected, capture component [201] is driven to move up, realize the tension to adapter [1], until active catching machine
When the docking end face [31] of structure [2] and the end face of adapter [1] are adjacent to, realize to the sealed of adapter [1].
Fig. 7 is floating connection component [33] structural schematic diagram in pulling assembly [202].As shown in fig. 7, floating connection component
[33] it is made of feed screw nut [41], mobile bracket [42], floating cover [43], floating axle [44] and butterfly spring [45], wherein silk
Thick stick nut [41] is set in the outside of ball-screw [29], and feed screw nut [41] turns the rotary motion of ball-screw [29]
Turn to the axial movement of floating connection component [33]；The floating axle [44] is fixedly connected on feed screw nut [41], mobile branch
Frame [42] is fixedly connected with floating cover [43], and butterfly spring [45] is pressed on floating axle [44] and floating cover by floating cover [43]
[43] between, butterfly spring [45] provides certain pretightning force, which passes through mobile bracket [42] and be transmitted on sliding block [30].It is floating
Connection component [33] are moved while converting linear motion for the rotary motion of ball-screw [29], also by ball-screw [29]
The torque of transmitting is converted into axial tension output.Detailed process is: the rotary motion on ball-screw [29] passes through feed screw nut
[41] moving axially upwards for floating axle [44] is converted by rotary motion；Floating axle [44] and mobile bracket [42] are connected by key
It connects, there is axial opposite tendency toward sliding between the two；Floating cover [43] is bolted to connection with mobile bracket [42], and
And floating cover [43] is pressed on butterfly spring [45], guarantees that butterfly spring [45] have certain initial pretightening force；The ball-screw
[29] while passing movement, axial force also is converted by torque and is exported by feed screw nut [41], feed screw nut [41] is logical
Floating axle [44] compression butterfly spring [45] is crossed, pass through floating cover [43] is transmitted to mobile bracket [42] to the pressure of butterfly spring [45] simultaneously
On, realize that the axial direction of mobile bracket [42] moves up, mobile bracket [42] are bolted to connection with mobile shell [6], thus
It drives capture component [201] to move up, realizes and adapter [1] is tensed.Meanwhile sliding block [30] is set on guide rail [28],
Meanwhile sliding block [30] is fixedly connected on the mobile bracket [42] of floatation element [33], so as to limit mobile bracket [42]
It is moved up with mobile shell [6] along the track that guide rail [28] limits.
Fig. 8 is the structural schematic diagram of the docking end face [31] of pulling assembly [202].As shown in figure 8, the docking end face
[31] it is equipped with multiple positioning ball grooves and multiple end-tooths, the positioning ball groove and the guiding valve [5] of the adapter [1] are matched one by one
It closes, carries out coarse positioning；The positioning base [3] of the adapter [1] is equipped with multiple teeth, the end-tooth and the positioning
Tooth on pedestal [3] cooperates one by one, carries out fine positioning.Docking end face [31] be on active capture mechanism [2] with adapter [1]
The face of docking, for the coarse positioning and fine positioning during the two is sealed.In adapter [1] close to active capture mechanism [2]
During, the bulb of the guiding valve [5] on adapter [1] slowly slides into the positioning ball groove in docking end face [31], realizes thick
Positioning；The position error of coarse positioning is the initial tolerance of fine positioning, and after the completion of coarse positioning, adapter [1] continues to actively catching
Obtain that mechanism [2] is close, with the end-tooth in docking end face [31] and the end-tooth on the positioning base [3] of adapter [1],
Realize the fine positioning to adapter [1].
Capture of the invention, the sealed and release course of work are described further below.
In acquisition procedure, space manipulator carries active capture mechanism [2] gradually close to adapter [1], until adapter
[1] pull rod [4] on enters the capture range of active capture mechanism [2]；Driver receives capture instruction, driving capture motor
[16] it rotates forward, and is transmitted rotary movement on internal gear [7] by planetary reduction gear [15] and external gear [13], internal gear
[7] it is transmitted rotary movement on rotating ring [9] by gear linkage [8]；Rotating ring [9] rotates forward, and fixed ring [10] is kept
Motionless therefore adjacent steel wire rope component [11] rotates backward, and distance is more and more remoter between the two, so that wirerope [24] is from recessed
It detaches in slot, gradually tightens；In the process, capture motor [16] maintains to rotate forward, until wirerope [24] are close to straight line
State, pull rod [4] tightening at this time is in the centre of three groups of wirerope [24], to realize the capture to adapter [1].Capture is completed
Afterwards, capture brake [17] is braked, and pull rod [4] is made to be maintained at captured state.
Tense it is sealed during, driver, which receives, tenses sealed instruction, tensions motor [36] rotating forward is driven, by subtracting
Fast device [37] and motor output gear [38] transmit rotary movement on lead screw input gear [39]；Lead screw input gear [39]
It is connect, is transmitted rotary movement on ball-screw [29], and pass through feed screw nut by pin with ball-screw [29]
[41] moving up for floating axle [44] is converted by rotary motion；Floating axle [44] is connected by key with mobile bracket [42],
Has the tendency that axial opposite sliding between the two；Floating cover [43] is bolted to connection with mobile bracket [42], and
And floating cover [43] is pressed on butterfly spring [45], guarantees that butterfly spring [45] have certain initial pretightening force；The ball-screw
[29] while passing movement, axial force also is converted by torque and is exported by feed screw nut [41], feed screw nut [41] passes through
Floating axle [44] compresses butterfly spring [45], and pass through floating cover [43] is transmitted to mobile bracket [42] to the pressure of butterfly spring [45] simultaneously
On, realize moving up for mobile bracket [42], mobile bracket [42] are bolted to connection with mobile shell [6], drive
Capture component [201] moves up, while sliding block [30] and guide rail [28] limit the shifting of mobile bracket [42] and mobile shell [6]
Dynamic rail mark realizes the tension to adapter [1]；End face [31] are docked when adapter [1] is tensioned to it by active capture mechanism [2]
When starting contact with the guiding valve [5] of adapter [1], the bulb of valve [5] is oriented to slowly to the positioning ball groove of docking end face [31]
It slides into, active capture mechanism [2] realizes the coarse positioning to adapter [1]；It can reach pair of fine positioning after the completion of coarse positioning
Connect range of tolerable variance, continue to dock in adapter [1] cinching process in active capture mechanism [2] end-tooth of end face [31] with
End-tooth cooperation on adapter [1], realizes the fine positioning to adapter [1].After the completion of fine positioning, brake [35] work is tensed
Make, adapter [1] is made to be maintained at the position of fine positioning.
It discharges in separation process, driver reception is released order, and is driven capture motor [16] reversion, is subtracted by planet
Fast device [15], external gear [13], internal gear [7], gear linkage [8] transmit rotary movement on rotating ring [9], rotating ring
[9] it inverts, adjacent steel wire rope component [11] rotates towards each other, and distance is more and more closer between the two, and wirerope [24] is received from complete
Tight state is slowly flared to arcuation, and collapses in rotating ring [9] and the groove of fixed ring [10], in the process, wirerope
[24] pull rod [4] of release adapters [1], the release and separation of active capture mechanism [2] complete paired adapters [1].
Present invention disclosed above preferred embodiment is only intended to help to illustrate the present invention.There is no detailed for preferred embodiment
All details are described, are not limited the invention to the specific embodiments described.Obviously, according to the content of this specification,
It can make many modifications and variations.These embodiments are chosen and specifically described to this specification, is in order to better explain the present invention
Principle and practical application, so that skilled artisan be enable to better understand and utilize the present invention.The present invention is only
It is limited by claims and its full scope and equivalent.
Claims (7)
1. a kind of soft capture locking device in space, by the master of adapter (1) and space manipulator end in the small-sized load in space
Dynamic capture mechanism (2) composition, it is characterised in that: the adapter (1) is by positioning base (3), pull rod (4) and multiple guiding valves
(5) it forms；The active capture mechanism (2) is made of capture component (201) and pulling assembly (202)；Wherein,
The capture component (201) is by mobile shell (6), internal gear (7), gear linkage (8), rotating ring (9), fixed ring
(10), multiple steel wire rope components (11), angular contact bearing (12), external gear (13), driving assembly bracket (14), planetary reduction gear
(15), motor (16), capture brake (17) and capture encoder (18) composition, capture brake (17) connection capture are captured
The output end of motor (16), capture motor (16) connects planetary reduction gear (15), and planetary reduction gear (15) connects external gear (13),
External gear (13) is sequentially connected internal gear (7), and internal gear (7) is connect with rotating ring (9) by gear linkage (8)；Fixed ring
(10) mobile shell (6) are fixedly connected on；Driving assembly bracket (14) is used to support fixed planetary reduction gear (15) and capture electricity
Machine (16)；Angular contact bearing (12) is for undertaking the load of gear linkage (8), rotating ring (9) and guaranteeing internal gear (7), tooth
Take turns the rotation of connector (8), rotating ring (9) relative to the mobile shell (6)；Rotating ring (9) and fixed ring (10) Shang Gejun
Three sets of steel wire rope components (11) of cloth, and in the steel wire rope component (11) on every set rotating ring (9) and adjacent fixed ring (10)
Steel wire rope component (11) share steel cable；The steel wire rope component (11) belongs to Hooke's hinge structure, there is pitching and deflection
Two freedom degrees, to realize wirerope being freely rotated within the required range；Steel wire rope component described in every set (11) is by supporting
Plate (19), deflection rollers seat (20), deflection rollers (21), pitching roller shaft seat (22), pitching roller bearing (23) and wirerope (24) group
At the support plate (19) is fixedly connected in rotating ring (9) or fixed ring (10), and the pitching roller shaft seat (22) passes through deflection
Roller bearing (21) is pivotally connected with the support plate (19), and pitching roller bearing (23) is along vertical and do not intersect at the deflection rollers (21)
Direction be pivotally connected the pitching roller shaft seat (22), wirerope (24) is fixed on the pitching roller bearing (23)；
Three groups of circular groove structures are arranged on the rotating ring (9), arrange three groups of annular grooves on the fixed ring (10)
Structure, every group of groove one group of groove transition docking corresponding with rotating ring (9) on the fixed ring (10), for placing steel
Cord (24)；Under original state, wirerope (24) opens completely, due to by deflection rollers seat (20) and pitching roller shaft seat (22)
Limitation, wirerope (24) collapse in rotating ring (9) and the groove of fixed ring (10)；
The pulling assembly (202) is by cover board (25), driving assembly seat (26), shell (27), guide rail (28), ball-screw
(29), sliding block (30), docking end face (31), lead screw shaft end block (32), floating connection component (33), tense encoder (34),
It tenses brake (35), tense motor (36), retarder (37), motor output gear (38), lead screw input gear (39) and silk
Thick stick support (40) composition, wherein tension brake (35) connection tenses motor (36), the output for tensing motor (36)
End connection retarder (37), the retarder (37) connect motor output gear (38), and motor output gear (38) connects lead screw
Input gear (39), lead screw input gear (39) connect ball-screw (29), and the end of ball-screw (29) passes through lead screw
Input gear (39) is fixed on leading screw bearing (40), and the output end of the ball-screw (29) connects floating connection component
(33), the other end of lead screw shaft end block (32) setting in ball-screw (29)；The sliding block (30) is fixedly connected on floating
On connection component (33), and sliding block (30) is set on guide rail (28)；Floating connection component (33) and mobile shell (6) are fixed
Connection；The positioning that docking end face (31) is used to during locking to adapter (1)；The floating connection component (33) is by silk
Thick stick nut (41), mobile bracket (42), floating cover (43), floating axle (44) and butterfly spring (45) composition, wherein feed screw nut
(41) be set in the outside of ball-screw (29), and feed screw nut (41) convert the rotary motion of ball-screw (29) to it is floating
The axial movement of dynamic connection component (33)；The floating axle (44) is fixedly connected on feed screw nut (41), mobile bracket (42)
It is fixedly connected with floating cover (43), butterfly spring (45) is pressed on floating axle (44) and floating cover (43) by floating cover (43)
Between, butterfly spring (45) provides certain pretightning force, which passes through mobile bracket (42) and be transmitted on sliding block (30).
2. the soft capture locking device in a kind of space according to claim 1, it is characterised in that: fixed ring (10) or rotating ring
(9) respectively arranged three sets of steel wire rope components (11) are in 120 ° of circumference uniform distributions in fixed ring (10) or rotating ring (9) respectively on.
3. the soft capture locking device in a kind of space according to claim 1, it is characterised in that: the docking end face (31) sets
There are multiple positioning ball grooves and multiple end-tooths, the positioning ball groove and the guiding valve (5) of the adapter (1) cooperate one by one, into
Row coarse positioning；The positioning base (3) of the adapter (1) is equipped with multiple teeth, the end-tooth and the positioning base
(3) tooth on cooperates one by one, carries out fine positioning.
4. a kind of capture locking method of the soft capture locking device in space described in any one of claims 1 to 3, feature exist
In, comprising the following steps:
Capture step of the active capture mechanism (2) to adapter (1)；
The sealed step of tension of active capture mechanism (2) and adapter (1)；
Release separating step of the active capture mechanism (2) to adapter (1).
5. a kind of capture locking method of the soft capture locking device in space as claimed in claim 4, which is characterized in that the master
The capture step of dynamic capture mechanism (2) to adapter (1) specifically: space manipulator carries active capture mechanism (2) and gradually leans on
Nearly adapter (1), until the pull rod (4) on adapter (1) enters the capture range of active capture mechanism (2)；Driver receives
It is instructed to capture, driving capture motor (16) rotates forward, and is passed rotary motion by planetary reduction gear (15) and external gear (13)
It is delivered on internal gear (7), internal gear (7) is transmitted rotary movement on rotating ring (9) by gear linkage (8)；Rotating ring
(9) it rotates forward, adjacent steel wire rope component (11) rotates backward on rotating ring (9) and fixed ring (10), and distance is more next between the two
It is remoter, so that the wirerope (24) opened completely under original state is detached from rotating ring (9) and the groove of fixed ring (10)
Come, gradually tightens；In the process, capture motor (16) maintains to rotate forward, until wirerope (24) close to linear state, are drawn at this time
Bar (4) tightening is in the centre of three groups of wirerope (24), to realize the capture to adapter (1).
6. the capture locking method of the soft capture locking device in a kind of space as described in claim 4 or 5, which is characterized in that institute
Active capture mechanism (2) is stated to the sealed step of tension of adapter (1) specifically: driver, which receives, tenses sealed instruction, driving
The tension motor (36) rotates forward, and it is defeated by retarder (37) and motor output gear (38) to transmit rotary movement to lead screw
Enter on gear (39)；Lead screw input gear (39) transmits rotary movement on ball-screw (29), and passes through feed screw nut
(41) moving up for floating axle (44) is converted by rotary motion；Have between floating axle (44) and mobile bracket (42) axial
The trend of opposite sliding；While ball-screw (29) passing movement, axial force also is converted by torque and passes through lead screw spiral shell
Female (41) output, feed screw nut (41) pass through floating by floating axle (44) compression butterfly spring (45), the pressure of butterfly spring (45) simultaneously
Cover board (43) is transmitted on mobile bracket (42), realizes that the axial direction of mobile bracket (42) moves up, mobile bracket (42) and mobile outer
Shell (6) is fixedly connected, and capture component (201) is driven to move up, and is realized and is tensed to adapter (1)；When active capture mechanism (2)
When adapter (1) being tensioned to its guiding valve (5) for docking end face (31) and adapter (1) starting contact, it is oriented to the ball of valve (5)
Head slowly slides into the positioning ball groove of docking end face (31), and active capture mechanism (2) realizes the coarse positioning to adapter (1)；?
Active capture mechanism (2) continues to hold the docking that in adapter (1) cinching process, can reach fine positioning after the completion of coarse positioning
Poor range, docks the end-tooth of end face (31) and the end-tooth on adapter (1) cooperates, and realizes the fine positioning to adapter (1).
7. a kind of capture locking method of the soft capture locking device in space as claimed in claim 4, which is characterized in that the master
The release separating step of dynamic capture mechanism (2) to adapter (1) specifically: driver reception is released order, and the capture is driven
Motor (16) reversion, transmits rotary movement to rotating ring (9) by planetary reduction gear (15), external gear (13), internal gear (7)
On, rotating ring (9) inverts, and adjacent steel wire rope component (11) rotates towards each other on rotating ring (9) and fixed ring (10), between the two
Distance is more and more closer, and three wirerope (24) are slowly flared to arcuation from complete tightening state, and gathering is in rotating ring (9) and admittedly
In the groove for determining ring (10), in the process, the pull rod (4) on three wirerope (24) release adapters (1), active catching machine
The release and separation of structure (2) complete paired adapters (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
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| CN106426145B true CN106426145B (en) | 2019-08-23 |
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| CN109264034A (en) * | 2018-08-14 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft electromagnetism cross convolution butt-joint locking device |
| CN109129451A (en) * | 2018-09-14 | 2019-01-04 | 华中科技大学 | Shoulder locking and wrist capture device and its application of the self-positioning mechanical arm in space |
| CN110450988B (en) * | 2019-07-19 | 2020-11-20 | 北京空间飞行器总体设计部 | Foldable target adapter suitable for large-tolerance capture |
| CN110216716B (en) * | 2019-07-25 | 2023-09-19 | 湖南宗福科技有限公司 | Butt joint test device for capturing locking mechanism |
| CN110549358B (en) * | 2019-09-26 | 2021-03-30 | 清华大学 | End effector |
| CN111086028B (en) * | 2019-12-14 | 2021-01-19 | 西安交通大学 | Industrial robot tail end motion sensing device and identification method |
| CN112720561B (en) * | 2020-12-30 | 2024-03-12 | 沈阳新松机器人自动化股份有限公司 | Super-redundancy rope-driven robot with square modularized force-position double closed-loop control |
| CN113401371B (en) * | 2021-06-11 | 2022-11-11 | 上海宇航系统工程研究所 | Ultra-light multifunctional space module connecting mechanism and application method |
| CN113842218B (en) * | 2021-10-13 | 2023-06-27 | 中南大学 | Operation robot initial adjusting mechanical arm braking system |
| CN114918973B (en) * | 2022-05-30 | 2023-11-10 | 天津航天机电设备研究所 | On-orbit service device applied to space manipulator end effector |
| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | Dynamic docking and recycling device for underwater vehicle with self-correction posture |
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