CN109533399B - Multi-sensing-force-control-space flexible butt joint mechanism - Google Patents
Multi-sensing-force-control-space flexible butt joint mechanism Download PDFInfo
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- CN109533399B CN109533399B CN201811459737.4A CN201811459737A CN109533399B CN 109533399 B CN109533399 B CN 109533399B CN 201811459737 A CN201811459737 A CN 201811459737A CN 109533399 B CN109533399 B CN 109533399B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 217
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- 229910052757 nitrogen Inorganic materials 0.000 claims description 14
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- 238000000034 method Methods 0.000 description 19
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- 238000010586 diagram Methods 0.000 description 7
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- 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Abstract
The invention discloses a multi-sensing force control space flexible docking mechanism, which comprises: the butt joint mechanism comprises a butt joint finger mechanism, a folding mechanism, a butt joint mechanism base, a driving motor I, a driving motor II, a main driving screw rod, a buffer mechanism, a pressure sensor and a photoelectric switch; the folding mechanism is connected with the docking mechanism base through the docking finger mechanism; the driving motor I and the driving motor II are arranged in a cavity of the docking mechanism base and are connected with the docking finger mechanism through a main driving lead screw; the buffer mechanism is arranged at the execution tail end of the butting finger mechanism; the pressure sensor and the photoelectric switch are respectively arranged on the docking finger mechanism. The multi-sensing-force-control space flexible docking mechanism can meet the flexible docking requirement of capturing and docking of a spacecraft.
Description
Technical Field
The invention belongs to the technical field of space docking, and particularly relates to a multi-sensing-force-control space flexible docking mechanism.
Background
The flexibility is divided into active flexibility and passive flexibility. The catching mechanism can generate natural compliance to external acting force when contacting with the environment by virtue of auxiliary compliance mechanisms, and the compliance is called as passive compliance; the feedback information of the force is used to omit the active control acting force by adopting a certain control strategy, which is called as active flexibility.
The traditional docking mechanism suitable for task capture docking of the in-orbit spacecraft can only play a role in an active capture docking task. Because the working environment of the docking mechanism is a microgravity environment, in the process that the mechanism approaches the spray pipe, the collision between the mechanism and the spray pipe easily causes the satellite to fly away from the original connection position, and therefore, the locking connection mechanism needs to have a larger envelope range to avoid the accidental separation of the spray pipe in the connection process; in order to reduce the requirement on the attitude control precision and improve the connection reliability, a locking connection mechanism needs to be subjected to a guide butt joint design; in order to reduce the impact force during the connection process, reduce the risk of impact damage to the service satellite and the capture target and the risk of causing the target satellite to fly away from the connection position, the capture mechanism needs to carry out the research on the compliance force control technology.
Disclosure of Invention
The technical problem of the invention is solved: the defects in the prior art are overcome, the multi-sensing-force-control space flexible butt joint mechanism is provided, and the flexible butt joint requirement of capturing and butt joint of the spacecraft can be met.
In order to solve the technical problem, the invention discloses a multi-sensing force control space flexible docking mechanism, which comprises: the butt joint finger mechanism (1), the furling mechanism (2), the butt joint mechanism base (3), the driving motor I (4), the driving motor II (5), the main driving screw rod (6), the buffer mechanism (15), the pressure sensor (16) and the photoelectric switch (17);
the furling mechanism (2) is connected with the butt joint mechanism base (3) through the butt joint finger mechanism (1);
the driving motor I (4) and the driving motor II (5) are arranged in a cavity of the docking mechanism base (3) and are connected with the docking finger mechanism (1) through a main driving lead screw (6);
the buffer mechanism (15) is arranged at the execution tail end of the docking finger mechanism (1);
the pressure sensor (16) and the photoelectric switch (17) are respectively arranged on the docking finger mechanism (1).
In the above-mentioned many sense force control space compliance docking mechanism, still include: the quick mounting and dismounting flange (8), the quick mounting and dismounting flange knob (9), the spring pin (14) and the six-dimensional force sensor (18); wherein, the six-dimensional force sensor (18) is connected with the docking mechanism base (3) through a quick dismounting flange (8); the butt joint mechanism base (3) is fixedly connected with the quick dismounting flange (8) through screws; the quick mounting and dismounting flange knob (9) is connected with the quick mounting and dismounting flange (8) through a spring pin (14), and the mounting and dismounting of the docking mechanism on the rescue satellite can be realized by rotating the quick mounting and dismounting flange knob.
In the multi-sensing-force-control-space flexible docking mechanism, a pressure sensor (16) is used for detecting the pressure between a docking target object and a docking finger mechanism and judging the degree of compression between the docking target object and the docking finger mechanism and whether the docking target object and the docking finger mechanism are in a correct docking compression state; the photoelectric switch (17) is used for detecting whether the docking target object enters the envelope range of the docking finger mechanism or not and judging whether the docking finger mechanism can carry out docking and clasping actions or not; and the six-dimensional force sensor (18) is used for detecting the interaction force between the docking mechanism and the docking target and calculating a compliance force algorithm so as to actively control the relative position between the docking mechanism and the docking target.
In the above-mentioned many sensory accuse space compliance docking mechanism, buffer gear (15), includes: an upper flat plate (151), a buffer rod (152), a compression spring (153) and a lower flat plate (155); wherein, go up dull and stereotyped (151) and lower dull and stereotyped (155) and pass through buffer beam (152) and compression spring (153) and be connected, the junction forms button head end (154), and button head end (154) wraps up a rubber layer.
In the above-mentioned gentle and agreeable docking mechanism in many sensing force control spaces, butt joint finger mechanism (1) includes: a docking finger I (101), a docking finger II (102) and a docking finger III (103); a furling mechanism (2) comprising: a furling ring I (201), a furling ring II (202) and a furling ring III (203); wherein, the furling ring I (201), the furling ring II (202) and the furling ring III (203) are sequentially closed end to end; the folding ring I (201), the folding ring II (202) and the folding ring III (203) are connected with the docking mechanism base (3) through the docking finger I (101), the docking finger II (102) and the docking finger III (103).
In the above-mentioned many sense force control space compliance docking mechanism, still include: an internal tightening mechanism (7); wherein, inside tight mechanism (7) in top includes: the device comprises an internal jacking cover (71), a wedge-shaped jacking spring (72), a wedge-shaped jacking block (73), a wedge-shaped internal support (74), a nitrogen spring (75), a main spring (76) and an internal jacking nut (77);
the inner tightening cover (71) is arranged at the top of the inner tightening mechanism (7); the internal tightening nut (77) is connected with one end of the main driving screw rod (6); the internal tightening nut (77) is connected with the wedge-shaped inner support (74) through a nitrogen spring (75); the main spring (76) is arranged around the nitrogen spring (75); the internal jacking mechanism (7) is connected with the docking mechanism base (3) through a wedge-shaped jacking spring (72) and a wedge-shaped jacking block (73).
In the multi-sensing force control space flexible butt joint mechanism, the inner jacking cover (71) is formed by smoothly transitionally connecting a spray pipe fixing surface (711) and a butt joint ring fixing surface (712).
In the above-mentioned many sense force control space compliance docking mechanism, still include: a secondary gear (10) of a driving motor II and a main gear (11) of the driving motor II; the driving motor I (4) and the driving motor II (5) are arranged on a base of the docking mechanism base (3); one end of the main driving screw rod (6) is connected with the internal jacking mechanism (7), and the other end is provided with a driving motor II pinion (10); one end of the driving motor II (5) is connected with a driving gear (11) of the driving motor II; the secondary gear (10) of the driving motor II is meshed with the main gear (11) of the driving motor II.
In the above-mentioned many sense force control space compliance docking mechanism, still include: a pinion (12) of a driving motor I and a main gear (13) of the driving motor I; docking finger mechanism (1), further comprising: a finger zoom drive disc bearing (104) and a finger zoom drive disc (105); one end of a driving motor I (4) is connected with a main gear (13) of the driving motor I; the finger zooming driving disc bearing (104) is arranged in the finger zooming driving disc (105); a pinion (12) of a driving motor I is meshed with a main gear (13) of the driving motor I.
In the multi-sensing force control space flexible butt joint mechanism, a finger zooming driving disc (105) is provided with a curve channel I (1051), a curve channel II (1052) and a curve channel III (1053); wherein, the curve channel I (1051), the curve channel II (1052) and the curve channel III (1053) are respectively provided with a self-locking section and a working section; one ends of the butt joint finger I (101), the butt joint finger II (102) and the butt joint finger III (103) are respectively and correspondingly arranged in the curve channel I (1051), the curve channel II (1052) and the curve channel III (1053).
The invention has the following advantages:
the multi-sensing-force-control space flexible docking mechanism can meet the flexible docking requirement of the capture docking of the spacecraft, and plays a role in the passive capture docking process. Because the working environment of the docking mechanism is a microgravity environment, the collision between the mechanism and the spray pipe easily causes the satellite to fly away from the original connecting position in the process that the mechanism approaches the spray pipe, the invention can reduce the impact force in the connecting process, and reduce the risk of impact damage to the service satellite and the capture target and the risk of causing the target satellite to fly away from the connecting position.
And a buffer mechanism is arranged on the butt joint mechanism. The buffer mechanism has the main functions of adjusting and correcting the initial position and posture error of the butt joint of the body spacecraft and the target spacecraft, effectively reducing the impact between the body spacecraft and the target spacecraft, ensuring the stability of the whole butt joint process and preventing the damage of the capture mechanism and the target.
Drawings
FIG. 1 is a schematic structural diagram of a multi-sensor force-controlled space compliant docking mechanism according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a multi-sensor force-controlled space compliant docking mechanism in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of an internal tightening mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic view of an embodiment of an internal cap according to the present invention;
FIG. 5 is an enlarged, partial schematic view of a multi-sensor force-controlled space compliant docking mechanism in an embodiment of the present invention;
FIG. 6 is a top view of a finger zoom driver disk in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a curvilinear channel according to an embodiment of the invention;
FIG. 8 is a schematic diagram illustrating a released state of a compliant docking mechanism with multiple sensing force control spaces in an embodiment of the present invention;
FIG. 9 is a schematic diagram illustrating a clasping state of a multi-sensing-force-control-space compliant docking mechanism according to an embodiment of the present invention;
FIG. 10 is a schematic view of a quick release flange assembly according to an embodiment of the present invention;
FIG. 11 is a schematic view of a contact angle in an embodiment of the present invention;
FIG. 12 is a schematic view of a buffer mechanism according to an embodiment of the present invention;
FIG. 13 is a diagram of a physical model of an impedance controller in an embodiment of the invention;
fig. 14 is a block diagram of an impedance control based on an inner loop of a location in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 12, in this embodiment, the multi-sensor force-controlled space compliant docking mechanism may include: the butt joint mechanism comprises a butt joint finger mechanism 1, a furling mechanism 2, a butt joint mechanism base 3, a driving motor I4, a driving motor II 5, a main driving screw rod 6, a buffer mechanism 15, a pressure sensor 16 and a photoelectric switch 17. Specifically, the method comprises the following steps:
the furling mechanism 2 is connected with the butt joint mechanism base 3 through the butt joint finger mechanism 1; the driving motor I4 and the driving motor II 5 are arranged in a cavity of the docking mechanism base 3 and are connected with the docking finger mechanism 1 through a main driving lead screw 6; the buffer mechanism 15 is arranged at the executing tail end of the docking finger mechanism 1; the pressure sensor 16 and the photoelectric switch 17 are respectively arranged on the docking finger mechanism 1.
In a preferred embodiment of the present invention, the multi-sensing force-controlled space compliant docking mechanism may further include: the quick assembly disassembly flange 8, the quick assembly disassembly flange knob 9, the spring pin 14 and the six-dimensional force sensor 18. Wherein, the six-dimensional force sensor 18 is connected with the docking mechanism base 3 through the quick dismounting flange 8; the docking mechanism base 3 and the quick dismounting flange 8 are fixedly connected through screws; the quick mounting and dismounting flange knob 9 is connected with the quick mounting and dismounting flange 8 through a spring pin 14, and the mounting and dismounting of the docking mechanism on the rescue satellite can be realized by rotating the quick mounting and dismounting flange knob.
Preferably, the pressure sensor 16 is configured to detect a pressure between the docking object and the docking finger mechanism, and determine a degree of compression between the docking object and the docking finger mechanism and whether the docking object and the docking finger mechanism are in a correct docking compression state.
Preferably, the photoelectric switch 17 is configured to detect whether the docking object enters an envelope range of the docking finger mechanism, and determine whether the docking finger mechanism can perform a docking holding action.
Preferably, a six-dimensional force sensor 18 is used to detect the interaction force between the docking mechanism and the docking target for calculating a compliance force algorithm to actively control the relative position between the docking mechanism and the docking target.
In a preferred embodiment of the present invention, as shown in fig. 12, the buffer mechanism 15 is elastically retractable, and may specifically include: an upper plate 151, a buffer rod 152, a compression spring 153, and a lower plate 155. Wherein, the upper flat plate 151 is connected with the lower flat plate 155 through the buffer rod 152 and the compression spring 153, a round end 154 is formed at the connection part, and the round end 154 is wrapped by a rubber layer.
Preferably, the round head tail end is in contact with a docking target object, stress of an actuating mechanism at the tail end of the docking finger mechanism is reduced, and great significance is brought to size reduction and power consumption reduction of the whole system. In order to further relieve the vibration generated when the docking finger mechanism is in contact with a docking target object, a layer of rubber material can be wrapped at the tail end of the round head, so that the damping characteristic of vibration absorption is improved. When the compression spring is compressed to be incapable of moving, the docking finger mechanism is driven by the driving motor to integrally move downwards, and finally docking with a target is completed through a closed enveloping space of the stroke of the docking finger mechanism and the stroke of the buffer flat plate.
It should be noted that, in order to ensure the reliability of the docking mechanism, ensure the docking rigidity while preventing the capture target from being damaged in the docking process, the docking mechanism adopts a flexible control design. The force servo closed loop system of the butt joint mechanism mainly takes a six-dimensional force feedback device at the root of the mechanism as a sensor. The six-dimensional force feedback device can measure the comprehensive acting force between the docking mechanism and the target to be captured, and accordingly the position and the posture of the simulator body are adjusted in time, active flexible control of the docking capture process is achieved, adaptability and autonomy of the docking mechanism are improved, and impact and damage to a service satellite and the target satellite in the capture docking process are avoided. The active compliance control can be classified into four types, namely impedance control, force/position hybrid control, adaptive control and intelligent control according to different control methods. Impedance control is an indirect force control method which is most widely applied to active compliance control, plays an important role in a force control algorithm, and establishes a dynamic relation between the position and the speed of an end of a docking mechanism and an acting force generated when the end is in mutual contact according to a mechanical relation. By adjusting the impedance parameters of the system, the contact force and the position control of the catching mechanism meet a dynamic relation, so that the compliance effect is realized. And the impedance control can be applied to a method based on position control, so that a method that two sets of control strategies are needed for position and force is avoided, the control method is simplified, and the method has better robustness to unknown environment and interference.
The impedance control is composed of three basic elements of target inertia, target damping and target rigidity, the three basic elements form a desired relation of target impedance, and the three basic elements play a decisive role in the influence of the impedance control system. The physical model of a classical impedance controller is shown in fig. 13. The mathematical equation of the physical model is as follows:
in order to ensure that the capturing mechanism has higher flexibility while reaching an accurate position in a capturing stage, impedance control is selected as an active flexibility control strategy in the space docking process. An impedance control system based on a position inner ring is established by utilizing an impedance controller physical model and combining a mechanism forward/backward kinematics, a force measurement calculation method and a basic principle of an impedance controller, and the steady-state characteristics of the impedance control system are analyzed. A block diagram of the impedance control based on the inner loop in position is shown in fig. 14.
A stable closed-loop system is constructed by establishing a kinematics and dynamics model of the capturing butt joint mechanism, detecting the force generated in the butt joint process by using a six-dimensional force sensor, designing a reasonable position controller and an impedance controller, and ensuring the realization of stable capturing.
In a preferred embodiment of the present invention, the docking finger mechanism 1 may specifically include: a docking finger I101, a docking finger II 102 and a docking finger III 103; the furling mechanism 2 may specifically include: a gathering ring I201, a gathering ring II 202 and a gathering ring III 203. Wherein, the furling ring I201, the furling ring II 202 and the furling ring III 203 are sequentially closed end to end; the folding ring I201, the folding ring II 202 and the folding ring III 203 are connected with the docking mechanism base 3 through the docking finger I101, the docking finger II 102 and the docking finger III 103. It should be noted that the number of the docking fingers is not limited to 3, and the greater the number of the docking fingers, the higher the reliability of docking by the docking mechanism.
In a preferred embodiment of the present invention, the multi-sensing force-controlled space compliant docking mechanism may further include: and an internal tightening mechanism 7. Wherein, the internal jacking mechanism 7 is arranged at the top of the docking mechanism base 3; docking finger i 101, docking finger ii 102 and docking finger iii 103 are disposed around internal tightening mechanism 7. The internal jacking mechanism 7 realizes the purposes of upward jacking and lateral circumferential jacking.
Preferably, the internal tightening mechanism 7 may specifically include: an internal tightening cover 71, a wedge tightening spring 72, a wedge tightening block 73, a wedge inner support 74, a nitrogen spring 75, a main spring 76 and an internal tightening nut 77. Wherein, the inner tightening cover 71 is arranged at the top of the inner tightening mechanism 7; the internal tightening nut 77 is connected with one end of the main driving screw 6; the internal tightening nut 77 is connected with the wedge-shaped internal support 74 through a nitrogen spring 75; main spring 76 is disposed around nitrogen spring 75; the internal tightening mechanism 7 is connected with the docking mechanism base 3 through a wedge tightening spring 72 and a wedge tightening block 73. Therefore, the internal jacking mechanism is integrally arranged on one spring, flexible contact between the docking mechanism and a docking target can be realized, and task failure caused by target hard collision escape caused by rigid contact is prevented. When the top is tight, inside tight lid in top is tight by nitrogen spring top, and nitrogen spring can keep the tight power in top unchangeable when the compression capacity changes, realizes stable butt joint. The inner tightening cap 71 may be formed by a smooth transition connection between the nozzle fixing surface 711 and the docking ring fixing surface 712.
In a preferred embodiment of the present invention, the multi-sensing force-controlled space compliant docking mechanism may further include: a driving motor II pinion 10 and a driving motor II main gear 11. The driving motor I4 and the driving motor II 5 are arranged on the base of the docking mechanism base 3; one end of a main driving screw 6 is connected with an internal jacking mechanism 7, and the other end is provided with a driving motor II auxiliary gear 10; one end of the driving motor II 5 is connected with a driving gear 11 of the driving motor II; the secondary gear 10 of the driving motor II is meshed with the main gear 11 of the driving motor II.
In a preferred embodiment of the present invention, the multi-sensing force-controlled space compliant docking mechanism may further include: a driving motor I pinion 12 and a driving motor I main gear 13. Wherein, butt joint finger mechanism 1 still includes: a finger zoom drive disc bearing 104 and a finger zoom drive disc 105; one end of a driving motor I4 is connected with a main gear 13 of the driving motor I; the finger zoom driving disc bearing 104 is arranged in the finger zoom driving disc 105; the driving motor I pinion 12 is meshed with a driving motor I main gear 13.
Preferably, the finger zoom driving disc 105 is provided with a curved slot i 1051, a curved slot ii 1052 and a curved slot iii 1053; one ends of the docking finger I101, the docking finger II 102 and the docking finger III 103 are respectively and correspondingly arranged in the curve groove I1051, the curve groove II 1052 and the curve groove III 1053. The tightening and loosening of all the butting fingers are driven by a finger zooming driving disc, and a curved groove on the finger zooming driving disc drives a pin shaft on the butting fingers to slide.
Preferably, the curve channel I1051, the curve channel II 1052 and the curve channel III 1053 are respectively provided with a self-locking section and a working section. The working section is sequentially tightened from outside to inside to drive the butting fingers to be tightened and loosened. The locking section is an arc concentric with the docking mechanism, when a pin on a docking finger slides into the arc, a self-locking function can be realized, the pin can only be driven by the motor end to leave the curve, and the pin cannot leave the curve if driven by external interference. The self-locking function can still keep a butt joint holding state under the condition that the butt joint mechanism is powered off, the safety of the butt joint mechanism is improved, and the purpose of reducing power consumption of the whole butt joint mechanism is achieved. Wherein, the number of the curve channels is consistent with the number of the butting fingers.
In a preferred embodiment of the present invention, as shown in fig. 10, the docking mechanism according to this embodiment can capture and dock satellite nozzles or satellite and rocket docking rings with diameters smaller than 340mm and different specifications, and the end portions of the grasped fingers have two contact angles, so that both surface contact can be formed when capturing the nozzles or docking rings, the axial friction force after docking is increased, and the docking stability is enhanced.
To sum up, 1) the butt joint mechanism is connected with the quick assembly and disassembly flange through screws and fixed together. The quick mounting and dismounting flange realizes the mounting and dismounting of the docking mechanism on the rescue satellite by rotating the quick mounting and dismounting flange knob, and the docking mechanism is an end effector mounted on the rescue satellite and used for the purpose of the rescue satellite. 2) Docking mechanism is driven by driving motor I and driving motor II: an output shaft of the driving motor I is fixed with a main gear of the driving motor I, and the driving motor I outputs torque to drive the main gear of the driving motor I to rotate. A main gear of a driving motor I is meshed with an auxiliary gear of the driving motor I, and the main gear of the driving motor I drives the auxiliary gear of the driving motor I to rotate. The I pinion of the driving motor and the finger zooming driving disk are coaxially fixed to drive the finger zooming driving disk to rotate. The finger zooming driving disc is internally provided with a finger zooming driving disc bearing, belongs to a crossed roller bearing, and is used for ensuring the axial rigidity and the radial rigidity of the whole mechanism when the finger zooming driving disc rotates. 3) The curved sliding groove on the finger zooming driving disc is in groove connection with the pin on the butt joint finger, so that the tightening and releasing of the butt joint finger are driven. The curve on the curve spout is divided into both ends, working section and self-locking section, and both ends curve is just, forms smooth transition. The curvature of the working section curve from outside to inside is gradually increased to form an involute. As the finger zoom drive disk rotates counterclockwise, the docking fingers gradually tighten toward the center. And releasing in the reverse direction. When the self-locking section is rotated, the curve of the self-locking section is concentric with the axis of the docking mechanism, so that the docking fingers are free from external force and cannot be tightened or loosened. When the motor is powered off, external disturbance cannot cause the butt joint fingers to loosen or tighten. The docking finger can be driven only by forward rotation or reverse rotation after the motor is started. 4) The internal tightening mechanism is used for tightening the target object in the axial direction and the lateral direction. The driving motor II drives a driving motor II main gear, the driving motor II main gear is in meshing transmission with a driving motor II pinion, and the driving motor II pinion is fixedly connected with the main driving lead screw so as to drive the main driving lead screw to rotate. The main driving screw and the internal jacking nut form a screw nut kinematic pair for transmitting motion and torque. The internal jam nut can move up and down along the axis. The upper part of the internal jacking nut is connected with a support lug at the lower part of the nitrogen spring to form a pin connection relation, and the upper support lug of the nitrogen spring is connected with the internal jacking cover to form a pin connection relation. The nitrogen spring may maintain a constant force as the amount of compression is varied. Therefore, when the internal jacking nut moves upwards, the internal jacking cover can be driven to move upwards, constant thrust is kept, and buffering elastic force can be provided. The inner tightening cover is provided with a wedge-shaped inner support which moves upwards along with the wedge-shaped inner support. The wedge-shaped jacking block can slide laterally on the docking mechanism base, a spring is arranged between the wedge-shaped jacking block and the docking mechanism base, and when the wedge-shaped inner support is upwards supported, the wedge-shaped jacking block is pushed to slide outwards to jack the target object laterally. 5) The contact positions of the butt joint fingers with the spray pipe and the butt joint ring are different, and the contact angles are also different. 6) Two different butt joint parts, a butt joint fixing surface and a spray pipe fixing surface are arranged on the internal jacking cover. The butt joint ring fixing surface is used for tightly pushing the end surface of the satellite-rocket butt joint ring. The spray pipe fixing surface is used for tightly propping against the inner wall of the spray pipe. 7) The quick assembly and disassembly flange knob rotates outwards to enable the spring pin to be folded, and rotates inwards to enable the spring pin to be put down. The spring pin is used for being inserted into the annular dovetail groove of the docking mechanism and used for fixing the axial movement of the docking mechanism. The reverse butt joint interface is installed at the root of the butt joint mechanism and is in butt joint with the cooperative target interface of the rescue aircraft body to serve as auxiliary connection between the rescue aircraft and the target satellite, and the mechanism connection rigidity between the rescue aircraft and the target satellite is improved. And the quick replacement of the docking mechanism can be realized. The docking mechanisms of different specifications use a universal interface, so that the docking mechanisms can be quickly replaced on the ground, and the docking mechanism is suitable for capturing and docking tasks of more satellites in orbit.
The embodiments in the present description are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (9)
1. The utility model provides a gentle and agreeable docking mechanism in many sensing force control spaces which characterized in that includes: the butt joint finger mechanism (1), the furling mechanism (2), the butt joint mechanism base (3), the driving motor I (4), the driving motor II (5), the main driving screw (6), the driving motor II pinion (10), the driving motor II main gear (11), the driving motor I pinion (12), the driving motor I main gear (13), the buffer mechanism (15), the pressure sensor (16) and the photoelectric switch (17);
the furling mechanism (2) is connected with the butt joint mechanism base (3) through the butt joint finger mechanism (1);
the driving motor I (4) and the driving motor II (5) are arranged in a cavity of the docking mechanism base (3) and are connected with the docking finger mechanism (1) through a main driving lead screw (6); the butt joint finger mechanism comprises a butt joint finger mechanism (1), a driving motor I (4), a driving motor II (5), a driving motor II main gear (11), a driving motor II auxiliary gear (10) and a main driving lead screw (6), wherein the driving motor I (4) is connected with the butt joint finger mechanism (1) through the driving motor I main gear (13) and the driving motor I auxiliary gear (12);
the buffer mechanism (15) is arranged at the execution tail end of the docking finger mechanism (1);
the pressure sensor (16) and the photoelectric switch (17) are respectively arranged on the docking finger mechanism (1);
wherein:
docking finger mechanism (1) comprising: a docking finger I (101), a docking finger II (102) and a docking finger III (103); a furling mechanism (2) comprising: a furling ring I (201), a furling ring II (202) and a furling ring III (203);
the furling ring I (201), the furling ring II (202) and the furling ring III (203) are sequentially closed end to end; the folding ring I (201), the folding ring II (202) and the folding ring III (203) are connected with the docking mechanism base (3) through the docking finger I (101), the docking finger II (102) and the docking finger III (103); the butt joint finger II (102) is located at the connecting position of the folding ring I (201) and the folding ring II (202), the butt joint finger III (103) is located at the connecting position of the folding ring II (202) and the folding ring III (203), and the butt joint finger I (101) is located at the connecting position of the folding ring III (203) and the folding ring I (201).
2. The multi-sensory, force-controlled, space-compliant docking mechanism of claim 1, further comprising: the quick mounting and dismounting flange (8), the quick mounting and dismounting flange knob (9), the spring pin (14) and the six-dimensional force sensor (18); wherein, the six-dimensional force sensor (18) is connected with the docking mechanism base (3) through a quick dismounting flange (8); the butt joint mechanism base (3) is fixedly connected with the quick dismounting flange (8) through screws; the quick mounting and dismounting flange knob (9) is connected with the quick mounting and dismounting flange (8) through a spring pin (14), and the mounting and dismounting of the docking mechanism on the rescue satellite can be realized by rotating the quick mounting and dismounting flange knob.
3. The multi-sensing force-controlled space compliant docking mechanism according to claim 2, wherein the pressure sensor (16) is configured to detect a pressure between the docking target and the docking finger mechanism, and determine a degree of compression between the docking target and the docking finger mechanism and whether the docking finger mechanism is in a correct docking compression state; the photoelectric switch (17) is used for detecting whether the docking target object enters the envelope range of the docking finger mechanism or not and judging whether the docking finger mechanism can carry out docking and clasping actions or not; and the six-dimensional force sensor (18) is used for detecting the interaction force between the docking mechanism and the docking target and calculating a compliance force algorithm so as to actively control the relative position between the docking mechanism and the docking target.
4. The multi-sensor force-controlled spatial compliant docking mechanism of claim 2, wherein the buffer mechanism (15) comprises: an upper flat plate (151), a buffer rod (152), a compression spring (153) and a lower flat plate (155); wherein, go up dull and stereotyped (151) and lower dull and stereotyped (155) and pass through buffer beam (152) and compression spring (153) and be connected, the junction forms button head end (154), and button head end (154) wraps up a rubber layer.
5. The multi-sensory, force-controlled, space-compliant docking mechanism of claim 2, further comprising: an internal tightening mechanism (7); wherein, inside tight mechanism (7) in top includes: the device comprises an internal jacking cover (71), a wedge-shaped jacking spring (72), a wedge-shaped jacking block (73), a wedge-shaped internal support (74), a nitrogen spring (75), a main spring (76) and an internal jacking nut (77);
the inner tightening cover (71) is arranged at the top of the inner tightening mechanism (7); the internal tightening nut (77) is connected with one end of the main driving screw rod (6); the internal tightening nut (77) is connected with the wedge-shaped inner support (74) through a nitrogen spring (75); the main spring (76) is arranged around the nitrogen spring (75); the internal jacking mechanism (7) is connected with the docking mechanism base (3) through a wedge-shaped jacking spring (72) and a wedge-shaped jacking block (73).
6. The multi-sensor force-control-space compliant docking mechanism of claim 5, wherein the internal hold-down cap (71) is formed by a smooth transition connection of the nozzle fixing surface (711) and the docking ring fixing surface (712).
7. The multi-sensing-force-control-space flexible docking mechanism according to claim 5, wherein a driving motor I (4) and a driving motor II (5) are arranged on a base of the docking mechanism base (3); one end of the main driving screw rod (6) is connected with the internal jacking mechanism (7), and the other end is provided with a driving motor II pinion (10); one end of the driving motor II (5) is connected with a driving gear (11) of the driving motor II; the secondary gear (10) of the driving motor II is meshed with the main gear (11) of the driving motor II.
8. The multi-sensing force-controlled space compliant docking mechanism according to claim 5, wherein the docking finger mechanism (1) further comprises: a finger zoom drive disc bearing (104) and a finger zoom drive disc (105); one end of a driving motor I (4) is connected with a main gear (13) of the driving motor I; the finger zooming driving disc bearing (104) is arranged in the finger zooming driving disc (105); a pinion (12) of a driving motor I is meshed with a main gear (13) of the driving motor I.
9. The multi-sensing force-control space flexible docking mechanism according to claim 8, wherein a curved slot i (1051), a curved slot ii (1052) and a curved slot iii (1053) are provided on the finger zoom driving disc (105); wherein, the curve channel I (1051), the curve channel II (1052) and the curve channel III (1053) are respectively provided with a self-locking section and a working section; one ends of the butt joint finger I (101), the butt joint finger II (102) and the butt joint finger III (103) are respectively and correspondingly arranged in the curve channel I (1051), the curve channel II (1052) and the curve channel III (1053).
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| CN111308243A (en) * | 2020-03-06 | 2020-06-19 | 上海电气集团股份有限公司 | Intelligent charging test device and test method |
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