CN109131955B - Three-finger non-cooperative target capturing mechanism and capturing method thereof - Google Patents
Three-finger non-cooperative target capturing mechanism and capturing method thereof Download PDFInfo
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- CN109131955B CN109131955B CN201811217070.7A CN201811217070A CN109131955B CN 109131955 B CN109131955 B CN 109131955B CN 201811217070 A CN201811217070 A CN 201811217070A CN 109131955 B CN109131955 B CN 109131955B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
Abstract
A three-finger non-cooperative target capturing mechanism and a capturing method thereof relate to the technical field of space robots. The invention provides a three-finger non-cooperative target capturing mechanism for solving the defects of large volume and heavy mass of the existing capturing mechanism. The driving device is arranged in the supporting wall, the top end of the ball screw shaft is hinged on the upper cover plate and can rotate, and the bottom end of the ball screw shaft is connected to the driving device; the screw nut is sleeved on the ball screw shaft and combined with the ball screw shaft to form a screw pair; the adapter is tightly sleeved on the screw nut and hinged with the bottom end of the capturing finger through a hinge; the capturing end of the capturing finger extends out of the supporting wall through a telescopic hole formed by the upper cover plate and the supporting wall and is positioned at the upper end of the upper cover plate; the rotation of the ball screw shaft drives the screw nut to do vertical linear motion, so that the capturing finger is driven to extend and retract relative to the supporting wall. The invention is used for capturing the non-cooperative target.
Description
Technical Field
The invention belongs to the technical field of space robots, relates to a non-cooperative target capturing mechanism, and particularly relates to a three-finger non-cooperative target capturing mechanism and a capturing method thereof.
Background
With the development of technology, countries around the world have increased research strength in the aerospace field, but the earth orbit resources are scarce, and particularly, the earth stationary orbit used as a communication satellite is a unique extremely precious orbit. Therefore, the on-orbit capture technology has become a research hotspot and difficulty in the aerospace field worldwide. Non-cooperative target in-orbit capture will play an important role in assist mechanism deployment, satellite fueling, repair and replacement of failed components, etc. One technical difficulty with on-track capture of non-cooperative targets is the design of the capture mechanism.
The greatest feature of non-cooperative targets, with respect to cooperative targets, is that there is no dedicated docking interface on them. Patents CN 102849228B, CN 104176279B and CN 107628277A propose capturing mechanisms for satellite offsite recoil engine nozzles that are not suitable for capturing satellite docking rings. The patent CN 106628278A proposes a capturing mechanism and method for a satellite and rocket docking ring, which uses a four-bar linkage to capture fingers and a horizontal locking mechanism, and although the capturing mechanism has the advantages of large tolerance, fast response speed, etc., it has the disadvantages of large volume and heavy weight.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing non-cooperative target capturing mechanism has the defects of large volume and heavy mass, and further provides a three-finger non-cooperative target capturing mechanism.
The technical scheme adopted by the invention for solving the technical problems is as follows: the three-finger non-cooperative target capturing mechanism comprises a shell, a driving device, a ball screw shaft, a screw nut, an adapter and capturing fingers;
the shell comprises a supporting wall, an upper cover plate, a lower bottom plate and a supporting plate; the upper cover plate is buckled at the upper end of the supporting wall, the lower base plate is arranged at the bottom end of the supporting wall, and the supporting plate is arranged in the supporting wall and at a downward position;
the driving device is arranged in the supporting wall, the top end of the ball screw shaft is hinged on the upper cover plate and can rotate, and the bottom end of the ball screw shaft is connected to the driving device; the screw nut is sleeved on the ball screw shaft and combined with the ball screw shaft to form a screw pair; the adapter is tightly sleeved on the screw nut and hinged with the bottom end of the capturing finger through a hinge; the capturing end of the capturing finger extends out of the supporting wall through a telescopic hole formed by the upper cover plate and the supporting wall and is positioned at the upper end of the upper cover plate; the rotation of the ball screw shaft drives the screw nut to do vertical linear motion, so as to drive the capturing finger to extend and retract relative to the supporting wall;
the driving device comprises a motor, a brake, a driving wheel and a driven wheel; the motor is arranged above the supporting plate, the driving wheel and the driven wheel are arranged below the supporting plate, and the brake is arranged at the upper end of the motor; the upper end of a motor shaft of the motor extends into the brake, the lower end of the motor shaft penetrates through the supporting plate to be fixedly connected with the driving wheel, the driven wheel is fixedly connected with the bottom end of the ball screw shaft, and the driving wheel and the driven wheel are meshed with each other.
The invention has the beneficial effects that:
1. the size and the weight of the capturing mechanism are reduced by adopting the separated brushless direct current motor and the capturing fingers with the square pits;
2. the invention is suitable for 1194mm satellite and rocket docking rings which are universal for international spacecrafts, and ensures that the invention can be suitable for capturing various space non-cooperative target aircrafts;
3. the end part of the capturing finger can effectively reduce the collision force when capturing the satellite and arrow butt joint ring through the design of the yielding mechanism, and avoids the damage of the satellite and arrow butt joint ring and the capturing mechanism caused by overlarge collision force;
4. the invention adopts a separated brushless direct current motor and a power-off brake to drive a hollow ball screw shaft to rotate through a gear reducer, thereby driving a capture finger to carry out rapid opening and closing capture actions and realizing rapid capture of a non-cooperative target satellite and rocket docking ring; the capture mechanism has the advantages of high integration level, small volume, light weight and high connection rigidity;
5. the rotary capture principle is adopted, and the capture time is short.
Drawings
FIG. 1 is a cross-sectional view of a three-finger non-cooperative target capture mechanism;
FIG. 2 is a rear view of the three-finger non-cooperative target capture mechanism with the housing removed;
FIG. 3 is a side view of a three-finger non-cooperative target capture mechanism;
FIG. 4 is a cross-sectional view of FIG. 3;
FIG. 5 is a perspective view of a three-finger non-cooperative target capture mechanism;
FIG. 6 is a cross-sectional view taken at FIG. 4B-B;
FIG. 7 is a cross-sectional view taken at line A-A of FIG. 1;
FIG. 8 is a cross-sectional view taken at C-C of FIG. 1;
FIG. 9 is a top view of FIG. 12;
FIG. 10 is a schematic diagram of the overall structure of a three-finger non-cooperative target capturing mechanism;
FIG. 11 is a schematic view of the concession mechanism 2-1;
FIG. 12 is a schematic illustration of the inner and outer capturing fingers of a three-finger non-cooperative target capturing mechanism as they are open;
FIG. 13 is a schematic view of the inner and outer capturing fingers open;
FIG. 14 is a schematic illustration of an inner capture finger and an outer capture finger fully achieving capture of a non-cooperative target;
FIG. 15 is an enlarged partial view of the ball screw shaft of FIG. 4 hinged to the lower end of the upper cover plate;
fig. 16 is a partially enlarged view of the motor of fig. 4 disposed on the support plate.
Wherein: 1 shell, 1-1 upper cover plate, 1-2 lower base plate, 1-3 support plates, 1-4 support walls, 2 inner capture fingers, 2-1 yielding mechanism, 2-1-1 yielding mechanism support rods, 2-1-2 adjusting shims, 2-1-3 locking nuts, 3 outer capture fingers, 4 ball screw shafts, 5 motors, 6 adapters, 6-1 cylindrical inserts, 6-2 triangular inserts, 7 screw nuts, 8 support wall needle bearing assemblies, 8-1 support wall bearing rotating shafts, 8-2 support wall bearing locking nuts, 8-3 needle bearings, 8-4 support frames, 9 electrical boxes, 10, articulating members, 10-1 left-handed torsion springs, 10-2 right-handed torsion springs, 10-5 three needle bearings, 10-3 adapter rotating shafts, 10-4 adaptor bearing lock nuts, 11 driving wheels, 12 driven wheels, 13 electric connectors, 14 brakes, 15 first travel switches, 16 second travel switches, 17-1 disc spring support pads, 17-2 disc springs, 17-3 deep groove ball bearings, 17-4 deep groove ball bearing covers, 17-5 plugs, 18-1-1 first angular contact ball bearings, 18-1-2 second angular contact ball bearings, 18-2 first disc spring support pads, 18-3 first disc springs, 18-4 second angular contact ball bearing covers, 19 quick-change interfaces and 21 connecting lug plates.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings:
the first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 14, and the three-finger non-cooperative target capturing mechanism according to the present embodiment includes a housing 1, a driving device, a ball screw shaft 4, a screw nut 7, an adaptor 6, and capturing fingers;
as shown in fig. 1 and 4: the shell 1 comprises a supporting wall 1-4, an upper cover plate 1-1, a lower bottom plate 1-2, a supporting plate 1-3 and a connecting lug plate 21; the upper cover plate 1-1 is buckled at the upper end of the supporting wall 1-4, the lower bottom plate 1-2 is positioned at the bottom end of the supporting wall 1-4, and the supporting plate 1-3 is positioned at the downward position in the supporting wall 1-4; the support plates 1-3 and the support walls 1-4 are integrally formed, and two connecting lug plates 21 are respectively arranged at two sides of the support walls 1-4; the guide pin fixedly connects the shell to the platform through the pin hole on the connecting lug plate;
as shown in fig. 4 and 15: the driving device is arranged in the supporting wall 1-4, and the top end of the ball screw shaft 4 is hinged on the upper cover plate 1-1 through a disc spring supporting pad 17-1, a disc spring 17-2, a deep groove ball bearing 17-3, a deep groove ball bearing cover 17-4 and a plug 17-5 and can rotate; the lower end of the outer ring of the deep groove ball bearing is fixed on the upper cover plate 1-1, and the inner ring is suspended; two ends of the disc spring supporting pad 17-1 are fixed at the upper end of the outer ring of the deep groove ball bearing; the disc spring 17-2 is pressed on the disc spring supporting pad 17-1 by the deep groove ball bearing cover 17-4; the ball screw shaft 4 is fixed on the inner ring of the deep groove ball bearing through a plug 17-5 and can rotate;
as shown in fig. 1 and 4: the lower end of the ball screw shaft 4 is fixed on the supporting plates 1-3 through a pair of angular contact ball bearings, an angular contact ball bearing seat, an outer ring locking nut of the angular contact ball bearing and an inner ring locking nut of the angular contact ball bearing; the angular contact ball bearing seat is fixed on the supporting plates 1-3, the pair of angular contact ball bearings are arranged in the angular contact ball bearing seat in a back-to-back mounting mode, an outer ring locking nut of the angular contact ball bearing is fixed on an outer ring of the lower angular contact ball bearing, and an inner ring locking nut of the angular contact ball bearing is fixed on an inner ring of the lower angular contact ball bearing; the lower end of the ball screw shaft 4 passes through the inner rings of a pair of angular contact ball bearings to be fastened and is connected with a driving device; the installation pre-tightening force of the angular contact ball bearing can be adjusted through the angular contact ball bearing outer ring locking nut and the angular contact ball bearing inner ring locking nut;
as shown in fig. 1, 4, 6-8, 10, 13: the screw nut 7 is sleeved on the ball screw shaft 4 and is combined with the ball screw shaft 4 to form a screw pair; the adaptor 6 is tightly sleeved on the screw nut 7 and is hinged with the bottom end of the capturing finger through a hinge 10; the notch on the side edge of the upper cover plate 1-1 and the notch on the side edge of the upper end of the support wall 1-4 form a telescopic hole, and the capturing end of the capturing finger extends out of the support wall 1-4 through the telescopic hole and is positioned at the upper end of the upper cover plate 1-1;
because the upper end of the ball screw shaft 4 is hinged on the upper cover plate 1-1 and can rotate, when the ball screw shaft 4 rotates, the screw nut 7 screwed on the ball screw shaft 4 is limited by the adapter 6 and the capturing finger, so that the screw nut 7 linearly moves up and down along the ball screw shaft 4, the capturing finger linearly moves up and down, and the capturing finger telescopically moves relative to the support wall 1-4;
as shown in fig. 4 and 16: the driving device comprises a motor 5, a brake 14, a driving wheel 11 and a driven wheel 12; the driving wheel 11 and the driven wheel 12 are arranged below the supporting plate 1-3, the brake 14 is arranged at the upper end of the motor 5, and a first angular contact ball bearing 18-1-1 is arranged between the brake and the motor; the motor 5 is arranged above the supporting plate 1-3 and is supported on the supporting plate 1-3 through a second angular contact ball bearing 18-1-2, a first disc spring supporting pad 18-2, a first disc spring 18-3 and a second angular contact ball bearing cover 18-4; a motor shaft of the motor sequentially passes through the second angular contact ball bearing 18-1-2, the first disc spring supporting pad 18-2, the first disc spring 18-3 and the second angular contact ball bearing cover 18-4 to be connected with the driving wheel 11; a motor shaft of the motor is fastened on the inner rings of the first angular contact ball bearing 18-1-1 and the second angular contact ball bearing 18-1-2; the edge of the upper end of the first disc spring supporting pad 18-2 is arranged below the outer ring of the second angular contact ball bearing 18-1-2, and the second angular contact ball bearing cover 18-4 presses the first disc spring 18-3 below the first disc spring supporting pad 18-2;
the upper end of a motor shaft of the motor extends into the brake 14, the lower end of the motor shaft is fixedly connected with the driving wheel 11, the driven wheel 12 is fixedly connected with the bottom end of the ball screw shaft 4, and the driving wheel 11 is meshed with the driven wheel 12;
the three-finger non-cooperative target capturing mechanism further comprises a quick-change interface 19, an electrical box 9 and an electrical connector 13, wherein the electrical connector 13 is fixed on the quick-change interface 19, and the quick-change interface 19 is connected with the lower base plate 1-2 through a screw; the electric connector 13 and the quick-change interface 19 form an electromechanical quick-change interface assembly, and the electromechanical quick-change interface assembly has certain tolerance and can realize quick on-track replacement with the space robot.
The pair of guide pins fixedly connect the shell to the platform through the pin holes in the connecting lug plate, so that the capturing mechanism is positioned on the platform.
The second embodiment is as follows: referring to fig. 6-8 and 10, the adaptor 6 of the present embodiment has four corners, each corner is connected with a cylindrical plug-in 6-1, and the cylindrical plug-in 6-1 has a large plug-in hole; a slot 6-1-1 is formed between two cylindrical plug-in units 6-1 which are oppositely arranged on the same side; a triangular plug-in 6-2 is arranged at the upper end of the joint of each cylindrical plug-in 6-1 and the adaptor 6; the triangular plug-in 6-2 is provided with a small jack; the adaptor 6, the cylindrical plug-in 6-1 and the triangular plug-in 6-2 are integrally formed;
between the two cylindrical inserts 6-1, which are oppositely arranged on the same side, a hinge 10 is mounted.
Other components and connection modes are the same as those of the first embodiment.
The third concrete implementation mode: the present embodiment is described with reference to fig. 1-5, 9, 10, 12, 13, and the capturing fingers of the present embodiment include an inner capturing finger 2 and an outer capturing finger 3; the inner capturing finger 2 and the outer capturing finger 3 are respectively hinged on two sides of the adapter piece 6 through hinge pieces 10; the openings on the side edges of the two ends of the upper cover plate 1-1 and the openings on the two side edges of the upper end of the support wall 1-4 form two telescopic holes which are respectively a first telescopic hole 1-1-1 and a second telescopic hole 1-1-2; the capturing end of the inner capturing finger 2 extends out of the supporting wall 1-4 through the first telescopic hole 1-1-1, and the capturing end of the outer capturing finger 3 extends out of the supporting wall 1-4 through the second telescopic hole 1-1-2.
Other components and connection modes are the same as those of the first or second embodiment modes.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 6, 7 and 10, and the articulation 10 in the embodiment includes a left-hand torsion spring 10-1, a right-hand torsion spring 10-2, three first needle bearings 10-5, an adaptor rotating shaft 10-3 and an adaptor bearing lock nut 10-4;
one end of the adaptor rotating shaft 10-3 is inserted into the large jack of one cylindrical plug-in 6-1, and the other end of the adaptor rotating shaft is inserted into the large jack of the cylindrical plug-in 6-1 oppositely arranged on the same side and is fixed through an adaptor bearing locking nut 10-4; the middle section of the adapter rotating shaft 10-3 is positioned in the slot 6-1-1; the three first needle roller bearings 10-5 are sleeved on the adapter rotating shaft 10-3 side by side; the bottom end of the capturing finger is provided with a cylinder and is sleeved on three first needle roller bearings 10-5; a left-handed torsion spring 10-1 and a right-handed torsion spring 10-2 are respectively sleeved on the cylinder at the bottom end of the capturing finger and are positioned at the left side and the right side of the capturing arm;
one of the two ends of the left-hand torsion spring 10-1 is inserted into the small insertion hole on one of the triangular insertion pieces 6-2, and the other end is inserted into one side of the capturing arm; one end of the two ends of the right-handed torsion spring 10-2 is inserted into a small insertion hole on the triangular insertion piece 6-2 which is oppositely arranged on the same side, the other end of the two ends of the right-handed torsion spring is inserted into the other side of the capturing arm of the same capturing finger, and a rotating pair is formed between the capturing finger and the adapter piece 6 through the hinge piece 10.
The other components and the connection mode are the same as those of the first, second or third embodiment modes.
The fifth concrete implementation mode: referring to fig. 1-3, 8, 10 and 13 for describing the present embodiment, the three-finger non-cooperative target capturing mechanism of the present embodiment further includes two supporting wall bearing assemblies 8, wherein the two supporting wall bearing assemblies 8 are respectively disposed at the upper ends of the two opposite side walls of the supporting walls 1-4 and near the telescopic holes;
as shown in fig. 8: the supporting wall needle roller bearing assembly 8 comprises a supporting wall bearing rotating shaft 8-1, a supporting wall bearing locking nut 8-2, two second needle roller bearings 8-3 and a supporting frame 8-4; the support frame 8-4 is arranged at the upper end of the side wall of the support wall 1-4 and close to the telescopic hole, the two second needle roller bearings 8-3 are respectively arranged on the end faces of the two ends of the support frame 8-4, the two ends of the support wall bearing rotating shaft 8-1 are respectively fixed in the two second needle roller bearings 8-3 and are fixed through the support wall bearing locking nuts 8-2, and the two support wall bearing rotating shafts 8-1 are respectively contacted with the outer surfaces of the inner capture finger 2 and the outer capture finger 3 to generate rolling friction to form a rolling pair.
As can be seen from fig. 10: the capturing fingers are connected with the adapter piece in a hinged mode, and can be opened inevitably when no external force is limited at the side ends of the capturing fingers, the capturing fingers are limited by the supporting wall needle bearing assemblies 8, when the inner capturing fingers and the outer capturing fingers move up and down back and forth, friction between the inner capturing fingers and the supporting walls 1-4 can be avoided, and the inner capturing fingers and the outer capturing fingers can be guaranteed to accurately shuttle back and forth from the telescopic holes; the relative opening and closing movement of the inner capture finger and the outer capture finger can be realized, and the resistance suffered by the capture fingers during movement is reduced.
Other components and connection modes are the same as any one of the first to the fourth embodiments.
The sixth specific implementation mode: referring to fig. 2 and 11, the inner capturing finger 2 of the present embodiment further includes two yielding mechanisms 2-1, wherein the two yielding mechanisms 2-1 are arranged side by side at the finger tip of the inner capturing finger 2 and can extend and contract relative to the finger tip; when the capturing mechanism captures the non-cooperative target satellite-rocket docking ring, the yielding mechanism can provide flexible contact and reduce collision force;
the yielding mechanism 2-1 comprises a yielding mechanism support rod 2-1-1, a plurality of disc spring groups, 2 adjusting gaskets 2-1-2 and a locking nut 2-1-3; the disc spring group is formed by two disc springs in a folding or overlapping mode according to different required rigidity; the locking nut 2-1-3 and the adjusting gaskets 2-1-2 are arranged inside fingertips of the inner capture fingers, the disc spring groups are arranged among the adjusting gaskets 2-1-2, one end of the yielding mechanism supporting rod 2-1-1 penetrates through the central through holes of the adjusting gaskets 2-1-2 and the disc spring groups to extend into the fingertips of the inner capture fingers 2 and is fixed in the locking nut 2-1-3, and the other end of the yielding mechanism supporting rod 2-1-1 leaks out of the fingertips of the inner capture fingers.
Other components and connection modes are the same as those of any one of the third to the fifth embodiments.
The seventh embodiment: referring to fig. 1 to 3, the present embodiment is described, and the three-finger non-cooperative target capturing mechanism of the present embodiment further includes two first travel switches 15 and one second travel switch 16;
the two first travel switches 15 are respectively arranged at the front end and the rear end of the upper surface of the upper cover plate 1-1, when the inner capturing finger and the outer capturing finger capture the butt joint ring, the bottom surface of the butt joint ring can touch the two first travel switches 15 to judge that the capturing finger has captured the butt joint ring and is in a completely closed state;
the second travel switch 16 is fixed below the upper cover plate 1-1, when the ball screw shaft 4 drives the screw nut 7 to move upwards to the top end, the inner capturing finger and the outer capturing finger are not limited by the supporting wall needle roller bearing assembly 8 and are in a relative opening state, and at the moment, the adaptor 6 touches the second travel switch 16 to judge that the capturing finger is in a complete opening state.
Other components and connection modes are the same as those of any one of the first to sixth embodiments.
The specific implementation mode is eight: the present embodiment will be described with reference to fig. 1, 2, 4, 10, and 12, and the ball screw shaft 4 according to the present embodiment is hollow inside; the capture arm of the capture finger is provided with a square groove.
In order to reduce the weight of the body, the capturing arm of the capturing finger is provided with a square groove, and the inside of the ball screw shaft 4 is hollow and the outside is provided with a spiral thread.
Other components and connection modes are the same as those of any one of the first to seventh embodiments.
The specific implementation method nine: the motor 5 according to the present embodiment is a separate brushless dc motor; the brake 14 is a power-off brake; the diameter of the driving wheel 11 is smaller than that of the driven wheel 12, and a gear reducer is formed.
Other components and connection modes are the same as those of any one of the first to eighth embodiments.
The detailed implementation mode is ten: the capturing method of the three-finger non-cooperative target capturing mechanism according to the embodiment is realized by the following steps:
the method comprises the following steps: starting a driving device, opening a separated brushless direct current motor, enabling a power-off brake component to be in an open state, enabling a motor shaft to rotate to drive a driving wheel 11 to move, driving a ball screw shaft 4 to rotate after speed reduction through a driven wheel 12, enabling a screw nut 7 screwed on the ball screw shaft 4 to be limited by an adapter piece 6 and a capture finger because the upper end of the ball screw shaft 4 is hinged on an upper cover plate 1-1 and can rotate, and enabling an inner capture finger 2 and an outer capture finger 3 to move upwards along the ball screw shaft 4 until the adapter piece 6 is contacted with a second travel switch 16, and enabling the inner capture finger 2 and the outer capture finger 3 to stretch out of a support wall 1-4 and be in an open state relatively without being limited by two support wall needle bearing components 8 at the moment;
step two: monitoring the state of the capture finger by using a hand-eye camera of a space robot or a vision measuring system of a service aircraft, controlling a motor shaft to rotate reversely when the docking ring is in the capture envelope range of the capture mechanism, driving a ball screw shaft 4 to rotate reversely through a gear reducer, driving a screw nut 7 and a connector 6 to move downwards, further enabling an inner capture finger 2 and an outer capture finger 3 to move downwards, and completing the wrapping motion of the docking ring due to the limit of the inner capture finger 2 and the outer capture finger 3 by a supporting wall needle roller bearing assembly 8 and the quick closing of the inner capture finger 2 and the outer capture finger 3 to form the soft capture of the docking ring;
step three: the motor continues to rotate, the inner capturing finger 2 and the outer capturing finger 3 drag the docking ring to continue to move downwards, when the bottom surface of the docking ring and the 2 first travel switches 15 are completely contacted, the brake is powered off, the brake assembly is in a braking state, rigid connection of the docking ring is completed, and capture of the docking ring is achieved.
Claims (6)
1. A three-finger non-cooperative target capture mechanism, comprising: the three-finger non-cooperative target capturing mechanism comprises a shell (1), a driving device, a ball screw shaft (4), a screw nut (7), an adapter (6) and capturing fingers;
the shell (1) comprises a supporting wall (1-4), an upper cover plate (1-1), a lower bottom plate (1-2) and a supporting plate (1-3); the upper cover plate (1-1) is buckled at the upper end of the supporting wall (1-4), the lower bottom plate (1-2) is arranged at the bottom end of the supporting wall (1-4), and the supporting plate (1-3) is arranged at a downward position in the supporting wall (1-4);
the driving device is arranged in the supporting wall (1-4), the top end of the ball screw shaft (4) is hinged on the upper cover plate (1-1) and can rotate, and the bottom end of the ball screw shaft is connected to the driving device; the screw nut (7) is sleeved on the ball screw shaft (4) and is combined with the ball screw shaft (4) to form a screw pair; the adaptor (6) is tightly sleeved on the screw nut (7) and hinged with the bottom end of the capturing finger through a hinge (10); the capturing end of the capturing finger extends out of the supporting wall (1-4) through a telescopic hole formed by the upper cover plate (1-1) and the supporting wall (1-4) and is positioned at the upper end of the upper cover plate (1-1); the rotation of the ball screw shaft (4) drives the screw nut (7) to do vertical linear motion, so as to drive the capture finger to extend and retract relative to the support wall (1-4);
the driving device comprises a motor (5), a brake (14), a driving wheel (11) and a driven wheel (12); the motor (5) is arranged above the supporting plate (1-3), the driving wheel (11) and the driven wheel (12) are arranged below the supporting plate (1-3), and the brake (14) is arranged at the upper end of the motor (5); the upper end of a motor shaft of the motor extends into the brake (14), the lower end of the motor shaft penetrates through the supporting plates (1-3) to be fixedly connected with the driving wheel (11), the driven wheel (12) is fixedly connected with the bottom end of the ball screw shaft (4), and the driving wheel (11) and the driven wheel (12) are meshed with each other;
the adaptor (6) is provided with four corners, each corner is connected with a cylindrical plug-in (6-1), and a large jack is arranged in each cylindrical plug-in (6-1); a slot (6-1-1) is formed between two cylindrical plug-in units (6-1) which are oppositely arranged on the same side; a triangular plug-in (6-2) is arranged at the upper end of the joint of each cylindrical plug-in (6-1) and the adaptor (6); the triangular plug-in (6-2) is provided with a small jack; a hinge (10) is arranged between the two cylindrical inserts (6-1) which are oppositely arranged on the same side;
the capturing fingers comprise an inner capturing finger (2) and an outer capturing finger (3); the inner capturing finger (2) and the outer capturing finger (3) are respectively hinged to two sides of the adaptor (6) through the hinge (10), the capturing end of the inner capturing finger (2) extends out of the supporting wall (1-4) through the first telescopic hole (1-1-1), and the capturing end of the outer capturing finger (3) extends out of the supporting wall (1-4) through the second telescopic hole (1-1-2);
the articulated piece (10) comprises a left-hand torsion spring (10-1), a right-hand torsion spring (10-2), three first needle bearings (10-5), an adaptor rotating shaft (10-3) and an adaptor bearing locking nut (10-4);
one end of the adaptor rotating shaft (10-3) is inserted into the large jack of one cylindrical plug-in unit (6-1), and the other end of the adaptor rotating shaft is inserted into the large jack of the cylindrical plug-in unit (6-1) oppositely arranged on the same side and is fixed through an adaptor bearing locking nut (10-4); the middle section of the adaptor rotating shaft (10-3) is positioned in the slot (6-1-1); the three first needle roller bearings (10-5) are sleeved on the adaptor rotating shaft (10-3) side by side, the bottom ends of the capturing fingers are sleeved on the three first needle roller bearings (10-5), and the left-hand torsion spring (10-1) and the right-hand torsion spring (10-2) are respectively sleeved on the bottom ends of the capturing fingers and positioned on the left side and the right side of the capturing arm;
one of the two ends of the left-hand torsion spring (10-1) is inserted into a small insertion hole on one of the triangular insertion pieces (6-2), and the other end is inserted into one side of the capturing arm; one end of the two ends of the right-handed torsion spring (10-2) is inserted into a small insertion hole on the triangular insertion piece (6-2) which is oppositely arranged on the same side, the other end of the two ends of the right-handed torsion spring is inserted into the other side of the capturing arm of the same capturing finger, and a rotating pair is formed between the capturing finger and the adapter piece (6) through a hinge piece (10);
the three-finger non-cooperative target capturing mechanism further comprises two supporting wall bearing assemblies (8), wherein the two supporting wall bearing assemblies (8) are respectively arranged at the upper ends of the two opposite side walls of the supporting walls (1-4) and close to the telescopic holes;
the supporting wall needle roller bearing assembly (8) comprises a supporting wall bearing rotating shaft (8-1), a supporting wall bearing locking nut (8-2), two second needle roller bearings (8-3) and a supporting frame (8-4); the support frame (8-4) is arranged at the upper end of the side wall of the support wall (1-4) and close to the telescopic hole, the two second needle roller bearings (8-3) are respectively arranged on the end faces of the two ends of the support frame (8-4), the two ends of the support wall bearing rotating shaft (8-1) are respectively fixed in the two second needle roller bearings (8-3) and are fixed through the support wall bearing locking nuts (8-2), and the two support wall bearing rotating shafts (8-1) are respectively contacted with the outer surfaces of the inner capture finger (2) and the outer capture finger (3) to generate rolling friction to form a rolling pair.
2. The three-fingered, non-cooperative target capture mechanism of claim 1, wherein: the inner capturing finger (2) further comprises two yielding mechanisms (2-1), the two yielding mechanisms (2-1) are arranged side by side at the fingertip part of the inner capturing finger (2) and can stretch and retract relative to the fingertip part;
the yielding mechanism (2-1) comprises a yielding mechanism supporting rod (2-1-1), a plurality of disc spring groups, 2 adjusting gaskets (2-1-2) and a locking nut (2-1-3); the finger tip internal capture device is characterized in that the locking nut (2-1-3) and the 2 adjusting gaskets (2-1-2) are arranged inside a finger tip of an internal capture finger, the plurality of disc spring groups are arranged among the 2 adjusting gaskets (2-1-2), one end of the yielding mechanism supporting rod (2-1-1) penetrates through central through holes of the 2 adjusting gaskets (2-1-2) and the plurality of disc spring groups to extend into the finger tip internal capture finger (2) and is fixed in the locking nut (2-1-3), and the other end of the yielding mechanism supporting rod (2-1-1) leaks out of the outer end of the finger tip part of the internal capture finger.
3. The three-fingered, non-cooperative target capture mechanism of claim 2, wherein: the three-finger non-cooperative target capturing mechanism further comprises two first travel switches (15) and a second travel switch (16);
the two first travel switches (15) are respectively arranged at the front end and the rear end of the upper surface of the upper cover plate (1-1), and when the butt joint ring is grabbed by an inner capturing finger and an outer capturing finger, the bottom surface of the butt joint ring can touch the two first travel switches (15);
the second travel switch (16) is fixed below the upper cover plate (1-1), when the ball screw shaft (4) drives the screw nut (7) to move upwards to the top end, the inner capturing finger and the outer capturing finger are in a relatively open state, and at the moment, the adaptor (6) is in touch with the second travel switch (16).
4. The three-fingered, non-cooperative target capture mechanism of claim 3, wherein: the ball screw shaft (4) is hollow; the capture arm of the capture finger is provided with a square groove.
5. The three-fingered, non-cooperative target capture mechanism of claim 4, wherein: the motor (5) is a separated brushless direct current motor; the brake (14) is a power-off brake; the diameter of the driving wheel (11) is smaller than that of the driven wheel (12), and a gear reducer is formed.
6. A capture method using the three-fingered non-cooperative target capture mechanism of claim 5, wherein: the capture method is realized according to the following steps:
the method comprises the following steps: starting the driving device, opening the separated brushless DC motor, and making the power-off brake component be in an open state, the motor shaft rotates to drive the driving wheel (11) to move, and drives the ball screw shaft (4) to rotate after being decelerated by the driven wheel (12), because the upper end of the ball screw shaft (4) is hinged on the upper cover plate (1-1) and can rotate, and a screw nut (7) screwed on the ball screw shaft (4) is restricted by the adaptor (6) and the catching finger so as to perform an upward linear motion along the ball screw shaft (4), further enabling the inner capturing finger (2) and the outer capturing finger (3) to move upwards until the adaptor (6) is contacted with the second travel switch (16), and enabling the inner capturing finger (2) and the outer capturing finger (3) to stretch out of the support walls (1-4) and be relatively in an opening state without being limited by the two support wall needle roller bearing assemblies (8);
step two: monitoring the state of the capture finger by using a hand-eye camera of a space robot or a vision measuring system of a service aircraft, controlling a motor shaft to rotate reversely when the docking ring is in the capture envelope range of the capture mechanism, driving a ball screw shaft (4) to rotate reversely through a gear reducer, driving a screw nut (7) and a connector (6) to move downwards, further enabling an inner capture finger (2) and an outer capture finger (3) to move downwards, closing the inner capture finger (2) and the outer capture finger (3) due to the limit of a supporting wall needle roller bearing assembly (8) on the inner capture finger (2) and the outer capture finger (3), completing the wrapping movement of the docking ring, and forming the soft capture of the docking ring;
step three: the motor continues to rotate, the inner capturing finger (2) and the outer capturing finger (3) capture the butt joint ring to continue moving downwards, after the bottom surface of the butt joint ring is completely contacted with the 2 first travel switches (15), the brake is powered off, the brake assembly is in a braking state, rigid connection of the butt joint ring is completed, and capture of the butt joint ring is achieved.
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| CN115477025B (en) * | 2022-10-31 | 2023-05-26 | 哈尔滨工业大学 | Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard |
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Inventor after: Sun Yongjun Inventor after: Shi Shicai Inventor after: Yang Guocai Inventor after: Ji Junhong Inventor after: Liu Hong Inventor after: Jin Minghe Inventor after: Cui Shipeng Inventor after: Sun Kui Inventor after: Liu Yiwei Inventor before: Sun Yongjun Inventor before: Liu Hong Inventor before: Jin Minghe Inventor before: Cui Shipeng Inventor before: Sun Kui Inventor before: Liu Yiwei |