CN106904295B - A kind of space plate load repetition locking and fixing device based on mechanical arm - Google Patents
A kind of space plate load repetition locking and fixing device based on mechanical arm Download PDFInfo
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- CN106904295B CN106904295B CN201710167908.5A CN201710167908A CN106904295B CN 106904295 B CN106904295 B CN 106904295B CN 201710167908 A CN201710167908 A CN 201710167908A CN 106904295 B CN106904295 B CN 106904295B
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- plate load
- space plate
- locking
- mechanical arm
- fixing device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- Aviation & Aerospace Engineering (AREA)
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Abstract
The present invention provides a kind of space plate load repetition locking and fixing device based on mechanical arm, the mechanism comprising: which space plate load and space plate load are locked, the space plate load are locked mechanism for carrying, limiting and locking the space plate load.Compared with prior art: the present invention provides a kind of, and the space plate load based on mechanical arm repeats locking and fixing device, space plate load of the invention repeats locking and fixing device can be under the action of mechanical arm, realize that the repetition to space plate load plugs operation, with to space plate load repeatable locking and release function, and guarantee space plate load this space plate load repeat locking and fixing device in reliably lock；Space plate load of the invention, which repeats locking and fixing device, to be had the characteristics that simplify the structure, lightweight and low-power consumption, can promote the in-orbit engineer application of space plate load.
Description
Technical field
The present invention relates to space equipment fields, and in particular to a kind of space plate load repetition locking based on mechanical arm is solid
Determine device.
Background technique
Space plate load is used in real to carry out all kinds of space science on the outer experiment porch of station module more and more
It tests or for being carried to some instrument and equipments.Space plate load will realize repetition plug under the action of mechanical arm
Operation, it is desirable that space plate load and its mechanism that is locked are able to achieve low impact and repeat locking and release function, Er Qiesuo
It fastens mechanism and to have the characteristics that simplify the structure, lightweight and low-power consumption.Traditional connection separation side based on priming system
Formula due to HI high impact, high power consumption, it is disposable the disadvantages of, be difficult the low impact suitable for space and repeat connection to want with what is separated
It asks.
In view of the above drawbacks, creator of the present invention obtains the present invention by prolonged research and practice finally.
Summary of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, provides a kind of space based on mechanical arm
Plate load repeats locking and fixing device comprising: space plate load and space plate load are locked mechanism, the sky
Between plate load be locked mechanism for carrying, limit and lock the space plate load.
Preferably, the space plate load is locked, mechanism includes:
Main body is limited for carrying the space plate load, and to the space plate load；
Driving unit is arranged in the space plate load, executes motor unit completion limit movement for driving；
Motor unit is executed, is arranged in the space plate load, the motor unit that executes is in the work of mechanical arm
Under, for cooperating the main body and the driving unit, complete the locking action to the space plate load and release to lock
Tight movement；
Detection unit, setting reach designated position on the body, for detecting the space plate load, and will
Location information is sent to control system, and the control system, which controls the mechanical arm, becomes follow-up motion from active movement；
Control unit, setting discharge the space plate load on the body, for controlling the mechanical arm.
Preferably, the main body includes locking frame and locking pedestal, the locking frame is fixed with the locking pedestal
Connection, the locking chassis interior is the bevel structure matched with the space plate load bottom bevel.
Preferably, the execution motor unit includes:
Transmission subunit is arranged in the space plate load, for transmitting the driving force of the driving unit；
It is oriented to subelement, is arranged in the space plate load, for constraining the driving unit, and to described
Space plate load play the guiding role during being locked and being released locking.
Preferably, the detection unit is detection elastic slice, it is arranged at the locking frame inlet, the detection elastic slice
The control system is sent by the location information of the space plate load by electric signal.
Preferably, when the space plate load moves to the locking frame inlet under the action of mechanical arm,
The mechanical arm becomes follow-up motion from active movement.
Preferably, described control unit is microswitch, it is arranged on the locking pedestal.
Preferably, the space plate load is locked, mechanism further includes protective unit, is arranged in the locking frame
The both sides of the face of frame, for preventing fifth wheel from falling.
Preferably, the protective unit is fifth wheel protective net.
Preferably, 0.1mm is reserved in unilateral side at the cooperation of the locking frame and the space plate load, for preventing
There is catching phenomenon when stating space plate load and locking frame cooperation.
Compared with the prior art the beneficial effects of the present invention are: the present invention provides a kind of spatial plates based on mechanical arm
Shape load repeats locking and fixing device, and space plate load of the invention repeats locking and fixing device can be in the effect of mechanical arm
Under, it realizes that the repetition to space plate load plugs operation, there is the repeatable locking to space plate load and release function,
And guarantee that space plate load repeats reliably to lock in locking and fixing device in this space plate load；Space plate of the invention
Load repeats that locking and fixing device has the characteristics that simplify the structure, lightweight and low-power consumption, the present invention can promote spatial plate
The in-orbit engineer application of shape load.
Detailed description of the invention
It, below will be to required in embodiment description in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is the structural schematic diagram that a kind of space plate load of the invention repeats locking and fixing device；
Fig. 2 is the structural schematic diagram of the space plate load retaining mechanism main body of embodiment 1；
Fig. 3 is the structural schematic diagram of the space plate load retaining mechanism of embodiment 1.
Specific embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
Embodiment 1
As shown in Figure 1, for a kind of structural representation of space plate load repetition locking and fixing device provided in this embodiment
Figure, it includes: space plate load 1 and space plate load retaining mechanism 2 which, which repeats locking and fixing device,.Institute
It states space plate load and is locked mechanism 2 for carrying, limiting and locking the space plate load 1.
Space plate load retaining mechanism 2 includes main body, driving unit, executes motor unit, detection unit and control list
Member, main body is used for bearing space plate load, and limits to space plate load；Driving unit is arranged in spatial plate
In shape load, motor unit completion limit movement is executed for driving；Motor unit is executed, is arranged in space plate load
On, motor unit is executed under the action of mechanical arm, for cooperating main body and driving unit, completes the lock to space plate load
Tight movement and releasing locking action；Detection unit is arranged in main body, reaches specific bit for detecting space plate load
It sets, and sends control system for location information, control system, which controls the mechanical arm, becomes follow-up motion from active movement；Control
Unit processed is arranged in main body, discharges the space plate load for controlling mechanical arm.
As shown in Figures 2 and 3, Fig. 2 is the structural schematic diagram of the space plate load retaining mechanism main body of the present embodiment, figure
3 be the structural schematic diagram of the space plate load retaining mechanism of the present embodiment, and main body includes locking frame 201 and locking pedestal
202, the lower end of locking frame 201 is fixedly connected by screw with locking pedestal 202, is and spatial plate inside locking pedestal 202
The bevel structure that 1 bottom bevel of shape load matches.Driving unit includes reset spring 211 and locking spring 212；It executes dynamic
It include transmission subunit and guiding subelement as unit, transmission subunit is arranged in space plate load 1, described for transmitting
The driving force of driving unit, guiding subelement is arranged in space plate load 1, for constraining the driving unit, and right
Space plate load 1 play the guiding role during being locked and being released locking, wherein transmission subunit includes triggering handle
221, drawstring pre-loading screw 222, Kev drawstring 223 and locking pin 224, guiding subelement includes guide post 225 and angle pulley
226；Detection unit is detection elastic slice 231, is arranged in main body, reaches designated position for detecting space plate load 1, and
Control system is sent by location information, the control system, which controls the mechanical arm, becomes follow-up motion from active movement；Control
Unit processed is microswitch 241, is arranged on the body, for controlling the mechanical arm Free up Memory plate load 1.
Locking frame 201 lower end by screw with locking pedestal 202 be fixedly connected, locking frame 201 on spatial plate
It is provided with conical socket on the corresponding position of locking pin 224 in shape control feel simulator 1, locking pin 224 stretches out when for locking
Tip, to be limited to space plate load.
Space plate load 1 includes space plate load handle 101 and space plate load main body 102, and space plate carries
Two guide posts 225 are set between lotus handle 101 and space plate load main body 102, and triggering handle 221 is sleeved on guide post
On 225, reset spring 211 is set in space plate load handle 101 and triggers in the guide post 225 between handle 221, drawstring
Pre-loading screw 222 is fixed on triggering handle 221 by being spirally connected.It triggers on handle 221 and space plate load handle 101 respectively
Equipped with groove, for facilitating mechanical arm to grasp, it is worth noting that, groove number can be set as the case may be, this theory herein
The present invention will be described for three grooves are arranged in bright book.One end of Kev drawstring 223 is fixed on drawstring pre-loading screw
On 222, the other end of Kev drawstring 223 passes through mounting hole corresponding in space plate load main body and is fixed on locking pin
On 224, since 224 locking direction of locking pin is vertical with mechanical arm direction of improvement, on the driving path of Kev drawstring 223
It is provided with angle pulley 226, the rotating shaft of angle pulley 226 is directly tightened to space plate load main body by screw
On 102.Locking spring 212 is set in outside the link position of Kev drawstring 223 and locking pin 224, one end of locking spring 212
It acts against on locking pin 224, the other end of locking spring 212 acts against the corresponding peace of space plate load main body 102
In tankage.When space plate load 1 is limited and discharged, mechanical arm carries out active movement, compresses triggering handle 221 and sky
Between preset groove on plate load handle 101, triggering handle 221 moves upwards, and reset spring 211 compresses, and pulls Kevlar
Rope 223, Kev drawstring 223 pull locking pin 224, compress locking spring 212, and 224 tip of locking pin retracts, and realize that release is dynamic
Make；After mechanical arm unclamps, reset spring 211 restores former long by compressive state, spring of the triggering handle 221 in reset spring 211
It moves downward and returns to original state under power effect, while locking spring 212 restores former long by compressive state, locking spring 212
Spring force push 224 tip of locking pin stretch out, 224 tip of locking pin be cooperated to locking the preset conical socket of frame 201 in,
And Kev drawstring 223 is pulled, the fixation to space plate load is completed, realizes limit movement.
Detection elastic slice 231 is arranged on the locking frame 201 at the plate load retaining mechanism body inlet of space, for examining
It surveys the movement position of space plate load 1 and controls the servo-actuated decentralization of mechanical arm, prevent structure caused by manipulator motion deviation broken
It is bad；The setting of microswitch 241 is in locking 202 bottom end side of pedestal, for controlling mechanical arm Free up Memory plate load 1.
Wherein, the thickness of space plate load 1 is set as 10mm, and when practical application, the thickness of space plate load can be with
Make optimal setting according to the actual situation.It locks unilateral side at frame 201 and the load cooperation of space plate and reserves the gap 0.1mm, to prevent
Since deformation and temperature change cause catching phenomenon when only space plate load and locking frame 201 cooperate.In the present invention, empty
Between 1 lower end inclined-plane of plate load and locking 202 inclined-plane of pedestal cooperate, in addition the locking effect of locking pin 224, it is ensured that
Space plate load is reliably locked in locking frame 201, in lifting device mission phase, can prevent space plate load from colliding
Lock frame 201.
When work, mechanical arm compresses on triggering handle 221 and the preset groove of space plate load handle 101, triggers handle
Hand 221 moves upwards, and reset spring 211 compresses, and pulls Kev drawstring 223, and Kev drawstring 223 pulls locking pin 224, compression lock
Tight spring 212,224 tip of locking pin retract.Mechanical arm controls space plate loading movement, when space plate loading movement to lock
When 201 top of tight frame, need to be placed in locking frame 201, since there are deviations for manipulator motion, to prevent mechanical arm from transporting
Structure caused by dynamic deviation is destroyed, and has biggish tolerance size in the design of locking 201 inlet of frame.In locking 21 upper end of frame
Installation detection elastic slice 231 when space plate load enters locking frame 21, is first contacted with detection elastic slice 231, compressed detected elastic slice
231 form electric signal, and are sent to control system, and after control system identifies electric signal, control mechanical arm continues to move down sky
Between plate load.After mechanical arm controls space plate load follow-up motion to locking 201 bottom end of frame, microswitch 241 is triggered,
Microswitch 241 gives mechanical arm signal, thus Free up Memory plate load, reset spring 211 restores former long by compressive state, touching
Hair handle 221 is moved downward under the spring-force driven dual of reset spring 211 and is returned to original state, at the same locking spring 212 by
Compressive state restores former long, and the spring force of locking spring 212 pushes 224 tip of locking pin to stretch out, and it is pre- to be cooperated to locking frame 201
If conical socket in, space plate load is limited, and pull Kev drawstring 223, locking action complete.Of the invention
Space plate load, which repeats locking and fixing device, to be had the characteristics that simplify the structure, lightweight and low-power consumption.
A kind of space plate load based on mechanical arm provided by the invention repeats locking and fixing device, can be in mechanical arm
Under the action of, realize and operation plugged to the repetition of space plate load that there is repeatable locking to space plate load and release
Playing function guarantees that plate load in space repeats reliably to lock in locking and fixing device in this space plate load；Sky of the invention
Between plate load repeat that locking and fixing device has the characteristics that simplify the structure, lightweight and low-power consumption, the present invention can promote
The in-orbit engineer application of space plate load.
Embodiment 2
The present embodiment difference from example 1 is that: the space plate load of the present embodiment is locked mechanism also
Including protective unit.The both sides of the face of the locking frame are arranged in protective unit, for preventing fifth wheel from falling.Protective unit
For fifth wheel protective net, the both sides of the face of locking frame are set, for preventing fifth wheel from falling, to prevent space plate
Load operation rear surface residue pollutes other equipment, and prevents fifth wheel clast from entering space, pollutes space environment.
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art,
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement, all within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in this
Within the protection scope of invention.
Claims (9)
1. a kind of space plate load based on mechanical arm repeats locking and fixing device, characterized in that it comprises: space plate
Load and space plate load are locked mechanism, and the space plate load mechanism that is locked includes:
Main body is limited for carrying the space plate load, and to the space plate load；
Driving unit is arranged in the space plate load, executes motor unit completion limit movement for driving；
Execute motor unit, be arranged in the space plate load, the execution motor unit under the action of mechanical arm,
For cooperating the main body and the driving unit, the locking action to the space plate load is completed and releases locking to move
Make；
Detection unit, setting reach designated position on the body, for detecting the space plate load, and by position
Information is sent to control system, and the control system, which controls the mechanical arm, becomes follow-up motion from active movement；
Control unit, setting discharge the space plate load on the body, for controlling the mechanical arm.
2. a kind of space plate load based on mechanical arm according to claim 1 repeats locking and fixing device, feature
It is, the main body includes locking frame and locking pedestal, and the locking frame is fixedly connected with the locking pedestal, the lock
Tight chassis interior is the bevel structure matched with the space plate load bottom bevel.
3. a kind of space plate load based on mechanical arm according to claim 2 repeats locking and fixing device, feature
It is, the execution motor unit includes:
Transmission subunit is arranged in the space plate load, for transmitting the driving force of the driving unit；
It is oriented to subelement, is arranged in the space plate load, for constraining the driving unit, and to the space
Plate load play the guiding role during being locked and being released locking.
4. a kind of space plate load based on mechanical arm according to claim 3 repeats locking and fixing device, feature
It is, the detection unit is detection elastic slice, is arranged at the locking frame inlet, the detection elastic slice passes through electric signal
The control system is sent by the location information of the space plate load.
5. a kind of space plate load based on mechanical arm according to claim 4 repeats locking and fixing device, feature
It is, when the space plate load moves to the locking frame inlet under the action of mechanical arm, the mechanical arm
Follow-up motion is become from active movement.
6. a kind of space plate load based on mechanical arm according to claim 5 repeats locking and fixing device, feature
It is, described control unit is microswitch, is arranged on the locking pedestal.
7. a kind of space plate load based on mechanical arm according to claim 6 repeats locking and fixing device, feature
It is, the space plate load mechanism that is locked further includes protective unit, and the two side ends of the locking frame are arranged in
Face, for preventing fifth wheel from falling.
8. a kind of space plate load based on mechanical arm according to claim 7 repeats locking and fixing device, feature
It is, the protective unit is fifth wheel protective net.
9. a kind of space plate load based on mechanical arm according to claim 8 repeats locking and fixing device, feature
It is, 0.1mm is reserved in unilateral side at the cooperation of the locking frame and the space plate load, for preventing the space plate
There is catching phenomenon when cooperating in load and the locking frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710167908.5A CN106904295B (en) | 2017-03-21 | 2017-03-21 | A kind of space plate load repetition locking and fixing device based on mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710167908.5A CN106904295B (en) | 2017-03-21 | 2017-03-21 | A kind of space plate load repetition locking and fixing device based on mechanical arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106904295A CN106904295A (en) | 2017-06-30 |
| CN106904295B true CN106904295B (en) | 2019-06-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710167908.5A Active CN106904295B (en) | 2017-03-21 | 2017-03-21 | A kind of space plate load repetition locking and fixing device based on mechanical arm |
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| Country | Link |
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| CN (1) | CN106904295B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04331309A (en) * | 1991-05-07 | 1992-11-19 | Nec Corp | Image pickup apparatus for satellite |
| CN103662103B (en) * | 2013-11-20 | 2015-09-30 | 上海宇航系统工程研究所 | A kind of replaceable module tension release gear |
| CN103662105A (en) * | 2013-11-20 | 2014-03-26 | 上海宇航系统工程研究所 | Connecting and unlocking device for replaceable module |
| CN103662106B (en) * | 2013-11-20 | 2015-08-12 | 上海宇航系统工程研究所 | A kind of replaceable module locking-unlocking device with shield structure function |
| CN204452958U (en) * | 2015-02-04 | 2015-07-08 | 浙江大学 | Light-duty without impacting the hot blade locking releasing device that can reuse |
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2017
- 2017-03-21 CN CN201710167908.5A patent/CN106904295B/en active Active
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| Publication number | Publication date |
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| CN106904295A (en) | 2017-06-30 |
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