CN110104221A - It is a kind of general in-orbit to add interface arrangement - Google Patents
It is a kind of general in-orbit to add interface arrangement Download PDFInfo
- Publication number
- CN110104221A CN110104221A CN201910291472.XA CN201910291472A CN110104221A CN 110104221 A CN110104221 A CN 110104221A CN 201910291472 A CN201910291472 A CN 201910291472A CN 110104221 A CN110104221 A CN 110104221A
- Authority
- CN
- China
- Prior art keywords
- mounting plate
- valve body
- hole
- component
- orbit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000003032 molecular docking Methods 0.000 claims description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 3
- 239000000523 sample Substances 0.000 claims description 3
- 239000002775 capsule Substances 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 239000003380 propellant Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 2
- 125000004122 cyclic group Chemical group 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000005429 filling process Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses it is a kind of it is general it is in-orbit add interface arrangement, belong to in-orbit service technical field.Described device includes mechanical arm, driving assembly, it adds interface drive end and adds interface Partner, drive end includes the first mounting plate and at least one drive end valve body for being arranged on the first mounting plate, driving assembly is mounted on the first mounting plate, at least one Partner valve body that Partner is equipped with the second mounting plate and is arranged on the second mounting plate, it is in-orbit when adding, mechanical arm crawl drive end simultaneously drives drive end to reach drive end valve body and the one-to-one position of Partner valve body, driving assembly pulls the first mounting plate to move to the direction close to the second mounting plate, dock drive end valve body with Partner valve body.The present invention adds interface drive end by mechanical arm drive and removes alignment Partner, reduces the merging precision requirement of service star and target satellite, and adds interface drive end and Partner does not require to be mounted on two star interfaces, can be arranged according to satellite capsule plate flexible layout.
Description
Technical field
The present invention relates to it is a kind of it is general it is in-orbit add interface arrangement, belong to in-orbit service technical field.
Background technique
Under the technical level and use pattern of present satellites, propellant carrying amount is the main of influence satellite life-span in-orbit
Factor.With satellite Function Extension and performance boost, load weight is continuously increased, and is limited to delivery emissivities and cost limits
System, the contradiction between the initial carrying amount of propellant and satellite life-span in-orbit become increasingly conspicuous.
As shown in Figure 1, being solved between the initial carrying amount of propellant and satellite life-span in-orbit usually by way of in-orbit add
Contradiction.Currently, in-orbit additional way is usually, service star carries propellant to be filled, and crosses and docks with target satellite, services star
Add interface drive end and target satellite add after interface Partner is aligned, service star adds interface drive end by driving device
It releases, is connect with Partner.
Existing in-orbit additional way needs two satellite high-precision alignments, very high to the connection precision requirement of docking mechanism,
And particular requirement is equipped with to the installation position for adding interface, needing to add interface must be positioned on two star interfaces.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide and a kind of general in-orbit has added interface
Device adds interface drive end by mechanical arm drive and removes alignment Partner, and the merging precision for reducing service star and target satellite is wanted
It asks, and adds interface drive end and do not require to be mounted on two star interfaces with Partner, can be arranged according to satellite capsule plate flexible layout.
For achieving the above object, the invention provides the following technical scheme:
It is a kind of it is general it is in-orbit add interface arrangement, including mechanical arm, driving assembly, add interface drive end and add interface
Partner, the drive end include the first mounting plate and at least one drive end valve body for being arranged on first mounting plate,
The driving component is mounted on first mounting plate, and the Partner is equipped with the second mounting plate and setting in second peace
At least one Partner valve body in loading board, in-orbit when adding, the mechanical arm grabs the drive end and drives the active
End reaches the drive end valve body and the one-to-one position of Partner valve body, and the driving component pushes first peace
Loading board is moved to the direction close to second mounting plate, docks the drive end valve body with the Partner valve body.
In an alternative embodiment, the driving component includes driving motor, rotation axis and limited block, the driving motor
Drive the rotation axis to rotate, the limited block is threadedly coupled with the rotation axis, on second mounting plate with the drive
The dynamic corresponding position of component is equipped with limit base, is equipped with limit hole in the limit base, in-orbit when adding, and the mechanical arm first drives
The first mounting plate movement probes into the rotation axis in the limit base, until the limited block reaches predeterminated position, institute
It states driving motor and drives the rotation axis rotation, turn to one end of the limited block in the limit hole and stop operating, institute
It states driving motor to continue to rotate, first mounting plate is driven to move to second mounting plate.
In an alternative embodiment, the Partner further includes cover board and fixation kit, and the fixation kit includes rotation
The fixed part of connection and rotation section, the fixed part are fixed on second mounting plate, and the cover board is fixed on the rotation
In portion, the cover board is covered on the one side opposite with the Partner valve body of second mounting plate, in-orbit when adding, the machine
Tool arm first pushes the cover board to rotate the rotation section, drives the cover board to rotate to opening state and exposes the passive end valve
The position of body.
In an alternative embodiment, the Partner further includes elastic switch and torsional spring, and the one end of torsional spring is fixed on institute
State on rotation section, the other end is fixed on the fixed part, when the cover board in opened condition when, the torsional spring is generated to reset and be turned round
Square, the cover board are equipped with notch, and the elastic switch is arranged on second mounting plate, and it is in-orbit add before, the cover board
The elastic switch is squeezed, when in-orbit add, when the notch of the cover board turns to position corresponding with the elastic switch,
The elastic switch bounces the limitation cover board and resets.
In an alternative embodiment, the extending direction of the limit base is consistent with the extending direction of the Partner valve body.
In an alternative embodiment, the limit hole has certain altitude along axial, and one end of the limited block turns to
The limit hole inner circumferential is first stuck, and the driving motor drives the rotation axis to continue to rotate, and the limited block is in screw thread
Under transmission in the limit hole axially movable, until axial be stuck, the driving motor is continued to rotate, the rotation axis
First mounting plate is pulled to move to second mounting plate.
In an alternative embodiment, it is described it is general it is in-orbit add interface arrangement, further include passive compliance component, the quilt
It moves and is equipped with first through hole in the middle part of submissive component, the passive compliance component is arranged on first mounting plate, first peace
Loading board is equipped with the second through-hole corresponding with the first through hole, and the drive end valve body is mounted on the passive compliance component
On, the first through hole and the second through-hole are for being installed with the drive end valve body and pipeline connected to it, the passive compliance
Component is used for from drive end valve body docking location described in multiple degrees of freedom automatic adjusument.
In an alternative embodiment, second mounting plate is equipped with taper third through-hole, and the drive end valve body passes through
The third through-hole is docked with the Partner valve body.
In an alternative embodiment, the passive compliance component includes two-dimensional movement platform and is arranged in the mobile station
First adjustable plate, the central axes of the two-dimensional movement platform are equipped with fourth hole, on first adjustable plate with the four-way
The corresponding position in hole is equipped with hollow joint bearing, and the fourth hole and the oscillating bearing hollow part are collectively formed described
First through hole.
In an alternative embodiment, the two-dimensional movement platform includes the first adjusting component, the second adjusting component and two bullets
Property positioning component, described first adjust component for drive end valve body described in automatic adjusument X-direction position deviation, it is described
Second, which adjusts component, is used for drive end valve body described in automatic adjusument in the position deviation of the Y-direction vertical with X-direction, wherein one
A elastic positioning member setting adjusts component and second described first and adjusts between component, first adjustable plate and institute
The first adjusting component is stated by another elastic positioning member connection, the elastic positioning member is used to make each portion of connection
Part is returned to initial position.
In an alternative embodiment, described first, which adjusts component, includes the second adjustable plate and two first straight line guideways,
The second adjusting component includes third adjustable plate and two second straight line guideways, and two first straight line guideways are led
Rail is symmetrically fixedly connected on second adjustable plate, and the sliding block of two first straight line guideways is fixedly connected on described
On one adjustable plate, it is equipped with strip through-hole in the middle part of second adjustable plate, the length direction of the strip through-hole and described the
One line slideway auxiliary length direction is consistent, and the guide rail of two second straight line guideways is symmetricly set on the third adjustable plate
On, the sliding block of two second straight line guideways is fixedly connected on second adjustable plate, the second straight line guideway
It is vertical with the direction of motion of the first straight line guideway, the portion of the strip through-hole is corresponded in the middle part of the third adjustable plate
Position is equipped with square through hole, and the side length of the square through hole is not less than the length of the strip through-hole.
In an alternative embodiment, the first straight line guideway and second straight line guideway are ball-type guideway,
It and is metal material.
In an alternative embodiment, the elastic positioning member includes two groups of spring assemblies, and the spring assembly includes bullet
Spring and spring fixing portion, spring described in two groups is symmetrical arranged using the center of the submissive component as symmetrical centre and working condition one
It causes, the spring fixing portion between the first adjusting component and the second adjusting component is fixed on the third adjustable plate
On, the spring between the first adjusting component and the second adjusting component is parallel to the second straight line guideway,
And one end is connected with the corresponding spring fixing portion, the other end is connect with second adjustable plate, is located at described first and is adjusted
Spring fixing portion between plate and the first adjusting component is arranged on second adjustable plate, is located at first adjustable plate
The spring between the first adjusting component is parallel to the first straight line guideway, and one end and the corresponding bullet
The connection of spring fixed part, the other end are connect with first adjustable plate.
In an alternative embodiment, the spring fixing portion includes pedestal, adjusting rod and spring base, and the pedestal is fixed on
It is threadedly coupled on corresponding second adjustable plate or third adjustable plate, between the spring base and the adjusting rod and by the tune
Pole is fixed on the base, and the spring is fixed on corresponding spring base.
In an alternative embodiment, the effective travel one of the length of the strip through-hole and the first straight line guideway
It causes.
In an alternative embodiment, the square through hole is parallel to the side length and described second of the second straight line guideway
The effective travel of line slideway auxiliary is consistent.
In an alternative embodiment, two drive end valve bodies, the driving component are symmetrically arranged on first mounting plate
It is mounted on the midpoint of two drive end valve body lines of centres.
In an alternative embodiment, the general in-orbit interface arrangement of adding further includes being symmetricly set on first peace
At least two rigid limit supports of the loading board towards second mounting plate side, for determining that first mounting plate is depressed into
Position.
In an alternative embodiment, the general in-orbit interface arrangement of adding further includes trigger switch, is arranged described
On rigid limit support, for sending electric signal to control terminal when first mounting plate pushes in place.
Compared with the prior art, the invention has the advantages that:
One kind provided in an embodiment of the present invention it is general it is in-orbit add interface arrangement, interface is added actively by mechanical arm drive
It holds and removes alignment Partner, reduce the merging precision requirement of service star and target satellite, and adding interface drive end should not with Partner
It asks and is mounted on two star interfaces, can be arranged according to satellite capsule plate flexible layout；Driving assembly overcomes drive end and Partner valve body
The big frictional resistance of sealed interface is realized and tenses, docks, reduces to joint of mechanical arm torque requirement.
Detailed description of the invention
Fig. 1, which is that one kind provided in an embodiment of the present invention is general, in-orbit adds interface arrangement sectional view；
Fig. 2 is the general in-orbit Partner sectional view for adding interface arrangement of one kind provided in an embodiment of the present invention；
Fig. 3 is signal when the general in-orbit passive end casing for adding interface arrangement of one kind provided in an embodiment of the present invention fastens
Figure；
Fig. 4 is signal when the general in-orbit passive end casing for adding interface arrangement of one kind provided in an embodiment of the present invention is opened
Figure；
Fig. 5 is the general in-orbit drive end for adding interface arrangement of one kind provided in an embodiment of the present invention and passive compliance component
Assembling schematic diagram；
Fig. 6 is a kind of passive compliance component half-section diagram provided in an embodiment of the present invention；
Fig. 7 is the first adjusting component structure diagram provided in an embodiment of the present invention；
Fig. 8 is the second adjusting component structure diagram provided in an embodiment of the present invention；
Fig. 9 is the first adjustable plate structural schematic diagram provided in an embodiment of the present invention；
Figure 10 is spring fixing portion structural schematic diagram provided in an embodiment of the present invention.
Wherein:
1, pedestal, 2, adjusting rod, 3, spring base；
10, driving assembly, 20, drive end, 30, Partner, 40, cover board, 50, fixation kit, 60, elastic switch, 70, torsion
Spring, 80, passive compliance component；
11, driving motor, 12, rotation axis, 13, limited block, the 21, first mounting plate, 22, drive end valve body, the 31, second peace
Loading board, 32, Partner valve body, 51, fixed part, 52, rotation section, the 81, first adjustable plate, the 82, first adjusting component, 83, second
Adjust component, 84, two elastic positioning members；
311, limit base, 312, limit hole, 313, mounting base, 314, third through-hole, 811, oscillating bearing, 821, second adjusts
Save plate, 822, first straight line guideway, 831, third adjustable plate, 832, second straight line guideway, 841, spring, 842, spring it is solid
Determine portion.
Specific embodiment
Structure composition and working principle of the invention are further explained and are said in the following with reference to the drawings and specific embodiments
It is bright.
Referring to Fig. 1, the embodiment of the invention provides it is a kind of it is general it is in-orbit add interface arrangement, including mechanical arm is (in figure not
Show), driving assembly 10, add interface drive end 20 and add interface Partner 30, the drive end 20 include first installation
Plate 21 and at least one the drive end valve body 22 being arranged on first mounting plate 21, the driving component are mounted on described the
On one mounting plate 21, the Partner 30 be equipped with the second mounting plate 31 and be arranged on second mounting plate 31 at least one
Partner valve body 32, in-orbit when adding, the mechanical arm grabs the drive end 20 and to drive the drive end 20 to reach described
Drive end valve body 22 and the one-to-one position of the Partner valve body 32, the driving component 10 push first mounting plate
21 move to the direction close to second mounting plate 31, dock the drive end valve body 22 with the Partner valve body 32.
Specifically, in the embodiment of the present invention, the first mounting plate 21 is fixedly connected on service star, and the second mounting plate is fixed to be connected
It connects in target satellite, mechanical arm can be controlled by control system on star and drive end is driven to move to Partner valve body direction；Institute
State driving assembly can be hydraulic system etc. can to the first mounting plate provide thrust component；
One kind provided in an embodiment of the present invention it is general it is in-orbit add interface arrangement, interface is added actively by mechanical arm drive
It holds and removes alignment Partner, reduce the merging precision requirement of service star and target satellite, and adding interface drive end should not with Partner
It asks and is mounted on two star interfaces, can be arranged according to satellite capsule plate flexible layout；Driving assembly overcomes drive end and Partner valve body
The big frictional resistance of sealed interface is realized and tenses, docks, reduces to joint of mechanical arm torque requirement.
As shown in Fig. 2, the driving component 10 includes driving motor 11, rotation axis 12 and limit in an alternative embodiment
Position block 13, the driving motor 11 drive the rotation axis 12 to rotate, the limited block 13 wear penetrate in the rotation axis 12 with
The rotation axis 12 is threadedly coupled, and is equipped with limit base in position corresponding with the driving component 10 on second mounting plate 31
311, it is equipped with limit hole 312 in the limit base 311, in-orbit when adding, the mechanical arm first drives first mounting plate 21
Movement probes into the rotation axis 12 in the limit base 311, until the limited block 13 reaches predeterminated position, the driving electricity
Machine 11 drives the rotation axis 12 to rotate, and turns to one end of the limited block 13 in the limit hole 312 and stops operating, institute
It states driving motor 11 to continue to rotate, first mounting plate 21 is driven to move to second mounting plate 31.
Then driving assembly provided by the invention is controlled by the predeterminated position will first placed in limit base under limited block
Driving motor rotation, the limit hole for being limited limited block on seat in circumferencial direction are blocked, can not be continued to rotate, and motor continues to turn
When dynamic, limited block can not be moved, and the first mounting plate is furthered under screw thread pair by the second mounting plate, until completing docking, the docking
Mode can produce huge tightening force, it is ensured that drive end valve body and Partner valve body reliably dock；The driving assembly structure letter
It is single, light-weight, meet space industry lightweight requirements.
As shown in figs. 2 to 4, in an alternative embodiment, the Partner further includes cover board 40 and fixation kit 50, described
Fixation kit 50 includes that the fixed part 51 of rotation connection and rotation section 52, the fixed part 51 are fixed on second mounting plate 31
On, the cover board 40 is fixed on the rotation section 52, and the cover board 40 is being covered on second mounting plate 31 with the quilt
The opposite one side of moved end valve body 32, in-orbit when adding, the mechanical arm first pushes the cover board 40 to rotate the rotation section 52, band
It moves the cover board 40 and rotates the position for exposing the Partner valve body 32 to opening state.In an alternative embodiment, the second peace
Loading board 31 is equipped with Partner valve body mounting base 313, and Partner valve body 32 is fixed in the Partner valve body mounting base 313,
Cover board 40 covers the Partner valve body mounting base opening before in-orbit add.
Cover plate of the present invention is chronically at closed state, prevents pollutant from entering passive end valve in ground and emission process
Body influences to seal；As thermal control and shielding measure when operation on orbit, space radiation direct projection Partner valve body is prevented.
As shown in figs. 2 to 4, in an alternative embodiment, the Partner further includes elastic switch 60 and torsional spring 70, described
70 one end of torsional spring is fixed on the rotation section 52, and the other end is fixed on the fixed part 51, when the cover board 40 is in opening
When state, the torsional spring 70 generates reset torque, and the cover board 40 is equipped with notch, and the elastic switch 60 is arranged described second
On mounting plate 31, and it is in-orbit add before, the cover board 40 squeezes the elastic switch 60, when in-orbit add, the cover board 40
Notch when turning to the 60 corresponding position of elastic switch, it is multiple that the elastic switch 60 bounces the limitation cover board 40
Position.
Passive end casing is positioned using torsional spring in the present invention, and the active blocks such as substitution motor reduce weight；Elastic switch is set
It sets and is chronically at compression closed state, used in design and open lid by lower switch when resetting cover board by lower switch rather than is initial
Plate prevents vibration in ground and emission process from causing to open by mistake lid, and inherent reliability is high；
As shown in Figure 1, the extending direction of the limit base prolongs with the Partner valve body 32 in an alternative embodiment
It is consistent to stretch direction.
By the way that limit base and Partner valve body to be arranged in the same side of the second mounting plate, can save the first mounting plate and
Space between second mounting plate.
As shown in Fig. 2, the limit hole 312 has certain along axial direction (up and down direction in Fig. 2) in an alternative embodiment
Highly, one end of the limited block 13 turn in the limit hole 312 it is axial be first stuck stop operating after, the driving is electric
Machine 11 continues to rotate, and the limited block 13 is driven axially movable, to be stuck up to axial in the limit hole 312, described
Driving motor 11 continues to rotate, and the rotation axis 12 pulls first mounting plate 21 to move to second mounting plate 31.
By the way that limit hole axial height is designed to be greater than limited block, when limited block one end be limited hole block and can not be into
When row rotation, limited block can only rise vertically, block until short transverse is also limited hole, and hereafter, motor continues to rotate band
The limited block is moved in the limit hole axially movable, until axial be stuck, which increases tolerance envelope, reduces
Requirement to mechanical arm positioning accuracy.
As described in figures 1 and 5, in an alternative embodiment, the general in-orbit interface arrangement of adding further includes that setting exists
Passive compliance component 80 between first mounting plate and the second mounting plate, as shown in fig. 6, in the passive compliance component 80
Portion is equipped with first through hole (through-hole for running through entire component in Fig. 6 in the middle part of component), and the passive compliance component 80 is arranged described
On first mounting plate 21, first mounting plate 21 is equipped with the second through-hole corresponding with the first through hole, the drive end
Valve body 22 is mounted on the passive compliance component, and the first through hole and the second through-hole are for being installed with the drive end valve body 22
And pipeline (not shown) connected to it, the passive compliance component 80 are used for from main described in multiple degrees of freedom automatic adjusument
22 docking location of moved end valve body.
Passive compliance component is greatly reduced to mechanical arm positioning accuracy, active compliance requirement in the present invention, is improved and is appointed
Pragmatic existing reliability.
As shown in Fig. 2, second mounting plate 31 is equipped with described in taper third through-hole 314 in an alternative embodiment
Drive end valve body 22 passes through the third through-hole 314 and docks with the Partner valve body 32.
Bellmouth great circle size in the present invention on the second mounting plate 31 is greater than drive end valve body 22, and valve body enters bellmouth
Afterwards, in 22 insertion process of drive end valve body, valve body is under conical surface lateral forces, using the elasticity of passive compliance component, certainly
Adaptation is completed in 32 centering of Partner valve body.
As shown in fig. 6, the passive compliance component 80 include two-dimensional movement platform and be arranged in the mobile station first
Adjustable plate 81, the central axes of the two-dimensional movement platform are equipped with fourth hole, on first adjustable plate 81 with the four-way
The corresponding position in hole is equipped with hollow joint bearing 811, and the fourth hole is collectively formed with the oscillating bearing hollow part
The first through hole.
Oscillating bearing through-hole, two-dimensional movement platform through-hole in the present invention in passive compliance component are valve body and its connecting line
Installation, memory space are provided, realized to the passive compliance function of running through structure.
In an alternative embodiment, as shown in figs. 7-9, the two-dimensional movement platform includes that the first adjusting component 82, second is adjusted
Component 83 and two elastic positioning members 84 are saved, described first adjusts component 82 for drive end valve body 22 described in automatic adjusument
In the position deviation of X-direction, described second adjusts component 23 for the position of drive end valve body 22 in the Y direction described in automatic adjusument
Deviation is set, Y-direction is vertical with X-direction, one of them described setting of elastic positioning member 84 adjusts 82 He of component described first
Second is adjusted between component 83, and first adjustable plate and described first adjusts component 83 by another described flexibly positioned group
Part 84 connects, and the elastic positioning member is used to that each component of connection to be made to be returned to initial position, and wherein initial position is preferably
The center of total.
Realize that two vertical direction are formed in plane using two-dimensional movement platform structure in the present invention, it is right in docking operation to reduce
The requirement of lateral position precision realizes the certainly placed in the middle of two-dimensional movement platform using flexibly positioned system, drive end valve body is made to work
It is preceding and when not stressing in center.
In an alternative embodiment, as shown in fig. 7, the first adjusting component 82 includes the second adjustable plate 821 and two
First straight line guideway 822, as shown in figure 8, the second adjusting component 83 includes third adjustable plate 831 and two second straight lines
Guideway 832, the guide rail of two first straight line guideways 822 are symmetrically fixedly connected on second adjustable plate 821, and two
The sliding block of a first straight line guideway 822 is fixedly connected on first adjustable plate 81, in second adjustable plate 821
Portion is equipped with strip through-hole, and the length direction of the strip through-hole is consistent with 822 length direction of first straight line guideway,
The guide rail of two second straight line guideways is symmetricly set on the third adjustable plate 831, and two second straight lines are led
The sliding block of rail pair is fixedly connected on second adjustable plate 821, and the second straight line guideway 832 is led with the first straight line
The direction of motion of rail pair 822 is vertical, corresponding to the position of the strip through-hole equipped with rectangular in the middle part of the third adjustable plate 831
Through-hole, and the side length of the square through hole is not less than the length of the strip through-hole.Passive compliance component uses in the present invention
Guide rail realizes prismatic pair, bigger than the conventional passive compliance scheme stroke using elastic material deformation, which can
It is less than 0.05mm to meet filling interface drive end and Partner fit clearance, filling process realizes in-orbit high-accuracy assembly.?
In one alternative embodiment, the length of the strip through-hole is consistent with the effective travel of the first straight line guideway 833.The length
Strip through-hole can provide space for the pipeline in passive compliance adjustment.It is described rectangular logical in an alternative embodiment
The side length that hole is parallel to the second straight line guideway 832 is consistent with the effective travel of the second straight line guideway 832.It should
Square through hole can provide space for the pipeline in passive compliance adjustment.In an alternative embodiment, described first is straight
Line guideway 822 and second straight line guideway 832 are ball-type guideway, and are metal material.
It is supported in line slideway auxiliary using circulating steel ball, with elastic compliant scheme high rigidity, low friction, is able to bear satellite
Emit vibration environment, moving process is smooth reliable；All material uses metal, adapts to in-orbit radiation environment out of my cabin.
In an alternative embodiment, as shown in FIG. 7 and 8, the elastic positioning member 84 includes two groups of spring assemblies, described
Spring assembly includes spring 841 and spring fixing portion 842, and spring 841 described in two groups is symmetrical with the center of the submissive component
Center symmetric setting and working condition is consistent, and be located at described first adjust component 82 and second adjust it is described between component 83
Spring fixing portion 842 is fixed on the third adjustable plate 831, is located at described first and is adjusted component 82 and the second adjusting component 83
Between the spring 841 be parallel to the second straight line guideway, and one end connects with the corresponding spring fixing portion 842
It connects, the other end is connect with second adjustable plate 821, is located at first adjustable plate 81 and described first and is adjusted between component 82
Spring fixing portion 842 be arranged on second adjustable plate 821, be located at first adjustable plate 81 and the first adjusting group
The spring 841 between part 82 is parallel to the first straight line guideway 822, and one end and the corresponding spring fixing portion
842 connections, the other end are connect with first adjustable plate 81.
Elastic positioning member realizes determining from placed in the middle for each adjustable plate using two extension springs being arranged symmetrically in the present invention
Position, stroke is big, and passive compliance stiffness parameters are adjustable, and scheme is reliable.
In an alternative embodiment, as shown in fig. 7, the strip through-hole is surrounded by cyclic annular first wall 823, it is described
The height of first wall is slightly below the height of 822 sliding block of first straight line guideway, is located at the first adjustable plate 81 and second and adjusts
The spring between plate 821 is saved between first wall and first straight line guideway 822；As shown in figure 8, described rectangular logical
Hole is surrounded by cyclic annular second wall 833, and the second wall height is slightly below the second straight line guideway 832, is located at the
Spring between two adjustable plates 821 and third adjustable plate 831 be located at second wall and the second straight line guideway 832 it
Between；The structure can prevent the external modules such as spring from entering the through-hole, valve body and pipe with internal run-through in vibration processes
Road interference, improves product reliability.
In an alternative embodiment, as shown in Figure 10, the spring fixing portion 842 includes pedestal 1, adjusting rod 2 and spring
Seat 3, the pedestal 1 is fixed on corresponding second adjustable plate 821 or third adjustable plate 831, the spring base 3 and the adjusting
It is threadedly coupled between bar 2 and by the adjusting rod 2 fixed on the base 1, the spring 841 is fixed on corresponding spring
On seat 3.In embodiments of the present invention, adjusting rod can be the structures such as screw, screw rod.As shown in Figure 10, pedestal 1 is equipped with opposite
Two convex blocks, adjusting rod 2 are threaded through on two convex blocks, and are threadedly coupled with described two convex blocks, each in the connecting rod two sides
It is equipped with a guide rod in parallel, the guide rod is threaded through in the via hole on the convex block, it is oriented to being embodied as the adjusting rod 2,
Further, spring tension is caused to change to prevent vibration environment lower dolly bar 2 from rotating relative to spring base 3, the present invention is real
Applying further includes the nut 4 being threaded through on the adjusting rod 2 in example, and nut 4 is fastened on a protrusion for secured adjusted bar 2
It realizes locking.
The initial deformation and pulling force of the adjustable extension spring of structure spring fixing portion solve spring mismachining tolerance, heat
The inconsistent deviation of rigidity after processing, adjusting rod is using spring base is threadedly coupled, and rotation adjusting lever realizes that pulling force is micro- during adjustment
It adjusts, degree of regulation is high, and it is easy to operate, assembly difficulty is reduced, anufacturability is improved.
In an alternative embodiment, two drive end valve bodies 22, the driving are symmetrically arranged on first mounting plate 21
Component 10 is mounted on the midpoint of two 22 lines of centres of drive end valve body.
Two valve bodies are set on the first mounting plate in the present invention, two sealed passages can be achieved at the same time, realize air-liquid two-way
Transmission, detection improve operation on orbit efficiency, and two valve bodies master backup each other, effectively improve mission reliability；Two valve body phases
Driving assembly is arranged symmetrically, the first mounting plate and the second mounting plate two end resistances in the docking operation that furthers are symmetrical, in
Between drive dynamic balance, no moment of flexure reduces structural stress and deformation.
In an alternative embodiment, the general in-orbit interface arrangement of adding further includes being symmetricly set on first peace
At least two rigid limit supports of the loading board 21 towards 31 side of the second mounting plate, for determining first mounting plate 21
It pushes in place.
Two rigid limit supports being arranged symmetrically are used in the present invention, while realizing that 21 high-precision of the first mounting plate arrives
Position, and overtravel is avoided to damage Partner valve body 32.
In an alternative embodiment, the general in-orbit interface arrangement of adding further includes trigger switch, is arranged described
On rigid limit support, for sending electric signal to control terminal when first mounting plate 21 pushes in place.
The trigger switch that the present invention uses realizes signal monitoring in place, and docking is completed in display, and driving assembly motor stops work
Make.
The undocumented part of the present invention is the common knowledge of this field.
Claims (19)
1. general in-orbit interface arrangement is added a kind of, which is characterized in that including mechanical arm, driving assembly, adds interface drive end
With add interface Partner, the drive end includes the first mounting plate and at least one master being arranged on first mounting plate
Moved end valve body, the driving component are mounted on first mounting plate, and the Partner is equipped with the second mounting plate and setting exists
At least one Partner valve body on second mounting plate, in-orbit when adding, the mechanical arm grabs the drive end and band
It moves the drive end and reaches the drive end valve body and the one-to-one position of Partner valve body, the driving component pushes
First mounting plate is moved to the direction close to second mounting plate, makes the drive end valve body and the Partner valve body
Docking.
2. general in-orbit interface arrangement is added according to claim 1, which is characterized in that the driving component includes driving
Motor, rotation axis and limited block, the driving motor drive the rotation axis rotation, the limited block and the rotation axle thread
It connects, is equipped with limit base in position corresponding with the driving component on second mounting plate, is equipped with limit in the limit base
Position hole, in-orbit when adding, the mechanical arm first drives the first mounting plate movement that the rotation axis is made to probe into the limit base
Interior, until the limited block reaches predeterminated position, the driving motor drives the rotation axis rotation, makes the one of the limited block
End turns in the limit hole and stops operating, and the driving motor continues to rotate, and drives first mounting plate to described the
The movement of two mounting plates.
3. general in-orbit interface arrangement is added according to claim 2, which is characterized in that described to add interface Partner also
Including cover board and fixation kit, the fixation kit includes that the fixed part of rotation connection and rotation section, the fixed part are fixed on
On second mounting plate, the cover board is fixed on the rotation section, the cover board be covered on second mounting plate with
The opposite one side of Partner valve body, in-orbit when adding, the mechanical arm first pushes the cover board to rotate the rotation section, band
It moves the cover board and rotates to opening state the position for exposing the Partner valve body.
4. general in-orbit interface arrangement is added according to claim 3, which is characterized in that described to add interface Partner also
Including elastic switch and torsional spring, the one end of torsional spring is fixed on the rotation section, and the other end is fixed on the fixed part, when
The cover board in opened condition when, the torsional spring generates reset torque, and the cover board is equipped with notch, and the elastic switch setting exists
On second mounting plate, and it is in-orbit add before, the cover board squeezes the elastic switch, when in-orbit add, the cover board
Notch when turning to position corresponding with the elastic switch, the elastic switch bounces the limitation cover board and resets.
5. general in-orbit interface arrangement is added according to claim 2, which is characterized in that the extending direction of the limit base
It is consistent with the extending direction of the Partner valve body.
6. general in-orbit interface arrangement is added according to claim 2, which is characterized in that the limit hole has along axial direction
Certain altitude, one end of the limited block turn to the limit hole inner circumferential and are first stuck, described in the driving motor drive
Rotation axis continues to rotate, the limited block under screw-driven in the limit hole axially movable, be stuck until axial,
The driving motor continues to rotate, and the rotation axis pulls first mounting plate to move to second mounting plate.
7. general in-orbit interface arrangement is added according to claim 1, which is characterized in that it further include passive compliance component,
First through hole is equipped in the middle part of the passive compliance component, the passive compliance component is arranged on first mounting plate, described
First mounting plate is equipped with the second through-hole corresponding with the first through hole, and the drive end valve body is mounted on the passive compliance
On component, the first through hole and the second through-hole are described passive for being installed with the drive end valve body and pipeline connected to it
Submissive component is used for from drive end valve body docking location described in multiple degrees of freedom automatic adjusument.
8. general in-orbit interface arrangement is added according to claim 7, which is characterized in that second mounting plate is equipped with
Taper third through-hole, the drive end valve body pass through the third through-hole and dock with the Partner valve body.
9. general in-orbit interface arrangement is added according to claim 7, which is characterized in that the passive compliance component includes
The central axes of two-dimensional movement platform and the first adjustable plate being arranged in the mobile station, the two-dimensional movement platform are equipped with four-way
Hole, position corresponding with the fourth hole is equipped with hollow joint bearing on first adjustable plate, the fourth hole with
The first through hole is collectively formed in the oscillating bearing hollow part.
10. general in-orbit interface arrangement is added according to claim 9, which is characterized in that the two-dimensional movement platform includes
First adjusts component, the second adjusting component and two elastic positioning members, and described first, which adjusts component, is used for automatic adjusument institute
Drive end valve body is stated in the position deviation of X-direction, the second adjusting component exists for drive end valve body described in automatic adjusument
The position deviation of the Y-direction vertical with X-direction, one of them described elastic positioning member setting described first adjust component and
Second is adjusted between component, and first adjustable plate and the first adjusting component are connected by another described elastic positioning member
It connects, the elastic positioning member is used to that each component of connection to be made to be returned to initial position.
11. general in-orbit interface arrangement is added according to claim 10, which is characterized in that described first adjusts component packet
The second adjustable plate and two first straight line guideways are included, the second adjusting component includes third adjustable plate and two second straight lines
Guideway, the guide rail of two first straight line guideways are symmetrically fixedly connected on second adjustable plate, and two described
The sliding block of one line slideway auxiliary is fixedly connected on first adjustable plate, logical equipped with strip in the middle part of second adjustable plate
Hole, the length direction of the strip through-hole is consistent with the first straight line guideway length direction, two second straight lines
The guide rail of guideway is symmetricly set on the third adjustable plate, and the sliding block of two second straight line guideways is fixedly connected on
On second adjustable plate, the second straight line guideway is vertical with the direction of motion of the first straight line guideway, and described
The position for corresponding to the strip through-hole in the middle part of three adjustable plates is equipped with square through hole, and the side length of the square through hole is not less than
The length of the strip through-hole.
12. general in-orbit interface arrangement is added according to claim 11, which is characterized in that the first straight line guideway
It is ball-type guideway with second straight line guideway, and is metal material.
13. general in-orbit interface arrangement is added according to claim 11, which is characterized in that the elastic positioning member packet
Two groups of spring assemblies are included, the spring assembly includes spring and spring fixing portion, and spring described in two groups is with the submissive component
Center is that symmetrical centre is symmetrical arranged and working condition is consistent, adjusts component and second positioned at described first and adjusts between component
The spring fixing portion is fixed on the third adjustable plate, is adjusted component and second positioned at described first and is adjusted between component
The spring is parallel to the second straight line guideway, and one end is connected with the corresponding spring fixing portion, the other end and institute
The connection of the second adjustable plate is stated, the spring fixing portion between component is adjusted positioned at first adjustable plate and described first and is arranged in institute
It states on the second adjustable plate, the spring between first adjustable plate and the first adjusting component is parallel to described the
One line slideway auxiliary, and one end is connected with the corresponding spring fixing portion, the other end is connect with first adjustable plate.
14. general in-orbit interface arrangement is added according to claim 13, which is characterized in that the spring fixing portion includes
Pedestal, adjusting rod and spring base, the pedestal are fixed on corresponding second adjustable plate or third adjustable plate, the spring base with
It is threadedly coupled between the adjusting rod and fixed on the base by the adjusting rod, the spring is fixed on corresponding bullet
On spring abutment.
15. general in-orbit interface arrangement is added according to claim 11, which is characterized in that the length of the strip through-hole
It spends consistent with the effective travel of the first straight line guideway.
16. general in-orbit interface arrangement is added according to claim 11, which is characterized in that the square through hole is parallel to
The side length of the second straight line guideway is consistent with the effective travel of the second straight line guideway.
17. general in-orbit interface arrangement is added according to claim 1, which is characterized in that right on first mounting plate
Title is set there are two drive end valve body, and the driving component is mounted on the midpoint of two drive end valve body lines of centres.
18. general in-orbit interface arrangement is added according to claim 1, which is characterized in that further includes being symmetricly set on institute
At least two rigid limit supports of first mounting plate towards second mounting plate side are stated, for determining first installation
Plate pushes in place.
19. general in-orbit interface arrangement is added according to claim 18, which is characterized in that it further include trigger switch, if
It sets on the rigid limit support, for sending electric signal to control terminal when first mounting plate pushes in place.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910291472.XA CN110104221B (en) | 2019-04-12 | 2019-04-12 | Universal on-orbit supplementing interface device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910291472.XA CN110104221B (en) | 2019-04-12 | 2019-04-12 | Universal on-orbit supplementing interface device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110104221A true CN110104221A (en) | 2019-08-09 |
| CN110104221B CN110104221B (en) | 2020-09-18 |
Family
ID=67485408
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910291472.XA Active CN110104221B (en) | 2019-04-12 | 2019-04-12 | Universal on-orbit supplementing interface device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110104221B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774513A (en) * | 2012-08-20 | 2012-11-14 | 哈尔滨工业大学 | Large big-tolerance passive mildly-capturing space end effector based on tendon sheath drive |
| CN103786902A (en) * | 2013-12-24 | 2014-05-14 | 兰州空间技术物理研究所 | In-orbit replacement adapter of electric thruster for spacecrafts |
| CN105059569A (en) * | 2015-07-24 | 2015-11-18 | 北京控制工程研究所 | Connector device for replenishing gas and liquid on orbit |
| CN105083592A (en) * | 2015-07-24 | 2015-11-25 | 北京空间飞行器总体设计部 | Integrated docking and adding device and docking method |
| EP3127822A1 (en) * | 2014-04-04 | 2017-02-08 | Astroscale Japan Inc. | Debris removal device and debris removal system |
| CN106695757A (en) * | 2016-12-06 | 2017-05-24 | 上海航天设备制造总厂 | Space three-degree-of-freedom parallel mild operation device and mild mode thereof |
-
2019
- 2019-04-12 CN CN201910291472.XA patent/CN110104221B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774513A (en) * | 2012-08-20 | 2012-11-14 | 哈尔滨工业大学 | Large big-tolerance passive mildly-capturing space end effector based on tendon sheath drive |
| CN103786902A (en) * | 2013-12-24 | 2014-05-14 | 兰州空间技术物理研究所 | In-orbit replacement adapter of electric thruster for spacecrafts |
| EP3127822A1 (en) * | 2014-04-04 | 2017-02-08 | Astroscale Japan Inc. | Debris removal device and debris removal system |
| CN105059569A (en) * | 2015-07-24 | 2015-11-18 | 北京控制工程研究所 | Connector device for replenishing gas and liquid on orbit |
| CN105083592A (en) * | 2015-07-24 | 2015-11-25 | 北京空间飞行器总体设计部 | Integrated docking and adding device and docking method |
| CN106695757A (en) * | 2016-12-06 | 2017-05-24 | 上海航天设备制造总厂 | Space three-degree-of-freedom parallel mild operation device and mild mode thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110104221B (en) | 2020-09-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109188648B (en) | Floating support device for unloading space optical load ground gravity | |
| CN109599005B (en) | Double-super-satellite platform attitude ground simulator based on gas-magnetic composite control | |
| CN110566630A (en) | load supporting device integrating vibration reduction of launching section and vibration isolation of on-track section | |
| CN109515770B (en) | High-bearing low-friction suspension type antenna unloading device | |
| US20210376446A1 (en) | Apparatuses for mounting an antenna assembly | |
| CN112078819B (en) | High-precision posture adjusting equipment for large spacecraft thin-wall cabin | |
| US20070062293A1 (en) | Inertial mass guided single axis vibration test machine | |
| CN103511481A (en) | Rotation positioning device | |
| CN110104221A (en) | It is a kind of general in-orbit to add interface arrangement | |
| EP3982519B1 (en) | Actuator and tripod structure equipped therewith | |
| CN110002009A (en) | A kind of passive compliance component and in-orbit add interface arrangement | |
| CN107444677B (en) | Optical-mechanical-thermal integrated structure for multi-load high-precision splicing | |
| CN210685042U (en) | Three-dimensional shock insulation/vibration isolation device with limiting function | |
| US11808319B2 (en) | Horizontally arranged six-degree-of-freedom constant-stiffness mechanism | |
| CN115519527A (en) | Six-degree-of-freedom self-adaptive adjustable rigidity-changing device | |
| US8876424B2 (en) | Maintenance-free linear annular connection and device including at least such a connection | |
| CN212763344U (en) | Supporting wheel assembly and working platform | |
| CN110672439B (en) | A swing arm mechanism and equipment for multiaspect excavation rock burst experiment | |
| CN113478460A (en) | Six-degree-of-freedom compliant constant-force vibration isolation platform | |
| CN219302146U (en) | Rail control rack static test device for spacecraft | |
| CN214922035U (en) | Freely-adjusted locomotive framework assembling tool | |
| CN108908300B (en) | Two-rotation one-translation three-freedom-degree motion platform | |
| CN116573161A (en) | Quasi-zero rigidity vibration isolation and pointing integrated platform | |
| CN114112350B (en) | Test loading device for passenger seat insert | |
| Costabile et al. | New antenna deployment, pointing and supporting mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |