CN106628277A - Space capturing and locking device - Google Patents
Space capturing and locking device Download PDFInfo
- Publication number
- CN106628277A CN106628277A CN201610980971.6A CN201610980971A CN106628277A CN 106628277 A CN106628277 A CN 106628277A CN 201610980971 A CN201610980971 A CN 201610980971A CN 106628277 A CN106628277 A CN 106628277A
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- Prior art keywords
- component
- finger
- space
- index arm
- locking device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
The invention provides a space capturing and locking device. The space capturing and locking device comprises a driving structure and a driven structure. The driving structure comprises a shell assembly, a driving assembly, a transmission assembly, an upper plate auxiliary assembly and three sets of finger assemblies. The shell assembly is used for supporting and being connected with the driving assembly, the transmission assembly, the upper plate auxiliary assembly and the finger assemblies. The upper plate auxiliary assembly comprises rollers. The finger assemblies comprise four-bar mechanisms. The driving assembly drives the transmission assembly, the transmission assembly converts rotational motion into linear motion, the transmission assembly controls the finger assemblies to move upwards and downwards, the three sets of finger assemblies are closed due to compression of the rollers when moving downwards, and then the driven structure matched with the driving structure is clamped. The four-bar mechanism is in linkage when the finger assemblies move upwards, the finger assemblies are driven to be opened, and then the driven structure is released. The space capturing and locking device can be used for capturing and locking of a space mechanical arm on a small aircraft, and the advantages of being low in weight, small in size, large in tolerance and diverse in capture object are achieved.
Description
Technical field
Operating technology field in design space of the present invention, and in particular to a kind of capture locking device of space manipulator, the machine
Structure is capable of achieving the capture to space small aircraft and load, locking and discharges.
Background technology
The end effector instrument of space manipulator is a series of executing agency that mechanical arm completes space tasks, according to completing
The species of task is different, and the type of space mechanism is also varied.With the increase year by year of mankind's satellite launch amount, space is discarded
The quantity of satellite the trend for accelerating to go up also is presented, discarded satellite is reclaimed also without relatively effective method at present, therefore
It is necessary a kind of arresting agency suitable for space grapefruit satellite of design, for realizing that operation is arrested in space.
The content of the invention
In order to solve the irretrievable problem of the waste and old satellite in current space, the present invention proposes a kind of space capture locking dress
Put.
The technical solution adopted in the present invention is：
A kind of mover on passive structure and space manipulator on space capture locking device, including spacecraft
Structure, the passive structure is three lobe type structures；The driving mechanism includes that casing assembly, drive component, transmission component, upper plate are auxiliary
Component and three sets of finger components are helped, the casing assembly is to support, connect the drive component, transmission component, upper plate auxiliary
Component and finger component, wherein the upper plate accessory part includes roller, the finger component includes quadric chain, the drive
Transmission component described in dynamic Component driver, makes the transmission component that gyration is converted into into linear motion, the transmission component control
Moving up and moving down for the finger component is made, three sets of finger components are compressed when moving down by the roller
And close up, and then the passive structure that grasping structures are adapted therewith；The double leval jib when finger component is moved up
Mechanism links, and drives the finger component to open, and then discharges the passive structure.
Preferably, the drive component includes DC brushless motor, planetary reduction box, worm reduction box, one-level tooth
Wheel, the DC brushless motor drives the worm reduction box, the worm and gear to slow down by the planetary reduction box
Case drives the transmission component by the one-stage gear.
Preferably, transmission component includes secondary gear, feed screw nut, ball-screw, mobile platform, the drive component drives
The dynamic secondary gear is rotated, and the secondary gear drives the ball screw turns, the ball-screw to drive the leading screw
Nut moves along a straight line, and then drives moving up or down for the mobile platform and the finger component.
Preferably, the upper plate accessory part includes upper plate, microswitch, coarse positioning pin and/or spring push-rod component, institute
State microswitch, coarse positioning pin, roller and/or spring push-rod component to be fixed on the upper plate, the coarse positioning pin with it is described
Passive structure is combined, and then touches the microswitch so that the drive component reverse self-locking, the passive structure is described
Separate with the driving mechanism under the elastic force effect of spring push-rod component.
Further, the spring push-rod component includes outer tube, spring, spring shaft, push rod, and the spring is arranged on described
On spring shaft, the spring promotes the push rod to move up in the push rod outer tube, and then promotes the passive structure.
Preferably, the quadric chain includes the first index arm, the second index arm, pedestal, the 3rd index arm, the pedestal and institute
State the second index arm to connect by spindle, second index arm is connected with first index arm by spindle, the torsion spring with it is described
Second index arm is connected by pin, and the pedestal is connected with the 3rd index arm by spindle, the 3rd index arm and described the
One index arm is connected by spindle, when the torsion spring is rotated, drives second index arm to rotate by pin, and then drives described the
One index arm is rotated, so as to realize the expansion action of the finger component.
Further, the first index arm side is provided with race, and the race is engaged with the roller, the finger group
When part is moved down, the roller compresses first index arm so that the finger component gradually draws in.
Further, the index arm top is provided with the finger tip of nonmetallic materials, and the finger tip is in dome type.
Preferably, the upper surface of the passive structure is disposed with aircraft connecting interface, lower surface be disposed with it is described on
Plate accessory part carries out the hole of coarse positioning, between every lobe of the three lobes type structure wedge-shaped slot, the lower end of the wedge-shaped slot being formed
Face is provided with boss inclined-plane.
Preferably, the casing assembly includes shell, microswitch, guide rail and the slide block along the slide, it is described
Microswitch, guide rail are fixed on the housing, and the transmission component drives the slide block along the slide, and then touches
The microswitch, so as to control the drive component stop motion.
Meanwhile, in order to solve the above problems, the present invention also proposes a kind of corresponding grasping means of space capture locking device, bag
Include following steps：
Capture step of the driving mechanism to passive structure；
The sealed step of tension of the driving mechanism to passive structure；
Separation release steps of the driving mechanism to passive structure；
The driving mechanism is specially to the capture step of passive structure：It is progressively close that space manipulator carries driving mechanism
Passive structure, finger component is in complete open configuration, and drive component drives ball-screw, is driven by feed screw nut mobile flat
Platform is moved downward, and the first index arm side is provided with race, is coordinated with the roller on upper plate accessory part, by compressing the first index arm,
So that finger component gradually draws in motion process, until the anti-escape region of the three lobe type wedge-shaped slots into passive structure, leads to
The coarse positioning of finger tip and wedge-shaped slot is crossed, the preliminary corrections of circumferential deviation are realized, capture of the driving mechanism to passive structure is completed.
The sealed step of tension of the driving mechanism to passive structure is specially：The finger component of the driving mechanism is complete
Draw in, the finger tip of finger component is fitted completely with the boss inclined-plane of passive structure, pull passive structure close to driving mechanism, fortune
The ejection power of spring push-rod component is constantly overcome during dynamic；Circular cone on the taper seat and passive structure end face of coarse positioning pin
Under the Self-centering Action of hole, lateral displacement deviation and axial angular displacement are reduced, on the end face groove and passive structure of upper plate end face
Under the guide effect of end-tooth, lateral displacement deviation and axial angular displacement are eliminated；After motion in place, by worm reduction box
Reverse self-locking, transmission component be in deadlock position, realize that tension of the driving mechanism to passive structure is sealed.
The driving mechanism is specially to the separation release steps of passive structure：During release, the rolling of drive component reverse drive
Ballscrew so that mobile platform drives finger component to move upwards, when the race of the first index arm departs from the rolling of upper plate accessory part
During wheel, torsion spring drives the first index arm to open by driving the second index arm, constraint release of the driving mechanism to passive structure；Passive knot
Structure is ejected in the presence of power in spring push-rod component, and realization is separated with driving mechanism, completes driving mechanism to passive structure
Separation release.
After above-mentioned technical proposal, the present invention has following obvious beneficial effect：
1st, lightweight construction, small volume, it is adaptable to the present invention application --- space manipulator bearing capacity is little, machine
The characteristics of structure installation volume is limited；
2nd, capture tolerance big, capture relative to current perimetric pattern, bore rod-type capture, the present invention can be larger by design
Wedge-shaped slot and finger subtended angle, realize big tolerance capture；
3rd, mechanism's task compatibility is good, and the present invention not only can arrest the aircraft for being mounted with passive structure, it can also be used to
The satellite of interface frame, mating frame and jet pipe is arrested, the task scope of driving mechanism has been expanded significantly.
Description of the drawings
Fig. 1 is the driving mechanism capture passive structure schematic diagram of one embodiment of the invention；
Fig. 2 is the structural representation of the passive structure of one embodiment of the invention；
Fig. 3 is the structural representation of the driving mechanism of one embodiment of the invention；
Fig. 4 is the structural representation of the upper plate accessory part of the driving mechanism of one embodiment of the invention；
Fig. 5 is the spring push-rod modular construction schematic diagram of the driving mechanism of one embodiment of the invention；
Fig. 6 is the structural representation of single set finger component of the driving mechanism of one embodiment of the invention；
Fig. 7 is the transmission component structural representation of the driving mechanism of one embodiment of the invention；
Fig. 8 is the drive component structural representation of the driving mechanism of one embodiment of the invention；
Fig. 9 is the casing assembly structural representation of the driving mechanism of one embodiment of the invention；
Mark in figure：
201- upper plate accessory parts；202- transmission components；203- drive components；204- casing assemblies；205- finger components
1- passive structures；2- driving mechanisms；3- upper plates；4- microswitches；5- spring push-rod components；6- coarse positioning pins；7-
Roller connecting plate；8- rollers；9- outer tube；10- springs；11- spring shafts；12- push rods；13- secondary gears；14- feed screw nuts；
15- mobile platforms；16- ball-screws；17- DC brushless motors；18- planetary reduction box；19- one-stage gears；20- worm and gears
Reduction box；21- base plates；22- shells；23- microswitches；24- guide rails；25- slide blocks；The index arms of 26- first；The spindles of 27- first；
The index arms of 28- second；The spindles of 29- second；30- torsion springs；31- pedestals；The spindles of 32- the 3rd；The index arms of 33- the 3rd；The spindles of 34- the 4th；
35- finger tips；36- aircraft connecting interfaces；37- boss inclined-plane；38- end-tooths；39- slide block connecting interfaces；40- finger components connect
Mouthful.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in further detail.
Fig. 1 is the driving mechanism capture passive structure schematic diagram of one embodiment of the invention, passive structure 1 and driving mechanism 2
Composition, driving mechanism 2 is installed on space manipulator end.When space manipulator carries driving mechanism 2 progressively near passive structure 1
When, driving mechanism 2 is captured to passive structure 1, and by the wedge-shaped slot configuration of passive structure 1 the preliminary school of circumferential deviation is completed
Just；After the completion of capture, the boss inclined-plane of 2 clamping passive structure of driving mechanism 1 continues drop-down, until inter-agency interface is pasted completely
Close, now the reverse locking of driving mechanism 2, it is ensured that certain attachment force, so as to complete sealed action；When separating release, driving mechanism 2
Reversion, gradually unclamps passive structure 1, and the resilient force of spring push-rod component 5 (see Fig. 4) is on passive structure 1 so that main,
Separate between passive structure, driving mechanism 2 is carried by space manipulator and dropped back, realize with passive structure 1 further away from each other.
Fig. 2 is the structural representation of the passive structure of one embodiment of the invention, and structure upper end is disposed with and is connected with aircraft
Interface.Form wedge-shaped slot between three lobe type structures, when finger component 205 enter wedge-shaped slot after, due to attitude between the two it is inclined
Difference, finger will collide with each other with wedge shape cell wall, and gradually draw in groove root, until finger component 205 compresses wedge-shaped slot, with this
Complete the preliminary corrections of passive structure circumference attitude；Finger component 205 drives passive structure 1 to move closer to driving mechanism 2, it is considered to
Can there is skidding between the two, to prevent finger component 205 from skidding off from wedge-shaped slot, set in the lower surface of passive structure 1
Boss inclined-plane 37 is put, so that finger hooks passive structure 1 in downdraw process.
Fig. 3 is the structural representation of the driving mechanism of one embodiment of the invention；Driving mechanism 2 is installed on space manipulator end
End, with capture, sealed with detached function.Driving mechanism 2 includes upper plate accessory part 201, transmission component 202, driving group
Part 203, casing assembly 204 and finger component 205.Sleeve mechanism provides power by drive component 203, reaches transmission component 202
Afterwards, mechanical movement is transferred to into finger component 205, under the assistance of upper plate accessory part 201 and casing assembly 204, completes to catch
The action such as obtain, lock and separate.
Fig. 4 is the structural representation of the upper plate accessory part of the driving mechanism of one embodiment of the invention；Upper plate accessory part
201 are made up of upper plate 3, microswitch 4, spring push-rod component 5, coarse positioning pin 6, roller connecting plate 7 and roller 8, and each part is equal
It is fixed by screws on upper plate 3.During driving mechanism 2 tenses passive structure 1, between the two interface is moved closer to,
Under conical bore Self-centering Action on the taper seat and passive structure end face of coarse positioning pin 6, lateral displacement deviation and axial direction are reduced
Angular displacement, under the guide effect of the end-tooth 38 on the end face groove and passive structure 1 of the end face of upper plate 3, eliminates lateral displacement inclined
Difference and axial angular displacement；When the interface of driving mechanism 2 and passive structure 1 is fitted completely, microswitch 4 can be triggered；Upper
Uniform three sets of rollers 8 component of plate surrounding, component is made up of upper and lower two rollers, race of the roller in the first index arm 26 (see Fig. 6)
Interior motion, so as to assisted finger component 205 completes to draw in and expansion action.
Fig. 5 is the spring push-rod modular construction schematic diagram of the driving mechanism of one embodiment of the invention；Spring push-rod component 5 by
Push rod outer tube 9, spring 10, spring shaft 11, push rod 12 are constituted, and spring 10 is installed on spring shaft 11, and promotion push rod 12 is outside push rod
Slide up and down in cylinder 9；During drop-down and sealed, driving mechanism 2 pulls passive structure 1 so that both interfaces are not
Disconnected close, spring push-rod component 5 is initially the state that eject completely；In cinching process, passive structure 1 needs constantly to overcome spring
The ejection power of push-rod assembly 5, when the interface of driving mechanism 2 and passive structure 1 is fitted completely, is carried by spring push-rod component 5
For pretightning force between the two；In separation process, finger component 205 is totally released, and passive structure 1 is in spring push-rod component 5
In the presence of ejecting power, realization is separated with driving mechanism 1, is completed separation of the driving mechanism 2 to passive structure 1 and is discharged.
Fig. 6 is the structural representation of single set finger component of the driving mechanism of one embodiment of the invention；Finger component 205 is total to
There are three sets, it is a quadric chain often to cover, including the first index arm 26, the second index arm 28, the index arm 33 of pedestal 31 and the 3rd, function
To realize the capture to passive structure 1 and release movement；Pedestal 31 is connected with the second index arm 28 by the second spindle 29, and second refers to
Torsion spring 30 is installed and is connected by pin with the second index arm 28 in the front end of axle 29；When torsion spring 30 is rotated, second is driven to refer to by pin
Arm 28 is rotated, and causes the linkage of whole quadric chain, so as to realize the action of performing fighting of finger component 205；Between connecting rod and axle
Connected using shaft hole matching, pin；The finger tip 35 of nonmetallic materials is installed on the top of first index arm 26, finger tip into dome type, with
First index arm 26 is connected by screw, and in the collision process of passive structure 1 cushioning effect is played；In the side of the first index arm 26
Face, is provided with the race being engaged with roller 8 (see Fig. 4).Finger component 205 captures principle：Before capture, the first index arm 26 is being turned round
In the presence of spring 30, open configuration is kept；During work, finger component 205 follows mobile platform 15 to move down, the first index arm 26
Side race be subject to the constraint of fixed roller 8 (see Fig. 4), the first index arm 26 will overcome torsion spring power to draw in, until the
One index arm 26 reaches vertical holding state, so as to complete capture action.
Fig. 7 is the transmission component structural representation of the driving mechanism of one embodiment of the invention；Feed screw nut 14 is flat with mobile
Platform 15 is connected by securing member, keeps being synchronized with the movement；Mobile platform 15 is a flat-disk, and three sets are designed with thereon with finger group
The mounting interface of part 205；Platform edges it is uniform 3 groups with the connecting interface of slide block 25 (see Fig. 9), during work, the band of mobile platform 15
Movable slider 25 is slided up and down along guide rail 24, and with the function of triggering microswitch 23.
Fig. 8 is the drive component structural representation of the driving mechanism of one embodiment of the invention；Drive component 203 includes direct current
Brushless electric machine 17, planetary reduction box 18, one-stage gear 19, turbine and worm reduction box 20 and base plate 21；Wherein, DC brushless motor
17th, planetary reduction box 18 and the supporting installation of worm reduction box 20, DC brushless motor 17 provides power source, subtracts via planet
Fast case 18 is exported to worm reduction box 20；One-stage gear 19 is fixed by a pin to worm reduction box 20 and exports
End, secondary gear with matching 13 is fixed on ball-screw 16 (see Fig. 7) by flat key and screw, realizes driving with this
Component 203 is input into the power of transmission component 202；Worm type of reduction gearing except transmission power in addition to, in the locking state of driving mechanism 2
Under, by its auto-lock function, moreover it is possible to play a part of attachment force between maintaining body；Each part mentioned above is all connected on base plate 21.
Fig. 9 is the casing assembly structural representation of the driving mechanism of one embodiment of the invention；Casing assembly 204 includes shell
22nd, microswitch 23, guide rail 24 and slide block 25, slide block 25 is connected on guide rail 24 by moving sets, microswitch 23 and guide rail
It is bolted on shell 22.
Capture further below to the present invention, the sealed and release course of work are described.
Space manipulator carries driving mechanism 2 according to necessarily requiring close passive structure 1, it is established that capture primary condition.
When mechanical arm monitoring system monitors that driving mechanism 2 is entered in capture range, mechanical arm stopping action, driving mechanism 2 enters
Enter to capture working condition.Now, finger component 205 is in open mode under the effect of torsion spring 30.During capture, drive component 203
DC brushless motor 17 receive control instruction startup, by planetary reduction box 18, worm reduction box 20, one-stage gear 19
And secondary gear 13 will be moved and moment of torsion passes to feed screw nut 14, the convert rotational motion being input into by feed screw nut adjutant is
Linear motion output, drives mobile platform 15 to move straight down, under the finger component 204 affixed with mobile platform 15 is also synchronous
Move.After the race of the first index arm 26 in open mode encounters roller 8, drawn in by the constraint of roller 8, and in torsion spring 30 dozens
Under opening force collective effect, vertical holding state is reached, realize capture action.
During tension is sealed, finger tip 35 is entered in the wedge-shaped slot of passive structure 1, and with the trend of convergence into wedge-shaped slot
Portion moves, and in both mutual collision processes, by the configuration of passive structure 1 attitude updating is completed, and boss inclined-plane 37 can prevent from referring to
Point 35 departs from passive structure 1 due to skidding；The finger tip 35 of finger component 205 is pasted completely with the boss inclined-plane 37 of passive structure 1
Close, pull passive structure 1 close to driving mechanism 2, the ejection power of spring push-rod component 5 is constantly overcome in motion process；Thick
Under conical bore Self-centering Action on the taper seat and passive structure end face of alignment pin 6, lateral displacement deviation and axial angle are reduced
Deviation, under the guide effect of the end-tooth 38 on the end face groove and passive structure of upper plate end face, eliminate lateral displacement deviation and
Axial angular displacement；When driving mechanism 2 is fitted completely with the interface of passive structure 1, microswitch 4 is triggered, send and move to
Position signal, by the reverse self-locking of worm reduction box 20, transmission component is in deadlock position, realizes driving mechanism to passive
The tension of structure is sealed.
During separation, DC brushless motor 17 receives control instruction reversion, and Jing driving-chains to feed screw nut 14 drive finger group
Part 205 does and moves straight up, now due to the effect of the elastic force of spring push-rod component 5, drives passive structure 1 to follow finger group
Part 205 is synchronous to be risen, until when roller 8 departs from the race of the first index arm 26, finger component 205 is opened in the presence of torsion spring 30
Open, discharge passive structure 1.When mobile platform 15 triggers microswitch 23, control DC brushless motor 17 is stalled, now finger
Component 205 is in full open position, and the various pieces of driving mechanism 2 return to capture original state, is that next time capture is carried out
Prepare.Move via space manipulator so that driving mechanism 2 and passive structure 1 further away from each other, so as to complete separating action.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
All should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (10)
1. a kind of space captures the mover on the passive structure and space manipulator on locking device, including spacecraft
Structure, it is characterised in that：The passive structure is three lobe type structures；The driving mechanism includes casing assembly, drive component, transmission
Component, upper plate accessory part and three sets of finger components, the casing assembly is to support, connect the drive component, transmission group
Part, upper plate accessory part and finger component, wherein the upper plate accessory part includes roller, the finger component includes double leval jib
Mechanism, the drive component drives the transmission component, makes the transmission component that gyration is converted into into linear motion, described
Transmission component controls moving up and moving down for the finger component, by described when three sets of finger components are moved down
The compression of roller and close up, and then the passive structure that grasping structures are adapted therewith；When the finger component is moved up
The quadric chain linkage, drives the finger component to open, and then discharges the passive structure.
2. space as claimed in claim 1 captures locking device, it is characterised in that：The drive component includes brush DC electricity
Machine, planetary reduction box, worm reduction box, one-stage gear, the DC brushless motor is driven by the planetary reduction box
The worm reduction box, the worm reduction box drives the transmission component by the one-stage gear.
3. space as claimed in claim 1 captures locking device, it is characterised in that：Transmission component includes secondary gear, leading screw
Nut, ball-screw, mobile platform, the drive component drives the secondary gear to rotate, and the secondary gear drives described
Ball screw turns, the ball-screw drives the feed screw nut to move along a straight line, and then drives the mobile platform and institute
State moving up or down for finger component.
4. space as claimed in claim 1 captures locking device, it is characterised in that：The upper plate accessory part include upper plate,
Microswitch, coarse positioning pin and/or spring push-rod component, the microswitch, coarse positioning pin, roller and/or spring push-rod group
Part is fixed on the upper plate, and the coarse positioning pin is combined with the passive structure, and then touches the microswitch so that institute
Drive component reverse self-locking is stated, the passive structure divides under the elastic force effect of the spring push-rod component with the driving mechanism
From.
5. space as claimed in claim 4 captures locking device, it is characterised in that：The spring push-rod component include outer tube,
Spring, spring shaft, push rod, the spring is arranged on the spring shaft, and the spring promotes the push rod outside the push rod
Move up in cylinder, and then promote the passive structure.
6. space as claimed in claim 1 captures locking device, it is characterised in that：The quadric chain refers to including first
Arm, the second index arm, pedestal, the 3rd index arm, the pedestal is connected with second index arm by spindle, second index arm and institute
State the first index arm to connect by spindle, the torsion spring is connected with second index arm by pin, the pedestal and the described 3rd
Index arm is connected by spindle, and the 3rd index arm is connected with first index arm by spindle, when the torsion spring is rotated, by pin
Nail drives second index arm to rotate, and then drives first index arm to rotate, dynamic so as to realize opening for the finger component
Make.
7. space as claimed in claim 6 captures locking device, it is characterised in that：The first index arm side is provided with race,
The race is engaged with the roller, and when the finger component is moved down, the roller compresses first index arm so that
The finger component gradually draws in.
8. space as claimed in claim 6 captures locking device, it is characterised in that：The index arm top is provided with non-metallic material
The finger tip of material, the finger tip is in dome type.
9. space as claimed in claim 1 captures locking device, it is characterised in that：The upper surface of the passive structure is disposed with
Aircraft connecting interface, lower surface is disposed with carries out the hole of coarse positioning with the upper plate accessory part, the three lobes type structure
Wedge-shaped slot is formed between per lobe, the lower surface of the wedge-shaped slot is provided with boss inclined-plane.
10. space as claimed in claim 1 captures locking device, it is characterised in that：The casing assembly includes shell, fine motion
Switch, guide rail and the slide block along the slide, the microswitch, guide rail are fixed on the housing, the transmission group
Part drives the slide block along the slide, and then touches the microswitch, and so as to control the drive component fortune is stopped
It is dynamic.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610980971.6A CN106628277B (en) | 2016-11-08 | 2016-11-08 | A kind of space capture locking device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610980971.6A CN106628277B (en) | 2016-11-08 | 2016-11-08 | A kind of space capture locking device |
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| CN106628277B CN106628277B (en) | 2019-01-08 |
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| CN115140303A (en) * | 2022-07-19 | 2022-10-04 | 哈尔滨工业大学 | Unmanned aerial vehicle docking mechanism and method |
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| CN109738170A (en) * | 2018-11-30 | 2019-05-10 | 宁波新松机器人科技有限公司 | A kind of the detection positioning device and method of food tray axis |
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| CN109533399A (en) * | 2018-11-30 | 2019-03-29 | 北京精密机电控制设备研究所 | A kind of more sensing submissive docking mechanisms in power control space |
| CN111434576A (en) * | 2018-12-25 | 2020-07-21 | 哈尔滨工业大学 | Large-tolerance capturing and locking releasing mechanism of floating platform |
| CN111017271A (en) * | 2019-12-20 | 2020-04-17 | 北京空间飞行器总体设计部 | Spacecraft mooring mechanism |
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| CN113734480A (en) * | 2021-09-13 | 2021-12-03 | 哈尔滨工业大学（威海） | Multifunctional end effector for aerospace maintenance |
| CN113734480B (en) * | 2021-09-13 | 2023-04-25 | 哈尔滨工业大学（威海） | Multifunctional end effector for aerospace maintenance |
| CN114291303A (en) * | 2021-12-28 | 2022-04-08 | 哈尔滨工业大学 | Light and simple butt joint locking and releasing device and working method thereof |
| CN114291303B (en) * | 2021-12-28 | 2024-04-09 | 哈尔滨工业大学 | Light simplified butt joint locking and releasing device and working method thereof |
| CN114260934A (en) * | 2022-01-14 | 2022-04-01 | 北京科技大学 | Unlocking limiting mechanism for operation of space manipulator |
| CN114260934B (en) * | 2022-01-14 | 2023-04-07 | 北京科技大学 | Unlocking limiting mechanism for operation of space manipulator |
| CN115140303A (en) * | 2022-07-19 | 2022-10-04 | 哈尔滨工业大学 | Unmanned aerial vehicle docking mechanism and method |
| CN116022386A (en) * | 2023-03-31 | 2023-04-28 | 中国空气动力研究与发展中心空天技术研究所 | Device for releasing and recycling unmanned aerial vehicle |
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