CN106628277B - A kind of space capture locking device - Google Patents
A kind of space capture locking device Download PDFInfo
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- CN106628277B CN106628277B CN201610980971.6A CN201610980971A CN106628277B CN 106628277 B CN106628277 B CN 106628277B CN 201610980971 A CN201610980971 A CN 201610980971A CN 106628277 B CN106628277 B CN 106628277B
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- component
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- passive structure
- index arm
- upper plate
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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
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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
- B64G2004/005—Robotic manipulator systems for use in space
Abstract
The invention proposes a kind of spaces to capture locking device, including initiating structure and passive structure；Driving mechanism includes casing assembly, driving assembly, transmission component, upper plate accessory part and three sets of finger components, casing assembly is to support, connect driving assembly, transmission component, upper plate accessory part and finger component, wherein upper plate accessory part includes idler wheel, finger component includes four-bar mechanism, driving assembly drives transmission component, transmission component is set to be converted into moving along a straight line by rotary motion, transmission component control finger component moving up and moving down, closed up when three sets of finger components move down by the compression of idler wheel, and then grasping structures compatible passive structure therewith；Four-bar mechanism links when finger component moves up, and driving finger component opens, and then discharges passive structure.The present invention can be used for capture and sealed, the beneficial effect that achieves light-weight, small in size, big tolerance, capture object multiplicity of the space manipulator to small-sized spacecraft.
Description
Technical field
Design space operating technology of the present invention field, and in particular to a kind of capture locking device of space manipulator, the machine
Structure can realize the capture to space small aircraft and load, locking and release.
Background technique
The end effector tool of space manipulator is a series of executing agency that mechanical arm completes space tasks, according to completion
The type 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
Satellite quantity also present accelerate go up trend, at present to discarded satellite recycling not yet relatively effective method, therefore
It is necessary to design a kind of arresting agency suitable for space grapefruit satellite, operation is arrested for realizing space.
Summary of the invention
In order to solve the problems, such as that the waste and old satellite in current space is irretrievable, the invention proposes a kind of spaces to capture locking dress
It sets.
The technical scheme adopted by the invention is that:
A kind of space capture locking device, including the mover on the passive structure and space manipulator on spacecraft
Structure, the passive structure are three valve type structures；The driving mechanism includes that casing assembly, driving assembly, transmission component, upper plate are auxiliary
Component and three sets of finger components are helped, the casing assembly is to support, connect the driving component, transmission component, upper plate auxiliary
Component and finger component, wherein the upper plate accessory part includes idler wheel, the finger component includes four-bar mechanism, the drive
Transmission component described in dynamic Component driver, makes the transmission component be converted into moving along a straight line by rotary motion, the transmission component control
Moving up and moving down for the finger component is made, by the compression of the idler wheel when three sets of finger components move down
And close up, and then the grasping structures compatible passive structure therewith；Finger component double leval jib when moving up
Mechanism linkage, drives the finger component to open, and then discharges the passive structure.
Preferably, the driving component includes DC brushless motor, planetary reduction box, worm reduction box, level-one tooth
Wheel, the DC brushless motor drive the worm reduction box by the planetary reduction box, and the worm and gear slows down
Case drives the transmission component by the one-stage gear.
Preferably, transmission component includes secondary gear, feed screw nut, ball-screw, mobile platform, the driving component is driven
The secondary gear rotation is moved, the secondary gear drives the ball screw turns, and the ball-screw drives the lead 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
Microswitch, coarse positioning pin, idler wheel and/or spring push-rod component is stated to be fixed on the upper plate, the coarse positioning pin with it is described
Passive structure combines, and then touches the microswitch, so that the driving component reverse self-locking, the passive structure is described
The elastic force effect of spring push-rod component is lower to be separated with the driving mechanism.
Further, the spring push-rod component includes outer cylinder, spring, spring shaft, push rod, and the spring is mounted on described
On spring shaft, the spring pushes the push rod to move up in the push rod outer cylinder, and then pushes the passive structure.
Preferably, the four-bar mechanism includes the first index arm, the second index arm, pedestal, third index arm, the pedestal and institute
It states the second index arm to connect by spindle, second index arm connect with first index arm by spindle, a torsional spring and described the
Two index arms are connected by pin, and the pedestal is connect with the third index arm by spindle, the third index arm and described first
Index arm is connected by spindle, when the torsional spring rotates, drives second index arm to rotate by pin, and then drive described first
Index arm rotation, to realize the expansion action of the finger component.
Further, first index arm side is provided with race, and the race is matched with the idler wheel, the finger group
When part moves down, the idler wheel compresses first index arm, so that the finger component gradually collapses.
Further, the index arm top is equipped 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 end surface be disposed with it is described on
Plate accessory part carries out the hole of coarse positioning, forming wedge groove, the lower end of the wedge groove between every valve of the three valves type structure
Face is equipped with boss inclined-plane.
Preferably, the casing assembly include shell, microswitch, guide rail and along the guide rail sliding sliding block, it is described
Microswitch, guide rail are fixed on the housing, and the transmission component drives the sliding block to slide along the guide rail, and then touch
The microswitch, to control the driving component stop motion.
Meanwhile to solve the above-mentioned problems, the present invention also proposes that a kind of space captures the corresponding grasping means of locking device, packet
Include following steps:
Capture step of the driving mechanism to passive structure；
Driving mechanism is to the sealed step of the tension of passive structure；
Separation release steps of the driving mechanism to passive structure；
Capture step of the driving mechanism to passive structure specifically: it is gradually close that space manipulator carries driving mechanism
Passive structure, finger component are in complete open configuration, and driving assembly drives ball-screw, are driven by feed screw nut mobile flat
Platform moves downward, and the first index arm side is provided with race, cooperates with the idler wheel on upper plate accessory part, by compressing the first index arm,
So that finger component gradually collapses in motion process, until entering the anti-escape region of three valve type wedge grooves of passive structure, lead to
The coarse positioning of finger tip and wedge groove is crossed, realizes the preliminary corrections of circumferential deviation, completes capture of the driving mechanism to passive structure.
The driving mechanism is to the sealed step of the tension of passive structure specifically: the finger component of the driving mechanism is complete
It collapses, the finger tip of finger component is bonded completely with the boss inclined-plane of passive structure, pulls passive structure close to driving mechanism, fortune
The pop-up power of spring push-rod component is constantly overcome during dynamic；Circular cone on the circular conical surface of coarse positioning pin and passive structure end face
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 guiding role of end-tooth, lateral displacement deviation and axial angular displacement are eliminated；After movement in place, pass through worm reduction box
Reverse self-locking, transmission component is in deadlock position, realizes that driving mechanism is sealed to the tension of passive structure.
Separation release steps of the driving mechanism to passive structure specifically: when release, driving assembly is driven in the reverse direction rolling
Ballscrew, so that mobile platform drives finger component to move upwards, when the race of the first index arm is detached from the rolling of upper plate accessory part
When wheel, torsional spring drives the first index arm to open by the second index arm of driving, constraint release of the driving mechanism to passive structure；Passive knot
Structure realizes the separation with driving mechanism, completes driving mechanism to passive structure under the action of spring push-rod component pops up power
Separation release.
After adopting the above technical scheme, the present invention have it is following apparent the utility model has the advantages that
1, lightweight construction, small in size, is suitable for the invention application --- and space manipulator bearing capacity is small, machine
The limited feature of structure installation volume；
2, capture tolerance is big, and relative to current perimetric pattern capture, cone rod-type capture, the present invention can be biggish by designing
Wedge groove and finger subtended angle realize big tolerance capture；
3, mechanism task compatibility is good, and the present invention can not only 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, has expanded the task scope of driving mechanism significantly.
Detailed description of the invention
Fig. 1 is the driving mechanism capture passive structure schematic diagram of one embodiment of the invention；
Fig. 2 is the structural schematic diagram of the passive structure of one embodiment of the invention；
Fig. 3 is the structural schematic diagram of the driving mechanism of one embodiment of the invention；
Fig. 4 is the structural schematic diagram of the upper plate accessory part of the driving mechanism of one embodiment of the invention；
Fig. 5 is the spring push-rod component structure diagram of the driving mechanism of one embodiment of the invention；
Fig. 6 is the structural schematic diagram of single set finger component of the driving mechanism of one embodiment of the invention；
Fig. 7 is the transmission component structural schematic diagram of the driving mechanism of one embodiment of the invention；
Fig. 8 is the driving assembly structural schematic diagram of the driving mechanism of one embodiment of the invention；
Fig. 9 is the casing assembly structural schematic diagram of the driving mechanism of one embodiment of the invention；
Marked in the figure:
201- upper plate accessory part；202- transmission component；203- driving assembly；204- casing assembly；205- finger component
1- passive structure；2- driving mechanism；3- upper plate；4- microswitch；5- spring push-rod component；6- coarse positioning pin；7-
Idler wheel connecting plate；8- idler wheel；9- outer cylinder；10- spring；11- spring shaft；12- push rod；13- secondary gear；14- feed screw nut；
15- mobile platform；16- ball-screw；17- DC brushless motor；18- planetary reduction box；19- one-stage gear；20- worm and gear
Reduction gearbox；21- bottom plate；22- shell；23- microswitch；24- guide rail；25- sliding block；The first index arm of 26-；The first spindle of 27-；
The second index arm of 28-；The second spindle of 29-；30- torsional spring；31- pedestal；32- third spindle；33- third index arm；The 4th spindle of 34-；
35- finger tip；36- aircraft connecting interface；37- boss inclined-plane；38- end-tooth；39- sliding block connecting interface；40- finger component connects
Mouthful.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
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 are installed on space manipulator end.When space manipulator carries driving mechanism 2 gradually close to passive structure 1
When, driving mechanism 2 captures passive structure 1, and the preliminary school of circumferential deviation is completed by the wedge groove configuration of passive structure 1
Just；After the completion of capture, 2 clamping passive structure of driving mechanism, 1 boss inclined-plane continues to pull down, until inter-agency interface pastes completely
It closes, 2 reverse locking of driving mechanism, guarantees certain attachment force at this time, to complete sealed movement；When separation release, driving mechanism 2
Reversion, gradually unclamps passive structure 1, the resilient force of spring push-rod component 5 (see Fig. 4) on passive structure 1, make winner,
Separated between passive structure, driving mechanism 2 is carried by space manipulator and is dropped back, realize with passive structure 1 further away from.
Fig. 2 is the structural schematic diagram of the passive structure of one embodiment of the invention, and structure upper end is disposed with to be connect with aircraft
Interface.Wedge groove is formed between three valve type structures, after finger component 205 enters wedge groove, since posture between the two is inclined
Difference, finger will collide with each other with wedge-shaped cell wall, and gradually collapse to slot root, until finger component 205 compresses wedge groove, with this
Complete the preliminary corrections of passive structure circumferential direction posture；Finger component 205 drives passive structure 1 to move closer to driving mechanism 2, considers
There can be slipping phenomenon between the two, to prevent finger component 205 from skidding off from wedge groove, be set in 1 lower end surface of passive structure
Boss inclined-plane 37 is set, so that finger hooks passive structure 1 in downdraw process.
Fig. 3 is the structural schematic diagram of the driving mechanism of one embodiment of the invention；Driving mechanism 2 is installed on space manipulator end
End, have the function of capture, it is sealed with separate.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 driving assembly 203, reaches transmission component 202
Afterwards, mechanical movement is transferred to finger component 205, under the assistance of upper plate accessory part 201 and casing assembly 204, completes to catch
The movement such as obtain, lock and separate.
Fig. 4 is the structural schematic diagram of the upper plate accessory part of the driving mechanism of one embodiment of the invention；Upper plate accessory part
201 are made of upper plate 3, microswitch 4, spring push-rod component 5, coarse positioning pin 6, idler wheel connecting plate 7 and idler wheel 8, and each component is equal
It is fixed by screws on upper plate 3.During driving mechanism 2 tenses passive structure 1, interface is moved closer between the two,
Under the circular conical surface of coarse positioning pin 6 and the conical bore Self-centering Action on passive structure end face, lateral displacement deviation and axial direction are reduced
It is inclined to eliminate lateral displacement under the guiding role of the end-tooth 38 on the end face groove and passive structure 1 of 3 end face of upper plate for angular displacement
Difference and axial angular displacement；When the interface of driving mechanism 2 and passive structure 1 is bonded completely, microswitch 4 can be triggered；Upper
Plate surrounding is evenly distributed with three sets of 8 components of idler wheel, and component is made of two idler wheels up and down, race of the idler wheel in the first index arm 26 (see Fig. 6)
Interior movement, so that assisted finger component 205 completes gathering and expansion action.
Fig. 5 is the spring push-rod component structure diagram of the driving mechanism of one embodiment of the invention；Spring push-rod component 5 by
Push rod outer cylinder 9, spring 10, spring shaft 11, push rod 12 form, and spring 10 is installed on spring shaft 11, push push rod 12 outside push rod
It is slided up and down in cylinder 9；During pulling down and is sealed, driving mechanism 2 pulls passive structure 1, so that the interface of the two is not
Break close, spring push-rod component 5 is initially complete pop-up state；In cinching process, passive structure 1 needs constantly to overcome spring
The pop-up power of push-rod assembly 5 is mentioned when the interface of driving mechanism 2 and passive structure 1 is bonded completely by spring push-rod component 5
For pretightning force between the two；During the separation process, finger component 205 is totally released, and passive structure 1 is in spring push-rod component 5
Under the action of popping up power, the separation with driving mechanism 1 is realized, complete driving mechanism 2 and the separation of passive structure 1 is discharged.
Fig. 6 is the structural schematic diagram of single set finger component of the driving mechanism of one embodiment of the invention；Finger component 205 is total
There are three sets, every set is a four-bar mechanism, including the first index arm 26, the second index arm 28, pedestal 31 and third index arm 33, function
To realize capture and release movement to passive structure 1；Pedestal 31 is connect with the second index arm 28 by the second spindle 29, and second refers to
29 front end of axis installation torsional spring 30 is connect with the second index arm 28 by pin；When torsional spring 30 rotates, second is driven to refer to by pin
Arm 28 rotates, and causes the linkage of entire four-bar mechanism, to realize the movement of performing fighting of finger component 205；Between connecting rod and axis
It is all made of shaft hole matching, pin connection；The finger tip 35 of nonmetallic materials is installed on first index arm, 26 top, finger tip at dome type, with
First index arm 26 is connected by screw to, with play buffer function in 1 collision process of passive structure；In the side of the first index arm 26
Face is provided with the race matched with idler wheel 8 (see Fig. 4).Finger component 205 captures principle are as follows: before capture, the first index arm 26 is being turned round
Under the action of spring 30, open configuration is kept；When work, finger component 205 follows mobile platform 15 to move down, the first index arm 26
Constraint of the side race by fixed idler wheel 8 (see Fig. 4), the first index arm 26 will overcome torsional spring power to collapse, until the
One index arm 26 reaches vertical holding state, to complete capture movement.
Fig. 7 is the transmission component structural schematic diagram of the driving mechanism of one embodiment of the invention；Feed screw nut 14 and movement are flat
Platform 15 is connected by fastener, keeps moving synchronously；Mobile platform 15 is a flat-disk, and design has three sets and finger group thereon
The installation interface of part 205；The connecting interface of uniformly distributed 3 groups of platform edges and sliding block 25 (see Fig. 9), when work, 15 band of mobile platform
Movable slider 25 is slided up and down along guide rail 24, and the function with triggering microswitch 23.
Fig. 8 is the driving assembly structural schematic diagram of the driving mechanism of one embodiment of the invention；Driving assembly 203 includes direct current
Brushless motor 17, planetary reduction box 18, one-stage gear 19, turbine and worm reduction gearbox 20 and bottom plate 21；Wherein, DC brushless motor
17, planetary reduction box 18 and the mating installation of worm reduction box 20, DC brushless motor 17 provide power source, subtract via planet
In the fast output to worm reduction box 20 of case 18；One-stage gear 19 is fixed by a pin to the output of worm reduction box 20
End, secondary gear 13 with matching are fixed on ball-screw 16 (see Fig. 7) by flat key and screw, realize driving with this
Component 203 inputs the power of transmission component 202；Worm type of reduction gearing is in addition to transmitting power, in 2 locking state of driving mechanism
Under, pass through its self-locking function, moreover it is possible to play the role of attachment force between holding mechanism；Each part mentioned above is all connected on bottom plate 21.
Fig. 9 is the casing assembly structural schematic diagram of the driving mechanism of one embodiment of the invention；Casing assembly 204 includes shell
22, microswitch 23, guide rail 24 and sliding block 25, sliding block 25 are connected on guide rail 24 by prismatic pair, microswitch 23 and guide rail
It is bolted on shell 22.
Capture of the invention, the sealed and release course of work are described further below.
Space manipulator carries driving mechanism 2 and requires according to certain close to passive structure 1, it is established that capture primary condition.
When mechanical arm monitoring system monitors that driving mechanism 2 enters in capture range, mechanical arm stopping movement, driving mechanism 2 into
Enter to capture working condition.At this point, finger component 205 is in the open state under the effect of torsional spring 30.When capture, driving assembly 203
DC brushless motor 17 receive control instruction starting, pass through planetary reduction box 18, worm reduction box 20, one-stage gear 19
And secondary gear 13 will move and torque passes to feed screw nut 14, is converted by the rotary motion that feed screw nut adjutant inputs
Linear motion output, drives mobile platform 15 to move straight down, under also synchronous with finger component 204 that mobile platform 15 is affixed
It moves.After the race of the first index arm 26 in the open state encounters idler wheel 8, collapsed by the constraint of idler wheel 8, and beaten in torsional spring 30
Under opening force collective effect, reach vertical holding state, realizes capture movement.
Tense it is sealed during, finger tip 35 enters in the wedge groove of passive structure 1, and with convergent trend into wedge groove
Portion's movement completes attitude updating by 1 configuration of passive structure, boss inclined-plane 37 can prevent from referring in the mutual collision process of the two
Point 35 is detached from passive structure 1 due to skidding；The finger tip 35 of finger component 205 and the boss inclined-plane 37 of passive structure 1 paste completely
It closes, pulls passive structure 1 close to driving mechanism 2, the pop-up power of spring push-rod component 5 is constantly overcome in motion process；Thick
Under the circular conical surface of positioning pin 6 and the conical bore Self-centering Action on passive structure end face, lateral displacement deviation and axial angle are reduced
Deviation, under the guiding role 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 bonded completely with the interface of passive structure 1, microswitch 4 is triggered, sending moves 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.
When separation, DC brushless motor 17 receives control instruction reversion, through transmission chain to feed screw nut 14, drives finger group
Part 205 is done to be moved straight up, at this time due to the effect of 5 elastic force of spring push-rod component, passive structure 1 is driven to follow finger group
Part 205 is synchronous to be risen, until finger component 205 is opened under the action of torsional spring 30 when idler wheel 8 is detached from the race of the first index arm 26
It opens, discharges passive structure 1.When mobile platform 15 triggers microswitch 23, control DC brushless motor 17 is stalled, at this time finger
Component 205 is in full open position, and 2 various pieces of driving mechanism are restored to capture original state, carries out for capture next time
Prepare.It is moved via space manipulator, so that driving mechanism 2 and passive structure 1 are further away to complete separating action.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of space captures locking device, including the mover on the passive structure and space manipulator on spacecraft
Structure, it is characterised in that: the passive structure is three valve type structures；The driving mechanism includes casing assembly, driving assembly, transmission
Component, upper plate accessory part and three sets of finger components, the casing assembly is to support, connect the driving component, transmission group
Part, upper plate accessory part and finger component, wherein the upper plate accessory part includes idler wheel, the finger component includes double leval jib
Mechanism, the driving component drives the transmission component, the transmission component is made to be converted into moving along a straight line by rotary motion, described
Transmission component controls moving up and moving down for the finger component, by described when three sets of finger components move down
The compression of idler wheel and close up, and then the grasping structures compatible passive structure therewith；When the finger component moves up
The four-bar mechanism linkage, drives the finger component to open, and then discharge the passive structure.
2. space as described in claim 1 captures locking device, it is characterised in that: the driving component includes brush DC electricity
Machine, planetary reduction box, worm reduction box, one-stage gear, the DC brushless motor are driven by the planetary reduction box
The worm reduction box, the worm reduction box drive the transmission component by the one-stage gear.
3. space as described in claim 1 captures locking device, it is characterised in that: transmission component includes secondary gear, lead screw
Nut, ball-screw, mobile platform, the driving component drive the secondary gear to rotate, described in the secondary gear drive
Ball screw turns, the ball-screw drive the feed screw nut to move along a straight line, and then drive the mobile platform and institute
State moving up or down for finger component.
4. space as described 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, idler wheel and/or spring push-rod group
Part is fixed on the upper plate, and the coarse positioning pin touches the microswitch in conjunction with the passive structure, so that institute
Driving assembly 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 cylinder,
Spring, spring shaft, push rod, the spring are mounted on the spring shaft, and the spring pushes the push rod outside the push rod
It is moved up in cylinder, and then pushes the passive structure.
6. space as described in claim 1 captures locking device, it is characterised in that: the four-bar mechanism includes the first finger
Arm, the second index arm, pedestal, third index arm, the pedestal are connect with second index arm by spindle, second index arm and institute
It states the first index arm to connect by spindle, a torsional spring is connect with second index arm by pin, and the pedestal refers to the third
Arm is connected by spindle, and the third index arm is connect with first index arm by spindle, when the torsional spring rotates, passes through pin
It drives second index arm to rotate, and then drives the first index arm rotation, to realize the expansion action of the finger component.
7. space as claimed in claim 6 captures locking device, it is characterised in that: first index arm side is provided with race,
The race is matched with the idler wheel, and when the finger component moves down, the idler wheel compresses first index arm, so that
The finger component gradually collapses.
8. space as claimed in claim 6 captures locking device, it is characterised in that: the index arm top is equipped with non-metallic material
The finger tip of material, the finger tip are in dome type.
9. space as described 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 end surface are disposed with the hole that coarse positioning is carried out with the upper plate accessory part, the three valves type structure
Wedge groove is formed between every valve, the lower end surface of the wedge groove is equipped with boss inclined-plane.
10. space as described in claim 1 captures locking device, it is characterised in that: the casing assembly includes shell, fine motion
Switch, guide rail and the sliding block along guide rail sliding, the microswitch, guide rail are fixed on the housing, the transmission group
Part drives the sliding block to slide along the guide rail, and then touches the microswitch, so that controlling the driving component stops fortune
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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|---|---|---|---|
| CN201610980971.6A CN106628277B (en) | 2016-11-08 | 2016-11-08 | A kind of space capture locking device |
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| CN106628277B true CN106628277B (en) | 2019-01-08 |
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| CN109305393B (en) * | 2018-10-19 | 2020-06-23 | 哈尔滨工业大学 | Space aircraft is with embracing claw formula and catching lock |
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| CN113734480B (en) * | 2021-09-13 | 2023-04-25 | 哈尔滨工业大学（威海） | Multifunctional end effector for aerospace maintenance |
| 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 |
| CN114260934B (en) * | 2022-01-14 | 2023-04-07 | 北京科技大学 | Unlocking limiting mechanism for operation of space manipulator |
| CN115140303B (en) * | 2022-07-19 | 2023-05-05 | 哈尔滨工业大学 | Unmanned aerial vehicle docking mechanism and method |
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| CN106628277A (en) | 2017-05-10 |
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