CN110002009B - Passive compliant assembly and on-track supplementing interface device - Google Patents
Passive compliant assembly and on-track supplementing interface device Download PDFInfo
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- CN110002009B CN110002009B CN201910291481.9A CN201910291481A CN110002009B CN 110002009 B CN110002009 B CN 110002009B CN 201910291481 A CN201910291481 A CN 201910291481A CN 110002009 B CN110002009 B CN 110002009B
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- 230000001502 supplementing effect Effects 0.000 title claims description 11
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 239000002184 metal Substances 0.000 claims description 3
- 229910052755 nonmetal Inorganic materials 0.000 abstract description 4
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- 238000000034 method Methods 0.000 description 9
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- 239000013589 supplement Substances 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 239000003380 propellant Substances 0.000 description 5
- 238000007789 sealing Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 238000003825 pressing Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/40—Arrangements or adaptations of propulsion systems
- B64G1/402—Propellant tanks; Feeding propellants
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Abstract
The invention discloses a passive compliant assembly and an on-orbit replenishment interface device, and belongs to the technical field of on-orbit services. The passive compliant assembly comprises a two-dimensional moving platform and a first adjusting plate arranged on the moving platform, the two-dimensional moving platform is of a hollow structure, a hollow joint bearing is arranged at a position, corresponding to the hollow position of the two-dimensional platform, on the first adjusting plate, and the hollow joint bearing is used for fixing a to-be-connected piece. The assembly has large deformation stroke and rigidity, can avoid using non-metal elastic parts, and meets the requirements of on-orbit launching and space extravehicular environment.
Description
Technical Field
The invention relates to a passive compliant assembly and an on-orbit supplementing interface device, and belongs to the technical field of on-orbit services.
Background
With the state of the art and mode of use of current satellites, propellant carry-over is a major factor affecting the on-orbit life of the satellite. With the expansion of the functions and the improvement of the performances of the satellites, the load weight is continuously increased and is limited by the carrying and launching capacity and the cost, and the contradiction between the initial carrying amount of the propellant and the in-orbit service life of the satellites is increasingly prominent.
The contradiction between the initial carrying amount of the propellant and the in-orbit service life of the satellite is solved by the in-orbit supplement mode. At present, the on-track supplement mode is generally as follows: the service star carries the propellant to be filled, the propellant to be filled is in intersection and butt joint with the target star, and after the supplement interface active end of the service star is aligned with the target star supplement interface passive end, the supplement interface active end of the service star is pushed out by the driving device and is connected with the passive end. When the active end and the passive end are in butt joint, the butt joint precision is required to be better than 0.05mm, the requirement on the alignment precision is quite high, the task is difficult to realize, and if the passive compliance is adopted, the alignment operation difficulty can be greatly reduced, and the task realization reliability is improved.
Then, the existing passive flexible assembly generally adopts non-metal elastic components such as rubber and the like to realize passive compliance, and the compliance deformation stroke is small, the rigidity is small, and the on-track launching and space extravehicular environment cannot be met.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the passive compliant assembly and the on-rail supplementing interface device overcome the defects of the prior art, the passive compliant assembly is large in deformation stroke and rigidity, a non-metal elastic part can be avoided, and the requirements of on-rail launching and space extra-cabin environment are met.
In order to achieve the above purpose, the invention provides the following technical scheme:
the utility model provides a passive gentle and agreeable subassembly, includes two-dimensional moving platform and sets up first regulating plate on the two-dimensional moving platform, the two-dimensional moving platform is hollow structure, on the first regulating plate with the corresponding position in cavity position of two-dimensional moving platform is equipped with cavity joint bearing, cavity joint bearing is used for the fixed connecting piece of treating.
In an optional embodiment, the two-dimensional mobile station includes a first adjusting component, a second adjusting component and two elastic positioning components, the first adjusting component is used for adaptively adjusting the position deviation of the to-be-connected component in the X direction, the second adjusting component is used for adaptively adjusting the position deviation of the to-be-connected component in the Y direction perpendicular to the X direction, one of the elastic positioning components is disposed between the first adjusting component and the second adjusting component, the first adjusting plate and the first adjusting component are connected through the other elastic positioning component, and the elastic positioning component is used for returning the first adjusting plate, the first adjusting component and the second adjusting component to an initial state.
In an optional embodiment, the first adjusting assembly comprises a second adjusting plate and two first linear guide rail pairs, the second adjusting assembly comprises a third adjusting plate and two second linear guide rail pairs, guide rails of the two first linear guide rail pairs are symmetrically and fixedly connected to the second adjusting plate, sliders of the two first linear guide rail pairs are fixedly connected to the first adjusting plate, an elongated through hole is arranged in the middle of the second adjusting plate, the length direction of the elongated through hole is consistent with the length direction of the first linear guide rail pair, guide rails of the two second linear guide rail pairs are symmetrically arranged on the third adjusting plate, sliders of the two second linear guide rail pairs are fixedly connected to the second adjusting plate, the second linear guide rail pair is perpendicular to the movement direction of the first linear guide rail pair, and a square through hole is arranged in the middle of the third adjusting plate corresponding to the elongated through hole, and the side length of the square through hole is not less than the length of the long strip-shaped through hole.
In an optional embodiment, the first linear guide rail pair and the second linear guide rail pair are both ball type guide rail pairs and are both made of metal materials.
In an optional embodiment, the elastic positioning assembly comprises two sets of spring assemblies, each spring assembly comprises a spring and a spring fixing portion, the two sets of springs are symmetrically arranged by taking the center of the compliant assembly as a symmetric center, the spring fixing portions between the first adjusting assembly and the second adjusting assembly are fixed on the third adjusting plate, the spring between the first adjusting assembly and the second adjusting assembly is parallel to the second linear guide rail pair, one end of the spring is connected with the corresponding spring fixing portion, the other end of the spring is connected with the second adjusting plate, the spring fixing portion between the first adjusting plate and the first adjusting assembly is arranged on the second adjusting plate, the spring between the first adjusting plate and the first adjusting assembly is parallel to the first linear guide rail pair, and one end of the spring fixing part is connected with the corresponding spring fixing part, and the other end of the spring fixing part is connected with the first adjusting plate.
In an optional embodiment, the spring fixing portion includes a base, an adjusting rod and a spring seat, the base is fixed on the corresponding second adjusting plate or third adjusting plate, the spring seat is in threaded connection with the adjusting rod and is fixed on the base through the adjusting rod, and the spring is fixed on the corresponding spring seat.
In an optional embodiment, an annular first vertical wall extending towards the first adjusting plate is arranged around the long strip-shaped through hole, the height of the first vertical wall is not higher than that of the first linear guide rail pair sliding block, and a spring positioned between the first adjusting plate and the second adjusting plate is positioned between the first vertical wall and the first linear guide rail pair.
In an optional embodiment, a ring-shaped second vertical wall extending towards the second adjusting plate is arranged around the square through hole, the height of the second vertical wall is not higher than that of the second linear guide rail pair, and a spring between the second adjusting plate and the third adjusting plate is located between the second vertical wall and the second linear guide rail pair.
In an alternative embodiment, the length of the elongated through hole is consistent with the effective stroke of the first linear guide rail pair.
In an alternative embodiment, the length of the square through hole parallel to the second linear guide rail pair is consistent with the effective stroke of the second linear guide rail pair.
An on-orbit interface supplementing device comprises a mechanical arm, an active end of an supplementing interface, a passive end of the supplementing interface and the passive compliant assembly, the active end comprises a first mounting plate and at least one active end valve body arranged on the first mounting plate, the passive end is provided with a second mounting plate and at least one passive end valve body arranged on the second mounting plate, the passive compliant assembly is positioned between the first mounting plate and the second mounting plate, and one side opposite to the first adjusting plate is fixedly connected on the first mounting plate, the driving end valve body is fixed at the hollow part of the joint bearing, when in rail supplement, the active end reaches the position where the active end valve body and the passive end valve body are in one-to-one correspondence, and the driving end valve body is self-adaptively adjusted from multiple degrees of freedom through the passive compliant assembly, so that the driving end valve body is aligned with the passive end valve body.
Compared with the prior art, the invention has the beneficial effects that:
the two-dimensional moving platform is combined with the hollow joint bearing, the driving end valve body is fixed through the hollow joint bearing, the hollow part penetrates through an oil pipe and the like connected with the driving end valve body, when in butt joint, the driving end valve body can realize position adjustment in the X, Y direction in a horizontal plane through the two-dimensional moving platform, and axial position adjustment is realized through the joint bearing, so that the requirements on positioning precision and active compliance of the mechanical arm are greatly reduced, and the task realization reliability is improved; the assembly has large deformation stroke and rigidity, can avoid using non-metal elastic parts, and meets the requirements of on-orbit launching and space extravehicular environment.
Drawings
FIG. 1 is a cross-sectional view of a universal on-track add-on interface device according to an embodiment of the present invention;
FIG. 2 is a cross-sectional view of a passive end of a universal on-track replenishment interface device according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a passive end cover plate of a universal on-track supplementary interface device according to an embodiment of the present invention when being fastened;
FIG. 4 is a schematic diagram illustrating an opening of a passive end cover plate of a universal on-track add-on interface device according to an embodiment of the present invention;
fig. 5 is a schematic view illustrating an assembly of an active end and a passive compliant assembly of a universal on-track supplementary interface device according to an embodiment of the present invention;
FIG. 6 is a schematic half-sectional view of a passive compliant assembly according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a first adjusting assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a second adjustment assembly according to an embodiment of the present invention;
FIG. 9 is a schematic diagram of a first adjusting plate structure according to an embodiment of the present invention;
fig. 10 is a schematic structural diagram of a spring fixing portion according to an embodiment of the present invention.
Wherein:
1. the device comprises a base, 2, an adjusting rod, 3 and a spring seat;
10. the device comprises a driving component 20, a driving end 30, a driven end 40, a cover plate 50, a fixing component 60, an elastic switch 70, a torsion spring 80 and a driven flexible component;
11. the valve body at the driving end comprises a driving motor, 12, a rotating shaft, 13, a limiting block, 21, a first mounting plate, 22, a valve body at the driving end, 31, a second mounting plate, 32, a valve body at the driven end, 51, a fixing part, 52, a rotating part, 81, a first adjusting plate, 82, a first adjusting component, 83, a second adjusting component, 84 and an elastic positioning component;
311. the limiting device comprises a limiting seat 312, a limiting hole 313, an installation seat 314, a third through hole 811, a joint bearing 821, a second adjusting plate 822, a first linear guide rail pair 831, a third adjusting plate 832, a second linear guide rail pair 841, a spring 842 and a spring fixing part.
Detailed Description
The invention will be further explained and explained with reference to the drawings and the detailed description of the preferred embodiments.
Referring to fig. 1, an embodiment of the present invention provides a universal on-track supplementary interface device, which includes a mechanical arm (not shown in the figure), a driving assembly 10, a supplementary interface driving end 20 and a supplementary interface driven end 30, the active end 20 includes a first mounting plate 21 and at least one active end valve body 22 provided on the first mounting plate 21, the driving component is arranged on the first mounting plate 21, the passive end 30 is provided with a second mounting plate 31 and at least one passive end valve body 32 arranged on the second mounting plate 31, when in rail supplement, the mechanical arm grabs the driving end 20 and drives the driving end 20 to reach the positions of the driving end valve body 22 and the driven end valve body 32 which are in one-to-one correspondence, the driving assembly 10 pushes the first mounting plate 21 to move in a direction close to the second mounting plate 31, so that the driving end valve body 22 is in butt joint with the driven end valve body 32.
Specifically, in the embodiment of the invention, the first mounting plate 21 is fixedly connected to the service star, the second mounting plate is fixedly connected to the target star, and the mechanical arm can be controlled by the onboard control system to drive the driving end to move towards the driven end valve body; the driving assembly can be an assembly such as a hydraulic system and the like which can provide thrust for the first mounting plate;
according to the universal on-orbit replenishment interface device provided by the embodiment of the invention, the replenishment interface driving end is driven by the mechanical arm to align to the passive end, so that the requirement on the butting precision of the service satellite and the target satellite is reduced, and the replenishment interface driving end and the replenishment interface passive end are not required to be installed on the butting surfaces of the two satellites, so that the replenishment interface device can be flexibly arranged according to the layout of a satellite deck plate; the driving assembly overcomes the large friction resistance of the valve body sealing interfaces of the driving end and the driven end, tensioning and butt joint are achieved, and the requirement on the moment of a mechanical arm joint is lowered.
In an alternative embodiment, as shown in fig. 2, the driving assembly 10 includes a driving motor 11, a rotating shaft 12 and a stopper 13, the driving motor 11 drives the rotating shaft 12 to rotate, the limiting block 13 penetrates through the rotating shaft 12 and is in threaded connection with the rotating shaft 12, a position corresponding to the driving component 10 on the second mounting plate 31 is provided with a limiting seat 311, a limiting hole 312 is provided in the limiting seat 311, when the rail is supplemented, the mechanical arm drives the first mounting plate 21 to move so that the rotating shaft 12 extends into the limiting seat 311 until the limiting block 13 reaches a preset position, the driving motor 11 drives the rotating shaft 12 to rotate, so that one end of the limiting block 13 rotates into the limiting hole 312 to stop rotating, the driving motor 11 continues to rotate, and drives the first mounting plate 21 to move towards the second mounting plate 31.
According to the driving assembly provided by the invention, the limiting block is placed at the preset position in the limiting seat at first, then the driving motor is controlled to rotate, so that the limiting block is clamped by the limiting hole in the limiting seat in the circumferential direction and cannot rotate continuously, the limiting block cannot move when the motor rotates continuously, the first mounting plate is pulled close to the second mounting plate under the thread pair until the butt joint is completed, and the butt joint mode can generate huge tensioning force to ensure the reliable butt joint of the driving end valve body and the driven end valve body; the driving assembly is simple in structure and light in weight, and meets the requirement of lightweight in the aerospace field.
As shown in fig. 2 to 4, in an optional embodiment, the passive end further includes a cover plate 40 and a fixing assembly 50, the fixing assembly 50 includes a fixing portion 51 and a rotating portion 52 that are rotatably connected, the fixing portion 51 is fixed on the second mounting plate 31, the cover plate 40 is fixed on the rotating portion 52, the cover plate 40 covers the surface of the second mounting plate 31 opposite to the passive end valve body 32, and when the track is supplemented, the mechanical arm first pushes the cover plate 40 to rotate the rotating portion 52, and drives the cover plate 40 to rotate to the position where the cover plate 40 is exposed from the passive end valve body 32 in the open state. In an alternative embodiment, the second mounting plate 31 is provided with a passive end valve body mounting seat 313, the passive end valve body 32 is fixed in the passive end valve body mounting seat 313, and the cover plate 40 covers the opening of the passive end valve body mounting seat before the on-track supplement.
The cover plate is in a closed state for a long time, and pollutants are prevented from entering the passive end valve body to influence sealing in the ground and the launching process; when the valve works on the rail, the valve is used as a thermal control and shielding measure to prevent space irradiation from directly irradiating the valve body at the passive end.
As shown in fig. 2 to 4, in an optional embodiment, the passive end further includes an elastic switch 60 and a torsion spring 70, one end of the torsion spring 70 is fixed on the rotating portion 52, and the other end of the torsion spring is fixed on the fixing portion 51, when the cover plate 40 is in an open state, the torsion spring 70 generates a reset torque, the cover plate 40 is provided with a notch, the elastic switch 60 is disposed on the second mounting plate 31, and before the rail is supplemented, the cover plate 40 presses the elastic switch 60, and when the notch of the cover plate 40 rotates to a position corresponding to the elastic switch 60 during the rail is supplemented, the elastic switch 60 bounces to limit the cover plate 40 to reset.
The passive end cover plate is positioned by adopting the torsion spring, and replaces active components such as a motor and the like, so that the weight is reduced; the elastic switch is arranged in a compressed closing state for a long time, and a switch reset cover plate is pressed instead of the cover plate which is opened by pressing the switch initially, so that the cover is prevented from being opened by mistake due to vibration on the ground and in the launching process, and the inherent reliability is high;
in an alternative embodiment, as shown in fig. 1, the extending direction of the limiting seat is the same as the extending direction of the passive end valve body 32.
Through setting up spacing seat and passive end valve body in the same one side of second mounting panel, can save the space between first mounting panel and the second mounting panel.
As shown in fig. 2, in an optional embodiment, the limiting hole 312 has a certain height along an axial direction (in an up-down direction in fig. 2), after one end of the limiting block 13 rotates into the limiting hole 312 and is axially clamped and stopped, the driving motor 11 continues to rotate to drive the limiting block 13 to axially move in the limiting hole 312 until the axial direction is clamped, the driving motor 11 continues to rotate, and the rotating shaft 12 pulls the first mounting plate 21 to move towards the second mounting plate 31.
Through designing spacing hole axial height to be greater than the stopper, when stopper one end was blocked by spacing hole and can't rotate, the stopper can only rise along the axial, until the direction of height also is blocked by spacing hole, afterwards, the motor continues to rotate and drives the stopper follow axial motion in spacing hole, until the axial is blocked, this structure has increased tolerance envelope, has reduced the requirement to arm positioning accuracy.
As shown in fig. 1 and 5, in an optional embodiment, the universal on-track supplementary interface device further includes a passive compliant assembly 80 disposed between the first mounting plate and the second mounting plate, as shown in fig. 6, a first through hole (a through hole penetrating the entire assembly in the middle of the assembly in fig. 6) is disposed in the middle of the passive compliant assembly 80, the passive compliant assembly 80 is disposed on the first mounting plate 21, a second through hole corresponding to the first through hole is disposed on the first mounting plate 21, the active end valve body 22 is mounted on the passive compliant assembly, the first through hole and the second through hole are used for accommodating the active end valve body 22 and a pipeline (not shown in the figure) connected thereto, and the passive compliant assembly 80 is used for adaptively adjusting the butt joint position of the active end valve body 22 from multiple degrees of freedom.
The passive compliant assembly greatly reduces the requirements on the positioning precision and the active compliance of the mechanical arm, and improves the reliability of task realization.
In an alternative embodiment, as shown in fig. 2, a conical third through hole 314 is formed in the second mounting plate 31, and the driving end valve body 22 passes through the third through hole 314 and is abutted with the driven end valve body 32.
According to the invention, the big circle size of the tapered hole on the second mounting plate 31 is larger than that of the valve body 22 at the driving end, and after the valve body enters the tapered hole, the valve body is self-adaptively centered on the valve body 32 at the driven end by utilizing the elasticity of the passive compliant assembly under the action of the lateral force of the tapered surface in the insertion process of the valve body 22 at the driving end.
As shown in fig. 6, the passive compliant assembly 80 includes a two-dimensional moving stage and a first adjusting plate 81 disposed on the moving stage, a fourth through hole is disposed on a central axis of the two-dimensional moving stage, a hollow knuckle bearing 811 is disposed on the first adjusting plate 81 at a position corresponding to the fourth through hole, and the fourth through hole and the hollow portion of the knuckle bearing form the first through hole together.
The joint bearing through hole and the two-dimensional mobile platform through hole in the passive compliant assembly provide installation and storage spaces for the valve body and the connecting pipeline thereof, and the passive compliant function of the penetrating structure is realized.
In an alternative embodiment, as shown in fig. 7 to 9, the two-dimensional moving stage includes a first adjusting component 82, a second adjusting component 83, and two elastic positioning components 84, where the first adjusting component 82 is used to adaptively adjust the position deviation of the active end valve body 22 in the X direction, the second adjusting component 23 is used to adaptively adjust the position deviation of the active end valve body 22 in the Y direction, the Y direction is perpendicular to the X direction, one of the elastic positioning components 84 is disposed between the first adjusting component 82 and the second adjusting component 83, the first adjusting plate and the first adjusting component 83 are connected through the other elastic positioning component 84, and the elastic positioning components are used to return the connected components to an initial position, where the initial position is preferably the center position of the whole structure.
The invention adopts a two-dimensional mobile platform structure to realize the formation of two vertical directions in a plane, reduces the requirement on the accuracy of the transverse position in the butt joint process, and adopts an elastic positioning system to realize the self-centering of the two-dimensional mobile platform, so that the valve body of the driving end is positioned at the central position before the work and when the force is not applied.
In an alternative embodiment, as shown in fig. 7, the first adjusting assembly 82 includes a second adjusting plate 821 and two first linear guide pairs 822, as shown in fig. 8, the second adjusting assembly 83 includes a third adjusting plate 831 and two second linear guide pairs 832, the guide rails of the two first linear guide pairs 822 are symmetrically and fixedly connected to the second adjusting plate 821, the sliding blocks of the two first linear guide pairs 822 are fixedly connected to the first adjusting plate 81, an elongated through hole is formed in the middle of the second adjusting plate 821, the length direction of the elongated through hole is consistent with the length direction of the first linear guide pair 822, the guide rails of the two second linear guide pairs are symmetrically arranged on the third adjusting plate 831, the sliding blocks of the two second linear guide pairs are fixedly connected to the second adjusting plate 821, and the second linear guide pair 832 is perpendicular to the moving direction of the first linear guide pair 822, the middle part of the third adjusting plate 831, which corresponds to the strip-shaped through hole, is provided with a square through hole, and the side length of the square through hole is not less than the length of the strip-shaped through hole. The passive compliant assembly realizes the moving pair by adopting the guide rail, has larger stroke than the conventional passive compliant scheme adopting elastic material deformation, can meet the condition that the fit clearance between the active end and the passive end of the filling interface is less than 0.05mm, and realizes high-precision assembly on the rail in the filling process. In an alternative embodiment, the length of the elongated through hole is consistent with the effective stroke of the first linear guide pair 833. The strip-shaped through hole can provide a motion space for the pipeline in the passive compliance adjustment. In an alternative embodiment, the length of the square through hole parallel to the second pair of linear guides 832 corresponds to the effective stroke of the second pair of linear guides 832. The square through hole can provide a motion space for the pipeline in the passive compliance adjustment. In an alternative embodiment, the first linear guide pair 822 and the second linear guide pair 832 are both ball-type guide pairs and are made of metal.
The linear guide rail pair is supported by circulating steel balls, has high rigidity and low friction with an elastic flexible scheme, can bear a satellite launching vibration environment, and is smooth and reliable in moving process; all materials are made of metal and are suitable for the irradiation environment outside the rail cabin.
In an optional embodiment, as shown in fig. 7 and 8, the elastic positioning assembly 84 includes two sets of spring assemblies, each of the spring assemblies includes a spring 841 and a spring fixing portion 842, the two sets of springs 841 are symmetrically disposed with the center of the compliant assembly as a symmetric center and have the same working state, the spring fixing portion 842 between the first adjusting assembly 82 and the second adjusting assembly 83 is fixed on the third adjusting plate 831, the spring 841 between the first adjusting assembly 82 and the second adjusting assembly 83 is parallel to the second linear guide pair, one end of the spring 841 is connected to the corresponding spring fixing portion 842, the other end of the spring 841 is connected to the second adjusting plate 821, the spring fixing portion 842 between the first adjusting assembly 81 and the first adjusting assembly 82 is disposed on the second adjusting plate 821, and the spring 841 between the first adjusting assembly 81 and the first adjusting assembly 82 is parallel to the first linear guide pair 822, one end of which is connected to the corresponding spring fixing portion 842 and the other end of which is connected to the first adjustment plate 81.
The elastic positioning assembly realizes the self-centering positioning of each adjusting plate by adopting two symmetrically arranged extension springs, has large stroke, adjustable passive compliant stiffness parameters and reliable scheme.
In an alternative embodiment, as shown in fig. 7, an annular first standing wall 823 extending toward the first adjusting plate is disposed around the elongated through hole, the height of the first standing wall is slightly lower than the height of the slider of the first linear guide pair 822, and a spring located between the first adjusting plate 81 and the second adjusting plate 821 is located between the first standing wall and the first linear guide pair 822; as shown in fig. 8, an annular second upright wall 833 extending toward the second adjusting plate 821 is disposed around the square through hole, the height of the second upright wall is slightly lower than that of the second linear guide pair 832, and a spring disposed between the second adjusting plate 821 and the third adjusting plate 831 is disposed between the second upright wall and the second linear guide pair 832; the structure can prevent external components such as springs from entering the through holes in the vibration process and interfering with the valve body and the pipeline which are communicated with the inside, and the reliability of the product is improved. In an alternative embodiment, as shown in fig. 10, the spring fixing portion 842 includes a base 1, an adjusting rod 2 and a spring seat 3, the base 1 is fixed on the corresponding second adjusting plate 821 or third adjusting plate 831, the spring seat 3 is in threaded connection with the adjusting rod 2 and is fixed on the base 1 through the adjusting rod 2, and the spring 841 is fixed on the corresponding spring seat 3. In the embodiment of the invention, the adjusting rod can be a screw, a threaded rod and other structures. As shown in fig. 10, the base 1 is provided with two opposite protruding blocks, the adjusting rod 2 is inserted through the two protruding blocks and is in threaded connection with the two protruding blocks, two sides of the connecting rod are respectively provided with a guide rod in parallel, the guide rods are inserted into the through holes on the protruding blocks to guide the adjusting rod 2, further, in order to prevent the adjusting rod 2 from rotating relative to the spring seat 3 under a vibration environment to cause a change in the tensile force of the spring, the embodiment of the invention further includes a nut 4 inserted through the adjusting rod 2, and the nut 4 is used for fixing the adjusting rod 2 to be fastened on one of the protrusions to prevent looseness.
The spring fixing part can adjust the initial deformation and the tension of the extension spring, the spring machining error is solved, the rigidity deviation is inconsistent after heat treatment, the adjusting rod is in threaded connection with the spring seat, the adjusting rod is rotated in the adjusting process to achieve fine adjustment of the tension, the adjusting precision is high, the operation is simple and convenient, the assembling difficulty is reduced, and the manufacturing manufacturability is improved.
In an alternative embodiment, two driving end valve bodies 22 are symmetrically arranged on the first mounting plate 21, and the driving assembly 10 is mounted at the midpoint of the central connecting line of the two driving end valve bodies 22.
The two valve bodies are arranged on the first mounting plate, so that two sealing channels can be realized at the same time, two paths of gas and liquid are transmitted and detected, the on-orbit working efficiency is improved, and the two valve bodies are mutually in main backup, so that the task reliability is effectively improved; two valve bodies are symmetrically arranged relative to the driving assembly, and the first mounting plate and the second mounting plate have symmetrical resistance at two ends and are balanced with the middle driving force in the process of approaching and butting, so that no bending moment is generated, and the structural stress and deformation are reduced.
In an alternative embodiment, the universal on-track supplementary interface device further comprises at least two rigid limit brackets symmetrically arranged on one side of the first mounting plate 21 facing the second mounting plate 31, and the rigid limit brackets are used for determining that the first mounting plate 21 is pressed down to a position.
According to the invention, two symmetrically arranged rigid limiting supports are adopted, so that the first mounting plate 21 is in place with high precision, and the passive end valve body 32 is prevented from being damaged in the process.
In an optional embodiment, the universal on-rail supplementary interface device further comprises a trigger switch, which is arranged on the rigid limit support and used for sending an electric signal to the control end when the first mounting plate 21 is pressed down to the proper position.
The trigger switch adopted by the invention realizes in-place signal monitoring, displays that the butt joint is completed, and drives the component motor to stop working.
The unpublished part of the present invention is common general knowledge in the art.
Claims (9)
1. A passive compliant assembly is characterized by comprising a two-dimensional moving platform and a first adjusting plate arranged on the two-dimensional moving platform, wherein the two-dimensional moving platform is of a hollow structure, a hollow joint bearing is arranged on the first adjusting plate corresponding to the hollow part of the two-dimensional moving platform, and the hollow joint bearing is used for fixing a to-be-connected piece;
the two-dimensional mobile station comprises a first adjusting component, a second adjusting component and two elastic positioning components, wherein the first adjusting component is used for self-adaptively adjusting the position deviation of the to-be-connected piece in the X direction, the second adjusting component is used for self-adaptively adjusting the position deviation of the to-be-connected piece in the Y direction, one elastic positioning component is arranged between the first adjusting component and the second adjusting component, the first adjusting plate is connected with the first adjusting component through the other elastic positioning component, and the elastic positioning components are used for enabling the first adjusting plate, the first adjusting component and the second adjusting component to return to an initial state;
the first adjusting assembly comprises a second adjusting plate and two first linear guide rail pairs, the second adjusting assembly comprises a third adjusting plate and two second linear guide rail pairs, the guide rails of the two first linear guide rail pairs are symmetrically and fixedly connected onto the second adjusting plate, the sliding blocks of the two first linear guide rail pairs are fixedly connected onto the first adjusting plate, the middle part of the second adjusting plate is provided with a strip-shaped through hole, the length direction of the strip-shaped through hole is consistent with the length direction of the first linear guide rail pairs, the guide rails of the two second linear guide rail pairs are symmetrically arranged on the third adjusting plate, the sliding blocks of the two second linear guide rail pairs are fixedly connected onto the second adjusting plate, the second linear guide rail pairs are perpendicular to the movement direction of the first linear guide rail pairs, and the part of the middle part of the third adjusting plate, which corresponds to the strip-shaped through hole, is provided with a square through hole, and the side length of the square through hole is not less than the length of the long strip-shaped through hole.
2. The passive compliant assembly of claim 1 wherein the first linear guide pair and the second linear guide pair are both ball type guide pairs and are both metal.
3. The passive compliant assembly of claim 1, wherein the elastic positioning assembly comprises two sets of spring assemblies, each spring assembly comprises a spring and a spring fixing portion, the two sets of springs are symmetrically arranged with the center of the compliant assembly as a center of symmetry and have the same working state, the spring fixing portion between the first adjusting assembly and the second adjusting assembly is fixed on the third adjusting plate, the spring between the first adjusting assembly and the second adjusting assembly is parallel to the second linear guide pair, one end of the spring is connected with the corresponding spring fixing portion, the other end of the spring is connected with the second adjusting plate, the spring fixing portion between the first adjusting plate and the first adjusting assembly is arranged on the second adjusting plate, the spring between the first adjusting plate and the first adjusting assembly is parallel to the first linear guide pair, and one end of the spring fixing part is connected with the corresponding spring fixing part, and the other end of the spring fixing part is connected with the first adjusting plate.
4. The passive compliant assembly of claim 3 wherein the spring fixing portion comprises a base, an adjusting rod and a spring seat, the base is fixed on the corresponding second adjusting plate or third adjusting plate, the spring seat is in threaded connection with the adjusting rod and fixed on the base through the adjusting rod, and the spring is fixed on the corresponding spring seat.
5. The passive compliant assembly of claim 3 wherein the elongated through hole has an annular first vertical wall extending toward the first adjustment plate, the first vertical wall has a height not higher than the height of the first linear guide pair slider, and a spring between the first adjustment plate and the second adjustment plate is located between the first vertical wall and the first linear guide pair.
6. The passive compliant assembly of claim 3 wherein the square through hole is surrounded by a second vertical wall extending toward the second adjustment plate, the second vertical wall is not higher than the second linear guide pair, and a spring between the second adjustment plate and the third adjustment plate is located between the second vertical wall and the second linear guide pair.
7. The passive compliant assembly of claim 1 wherein the length of the elongated through-hole is consistent with the effective travel of the first pair of linear guides.
8. The passive compliant assembly of claim 1 wherein the length of the square through hole parallel to the second pair of linear guides is consistent with the effective stroke of the second pair of linear guides.
9. An on-track supplementing interface device, which is characterized by comprising a supplementing interface driving end, a supplementing interface passive end and a passive compliant assembly provided by any one of claims 1 to 8, wherein the driving end comprises a first mounting plate and at least one driving end valve body arranged on the first mounting plate, the passive end is provided with a second mounting plate and at least one passive end valve body arranged on the second mounting plate, the passive compliant assembly is positioned between the first mounting plate and the second mounting plate, one side opposite to the first adjusting plate is fixedly connected on the first mounting plate, the driving end valve body is fixed in the hollow part of a joint bearing, when in track supplementing, the driving end reaches the positions of the driving end valve body and the passive end valve body in one-to-one correspondence, and the driving end valve body is self-adaptively adjusted from multiple degrees of freedom through the passive compliant assembly, so that the active end valve body is aligned with the passive end valve body.
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| CN201910291481.9A CN110002009B (en) | 2019-04-12 | 2019-04-12 | Passive compliant assembly and on-track supplementing interface device |
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| CN201910291481.9A CN110002009B (en) | 2019-04-12 | 2019-04-12 | Passive compliant assembly and on-track supplementing interface device |
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| JP2566379B2 (en) * | 1994-05-31 | 1996-12-25 | 宇宙開発事業団 | Coupling device |
| JP2018199183A (en) * | 2017-05-26 | 2018-12-20 | 国立研究開発法人宇宙航空研究開発機構 | Robot and holding system |
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| CN103846930B (en) * | 2012-12-27 | 2015-11-25 | 中国科学院合肥物质科学研究院 | Be applied to the passive type compliance impedance mechanisms on service robot mechanical arm |
| CN104551592A (en) * | 2014-11-28 | 2015-04-29 | 中国科学院自动化研究所 | Passive smoothening device for automatic assembly or butt joint |
| CN105000199B (en) * | 2015-07-17 | 2016-11-30 | 兰州空间技术物理研究所 | A kind of space is with small-sized butt-joint locking device |
| FR3070738B1 (en) * | 2017-09-01 | 2020-02-07 | Centre National De La Recherche Scientifique | PASSIVE COMPLIANCE MECHANICAL DEVICE FOR TRANSMISSION OF ROTARY MOTION |
| CN107776917A (en) * | 2017-11-23 | 2018-03-09 | 水岩智能科技（宁波）有限公司 | Docking system |
| CN108908395B (en) * | 2018-06-26 | 2021-05-07 | 湘潭大学 | Multi-direction passive compliance device for robot force control |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2566379B2 (en) * | 1994-05-31 | 1996-12-25 | 宇宙開発事業団 | Coupling device |
| JP2018199183A (en) * | 2017-05-26 | 2018-12-20 | 国立研究開発法人宇宙航空研究開発機構 | Robot and holding system |
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