CN107894317B - Self-adaptive flexible support - Google Patents
Self-adaptive flexible support Download PDFInfo
- Publication number
- CN107894317B CN107894317B CN201711107919.0A CN201711107919A CN107894317B CN 107894317 B CN107894317 B CN 107894317B CN 201711107919 A CN201711107919 A CN 201711107919A CN 107894317 B CN107894317 B CN 107894317B
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- supporting plate
- plate
- upper supporting
- flexible support
- lower supporting
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- 210000001503 joint Anatomy 0.000 claims abstract description 24
- 238000000034 method Methods 0.000 claims abstract description 15
- 230000008569 process Effects 0.000 claims abstract description 15
- 230000003044 adaptive effect Effects 0.000 claims description 7
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000007246 mechanism Effects 0.000 abstract description 6
- 238000003032 molecular docking Methods 0.000 description 11
- 230000000712 assembly Effects 0.000 description 3
- 238000000429 assembly Methods 0.000 description 3
- 239000000725 suspension Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009966 trimming Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M9/00—Aerodynamic testing; Arrangements in or on wind tunnels
Abstract
The invention provides a self-adaptive flexible support, which comprises an abutting plate, an upper supporting plate, a height fine-tuning assembly, an elastic assembly, a lower supporting plate and a linear guide rail pair, wherein the upper part of the abutting plate is used for assembling a target adapter in abutting joint with a spacecraft, the lower end of the abutting plate is fixed on the upper supporting plate, the height fine-tuning assembly is arranged on the upper supporting plate, the upper supporting plate is connected with the lower supporting plate through the elastic assembly with multiple degrees of freedom, the lower supporting plate is connected with a bottom plate through the linear guide rail pair, and the lower supporting plate can do branch line reciprocating motion. The invention can mount spacecraft hardware products on corresponding butt plates, has a supporting function and six-degree-of-freedom self-adaptation capability, ensures that the additional load of the butt joint mechanism in the butt joint capture test process is small, and greatly improves the reliability of the butt joint capture test result.
Description
Technical Field
The invention belongs to the technical field of ground docking of spacecrafts, and particularly relates to a self-adaptive flexible support for self-adaptive adjustment in a ground docking capture test process of a spacecraft.
Background
In the process of the ground docking capture test of the spacecraft, a set of supporting device is needed, so that the additional load of the docking mechanism in the docking capture test process does not exceed a certain size, the supporting device is required to have self-adaption capability, and the docking capture test can be realized by means of the corresponding supporting device.
Disclosure of Invention
In view of the above, the present invention is directed to providing an adaptive flexible support to solve the above-mentioned problems.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a self-adaptation flexible support, includes the butt joint board, goes up backup pad, high fine setting subassembly, elastic component, bottom suspension fagging and linear guide pair, and the upper portion of butt joint board is used for assembling the target adapter with the spacecraft butt joint, and the lower extreme of butt joint board is fixed in last backup pad, and high fine setting subassembly sets up in last backup pad, goes up and is connected through the elastic component that has multi freedom between backup pad and the bottom suspension fagging, and the bottom suspension fagging passes through linear guide pair and is connected with the bottom plate, and the lower support can be the branch line reciprocating motion.
Further, the butt joint plate is fixedly connected with the upper supporting plate through a plurality of uniformly distributed bolt screws, and a plurality of strip holes extending along the width direction of the upper supporting plate are formed in the upper supporting plate.
Further, the height fine adjustment assembly comprises a screw rod, a nut and an adjusting screw sleeve, the adjusting screw sleeve penetrates through the upper supporting plate to be fixed on the upper supporting plate, the adjusting screw sleeve is perpendicular to the upper supporting plate, internal threads matched with the screw rod are arranged in the adjusting screw sleeve, the screw rod penetrates through the adjusting screw sleeve, and the nut is assembled at the upper end of the screw rod.
Further, the lower extreme of lead screw is connected with the elastic component.
Further, the elastic component includes supporting spring, and supporting spring's both ends respectively with last backup pad and lower backup pad rigid coupling, high trimming module's lower extreme rigid coupling has last connective station, and supporting spring's upper end is fixed with spacing, goes up spacing and fixes on last connective station, and supporting spring's lower extreme rigid coupling has lower spacing, and lower spacing is fixed in lower backup pad.
Further, the lower end of the lead screw of the height fine adjustment assembly extends to the upper portion of the supporting spring, and a mandrel stud is arranged on the lower portion of the supporting spring.
Further, the linear guide rail pair comprises a sliding block and sliding rails, the lower end of the lower supporting plate is symmetrically and fixedly connected with the sliding block, the lower end of the sliding block is provided with a concave mortise, the two sliding rails are arranged on the bottom plate in parallel, the shape and the position of the sliding rails correspond to those of the sliding blocks, and the front end and the rear end of the sliding rails are respectively provided with a limit screw, and the height of the limit screw is higher than that of the sliding rails.
Further, the front end and the rear end of the lower supporting plate are provided with conveying fixing pieces, the conveying fixing pieces penetrate through the lower supporting plate, the conveying fixing pieces are in threaded fit with the lower supporting plate, and during product conveying, the conveying fixing pieces rotate to the lower ends of the conveying fixing pieces to be in butt joint with the bottom plate.
Further, dragging limiting pieces are arranged on the upper supporting plate and the lower supporting plate and are connected with the elastic component in parallel, and the dragging limiting pieces are used for counteracting torque generated by dragging force in the butt joint capturing test process.
Further, dragging the locating part to limit the position bolt, spacing bolt passes last backup pad and lower backup pad in proper order, opens to have in the lower backup pad and is used for spacing bolt male lower support board through-hole, and the aperture of lower support board through-hole is greater than spacing bolt's diameter.
Compared with the prior art, the self-adaptive flexible support has the following advantages:
(1) The invention aims to provide the self-adaptive flexible supporting device which can mount spacecraft hardware products on corresponding butt joint plates, has a supporting function and six-degree-of-freedom self-adaptive capacity, so that the additional load of a butt joint mechanism in the butt joint capture test process is very small, and the reliability of a butt joint capture test result is greatly improved;
(2) The invention comprises the transportation fixing piece and the dragging limiting piece, the transportation fixing piece effectively prevents the invention from being damaged in the transportation process, and the dragging limiting piece can be used for counteracting the torque generated by the dragging force in the butt joint capturing test process, thereby playing a role in truly simulating the butt joint capturing process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure in which a target adapter is installed in accordance with an embodiment of the present invention;
FIG. 3 is a top view of an inventive embodiment of the present invention;
FIG. 4 is a front view of a lower support plate and a bottom plate according to an embodiment of the present invention;
fig. 5 is a side view of the lower support plate and the bottom plate of an embodiment of the present invention.
Reference numerals illustrate:
1. an abutting plate; 2. an upper support plate; 201. a slit hole; 3. a lower support plate; 301. a slide block; 302. a lower support plate through hole; 4. an elastic component; 401. an upper limit bar; 402. a lower limit bar; 403. a support spring; 404. a mandrel stud; 5. a bottom plate; 501. a slide rail; 502. a limit screw; 6. transporting the fixing piece; 7. dragging the limiting piece; 8. a height fine tuning assembly; 801. a screw rod; 802. adjusting the screw sleeve; 8021. An upper connecting table; 9. a target adapter.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
In the description of the invention, it should be understood that the terms "center," "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships that are based on the orientation or positional relationships shown in the drawings, merely to facilitate describing the invention and simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operate in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art in a specific case.
The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 and 2, the self-adaptive flexible support comprises an abutting plate 1, an upper supporting plate 2, a height fine adjustment assembly 8, an elastic assembly 4, a lower supporting plate 3, a linear guide pair, a bottom plate 5, a transportation fixing piece 6 and a dragging limiting piece 7.
As shown in fig. 2 and 3, the upper part of the docking plate 1 is equipped with a target adapter 9 for docking with a spacecraft, the lower end of the docking plate 1 is fixed on the upper support plate 2, and the front-rear position of the docking plate 1 can be adjusted to accommodate the product centroid position. The butt plate 1 is fixedly connected with the upper supporting plate 2 through a plurality of uniformly distributed bolt screws. The upper support plate 2 is provided with a plurality of elongated holes 201 extending along the width direction of the upper support plate 2, the elongated holes 201 are used for adjusting the position of the butt plate 1, and the position of the butt plate 1 needs to be adjusted according to the centroid position of the target adapter 9. The center of mass of the combination of the target adapter 9 and the butt plate 1 is positioned in the middle of the four elastic assemblies 4, so that the elastic assemblies 4 are stressed uniformly, and the product is placed stably.
As shown in fig. 5, the height fine adjustment members 8 are provided at four corners of the upper support plate 2, and have a micro adjustment function within a certain range in the height direction. The height fine adjustment assembly 8 comprises a screw rod 801, a nut and an adjusting screw sleeve 802, the adjusting screw sleeve 802 penetrates through the upper supporting plate 2 to be fixed on the upper supporting plate 2, the adjusting screw sleeve 802 is perpendicular to the upper supporting plate 2, internal threads matched with the screw rod 801 are arranged inside the adjusting screw sleeve 802, the screw rod 801 penetrates through the adjusting screw sleeve 802, and the nut is assembled at the upper end of the screw rod 801. Fine adjustment in the height direction can be performed on the upper support plate 2 by rotating the nut on the screw 801.
As shown in fig. 5, the elastic assembly 4 connects the upper support plate 2 with the lower support plate 3, the elastic assembly 4 includes a cylindrical compression support spring 403, and both ends of the support spring 403 are fixedly connected with the upper support plate 2 and the lower support plate 3, respectively. An upper connecting table 8021 is fixedly connected to the end part of the adjusting screw sleeve 802 penetrating through the upper supporting plate 2, an upper limit bar 401 is fixed to the upper end of the supporting spring 403, and the upper limit bar 401 is fixed to the upper connecting table 8021 through bolts. The lower end of the supporting spring 403 is fixedly connected with a lower limit bar 402, and the lower limit bar 402 is fixed on the lower supporting plate 3 through a screw. To ensure stability of the support spring 403, the lower end of the lead screw 801 extends to the upper portion of the support spring 403, and the lower portion of the support spring 403 is provided with a spindle stud 404.
As shown in fig. 5, the linear guide rail pair comprises a slide block 301 and slide rails 501, wherein the lower end of the lower support plate 3 is symmetrically fixedly connected with the slide block 301, the lower end of the slide block 301 is provided with a concave mortise, the two slide rails 501 are arranged on the bottom plate 5 in parallel, and the shape and the position of the slide rails 501 correspond to those of the slide block 301. The front and back both ends of slide rail 501 are provided with stop screw 502 respectively, and stop screw 502 highly is higher than the height of slide rail 501, and stop screw 502 is used for spacing slider 301.
As shown in fig. 5, the transportation fixing member 6 is disposed at the front and rear ends of the lower support plate 3, the transportation fixing member 6 is a fixing screw, the fixing screw passes through the lower support plate 3, the fixing screw is in threaded engagement with the lower support plate 3, during transportation of the product, the damage and failure of the application caused by excessive shaking during transportation are prevented, and the fixing screw is rotated to a state that the lower end of the fixing screw is abutted to the bottom plate 5, so that the lower support plate 3 and the bottom plate 5 are fixedly connected.
As shown in fig. 5, the dragging limiting piece 7 is connected in parallel with the elastic component 4, and the dragging limiting piece 7 is used for counteracting the torque generated by the dragging force in the butt joint capturing test process, so as to play a role in truly simulating the butt joint capturing process. The dragging limiting piece 7 is a limiting bolt, the limiting bolt sequentially penetrates through the upper supporting plate 2 and the lower supporting plate 3, a lower supporting plate through hole 302 for inserting the limiting bolt is formed in the lower supporting plate 3, and the aperture of the lower supporting plate through hole 302 is larger than the diameter of the limiting bolt.
The working principle of the invention is as follows:
(1) The invention is installed on a stable platform, and the target adapter 9 is connected with the butt plate 1 through screws, so that the connection is reliable.
(2) And adjusting, namely adjusting the installation position of the butt joint according to the mass center position of the target adapter 9, so that the mass center of the assembly of the target adapter 9 and the butt joint plate 1 is positioned in the middle of the four elastic assemblies 4, and then adjusting the height fine adjustment assembly 8, so that the axis of the target adapter 9 is in a horizontal state and is at a proper height.
(3) In the process of the docking capture test, a mechanism which needs to be docked with the target adapter 9 is started first, the mechanism captures the target adapter 9 within a specified range, and the target adapter 9 is dragged to move along the linear guide rail pair until the target adapter 9 is attached to the linear guide rail pair. In the whole butt joint test process, the flexibility is good, the additional load of the butt joint mechanism is calculated, and the additional force is only 13.1N in the test process and is far smaller than the technical requirement of 50N.
The above embodiments are merely preferred embodiments of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. An adaptive flexible support, characterized by:
the device comprises an abutting plate (1), an upper supporting plate (2), a height fine adjustment assembly (8), an elastic assembly (4), a lower supporting plate (3) and a linear guide rail pair, wherein the upper part of the abutting plate (1) is used for assembling a target adapter (9) abutted with a spacecraft, the lower end of the abutting plate (1) is fixed on the upper supporting plate (2), the height fine adjustment assembly (8) is arranged on the upper supporting plate (2), the upper supporting plate (2) is connected with the lower supporting plate (3) through the elastic assembly (4) with multiple degrees of freedom, the lower supporting plate (3) is connected with a bottom plate (5) through the linear guide rail pair, and the lower supporting plate (3) can do branch line reciprocating motion;
the upper support plate (2) and the lower support plate (3) are provided with dragging limiting pieces (7), the dragging limiting pieces (7) are connected with the elastic component (4) in parallel, and the dragging limiting pieces (7) are used for counteracting torque generated by dragging force in the butt joint capturing test process; dragging the limiting piece (7) to limit the limiting bolt, enabling the limiting bolt to sequentially penetrate through the upper supporting plate (2) and the lower supporting plate (3), and enabling a lower supporting plate through hole (302) for inserting the limiting bolt to be formed in the lower supporting plate (3), wherein the aperture of the lower supporting plate through hole (302) is larger than the diameter of the limiting bolt;
the height fine adjustment assembly (8) comprises a screw rod (801), a nut and an adjusting screw sleeve (802), the adjusting screw sleeve (802) penetrates through the upper supporting plate (2) to be fixed on the upper supporting plate (2), the adjusting screw sleeve (802) is perpendicular to the upper supporting plate (2), internal threads matched with the screw rod (801) are arranged in the adjusting screw sleeve (802), the screw rod (801) penetrates through the adjusting screw sleeve (802), and the nut is assembled at the upper end of the screw rod (801); the elastic component (4) includes supporting spring (403), the both ends of supporting spring (403) respectively with last backup pad (2) and lower backup pad (3) rigid coupling, the lower extreme rigid coupling of high fine setting assembly (8) has last connection platform (8021), the upper end of supporting spring (403) is fixed with spacing (401) on, it fixes on last connection platform (8021) to go up spacing (401), the lower extreme rigid coupling of supporting spring (403) has lower spacing (402), lower spacing (402) are fixed on lower backup pad (3).
2. The adaptive flexible support of claim 1, wherein:
the butt plate (1) is fixedly connected with the upper supporting plate (2) through a plurality of uniformly distributed bolt screws, and a plurality of strip holes (201) extending along the width direction of the upper supporting plate (2) are formed in the upper supporting plate (2).
3. The adaptive flexible support of claim 1, wherein:
the lower end of the screw rod (801) is connected with the elastic component (4).
4. The adaptive flexible support of claim 1, wherein:
the lower end of a screw rod (801) of the height fine adjustment assembly (8) extends to the upper part of the supporting spring (403), and a mandrel stud (404) is arranged at the lower part of the supporting spring (403).
5. The adaptive flexible support of claim 1, wherein:
the linear guide rail pair comprises a sliding block (301) and sliding rails (501), wherein the lower end of a lower supporting plate (3) is symmetrically fixedly connected with the sliding block (301), the lower end of the sliding block (301) is provided with a concave mortise, the two sliding rails (501) are arranged on a bottom plate (5) in parallel, the shape and the position of the sliding rails (501) correspond to those of the sliding block (301), the front end and the rear end of the sliding rails (501) are respectively provided with a limit screw (502), and the height of the limit screw (502) is higher than that of the sliding rails (501).
6. The adaptive flexible support of claim 1, wherein:
the front end and the rear end of the lower supporting plate (3) are provided with conveying fixing pieces (6), the conveying fixing pieces (6) penetrate through the lower supporting plate (3), the conveying fixing pieces (6) are in threaded fit with the lower supporting plate (3), and during product conveying, the conveying fixing pieces (6) rotate to the lower ends of the conveying fixing pieces to be in butt joint with the bottom plate (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107919.0A CN107894317B (en) | 2017-11-10 | 2017-11-10 | Self-adaptive flexible support |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711107919.0A CN107894317B (en) | 2017-11-10 | 2017-11-10 | Self-adaptive flexible support |
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| CN107894317A CN107894317A (en) | 2018-04-10 |
| CN107894317B true CN107894317B (en) | 2024-04-02 |
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Families Citing this family (1)
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| CN109108542A (en) * | 2018-09-04 | 2019-01-01 | 宁波摩科机器人科技有限公司 | A kind of motor-car single-track turnout beam weldering robot workstation |
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| CN107894317A (en) | 2018-04-10 |
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