CN111038745A - Space docking assembly and load adapter - Google Patents
Space docking assembly and load adapter Download PDFInfo
- Publication number
- CN111038745A CN111038745A CN201911421518.1A CN201911421518A CN111038745A CN 111038745 A CN111038745 A CN 111038745A CN 201911421518 A CN201911421518 A CN 201911421518A CN 111038745 A CN111038745 A CN 111038745A
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- limiting
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- movable disc
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 36
- 210000000078 claw Anatomy 0.000 claims abstract description 40
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003491 array Methods 0.000 claims 1
- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 description 9
- 210000001503 joint Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003245 working effect Effects 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
Abstract
The invention relates to a space docking device and a load adapter, which comprise a chassis, a driving mechanism, a screw rod, a movable plate, a positioning device and a plurality of mechanical claws, wherein the driving mechanism drives the screw rod to rotate; the positioning device is vertically fixed on the chassis; the lead screw is vertically arranged and rotationally connected with the chassis; the central line of the screw rod is superposed with the central line of the positioning device; the movable disc is sleeved on the screw rod and is in threaded connection with the screw rod; the plurality of mechanical claws are arrayed on the movable disc and are rotationally connected with the movable disc; the mechanical claw is provided with a chute which is connected with the positioning device in a sliding way; the driving mechanism drives the screw rod to rotate to drive the movable disc to move up and down, so that the mechanical claws move up and down and the sliding grooves slide along the positioning devices, a plurality of mechanical claws are opened or closed, intermediate connecting pieces are reduced, the structure is simple, the reliability in a space environment is higher, failure cannot occur, and the plurality of mechanical claws can act simultaneously; meanwhile, the positioning device limits and guides the movement of the mechanical claw.
Description
Technical Field
The invention relates to the technical field of space docking, in particular to a space docking device and a load adapter.
Background
The space docking mechanism is a device for docking in-orbit spacecraft, and in the prior art, as disclosed in the invention patent application of 'a three-claw space docking mechanism' (application publication No. CN108622440A), the space docking mechanism adopts a structure of a double-rotation-direction screw rod, an upper threaded disc, a lower threaded disc and a locking claw chassis, the locking claw chassis penetrates through the double-rotation-direction screw rod and is fixed at the lower part of the lower threaded disc by virtue of a thick threaded rod, a thin threaded rod is in threaded connection with a bottom plate by virtue of the locking claw chassis, one end of the double-rotation-direction screw rod is connected with a driven gear by virtue of a flat key, a support rod penetrates through the upper threaded disc, the lower threaded disc and the locking claw chassis and is inserted into the bottom plate, a top cover above the active docking mechanism is in fastening connection with a support and a motor support by virtue of an M12 bolt, the support rod is simultaneously connected with the top cover, the lower part of the locking claw chassis is connected with the locking claw chassis by virtue of, and is movable within the slide E.
In the scheme, the linkage components are more, transmission failure is easy to occur in the space environment, and the reliability is low.
Disclosure of Invention
The present invention is directed to a space docking device and a load adapter, which are used to solve at least one of the above problems.
On one hand, the technical scheme for solving the technical problems is as follows: a space docking device comprises a base plate, a driving mechanism, a lead screw, a movable plate, a positioning device and a plurality of mechanical claws, wherein the driving mechanism drives the lead screw to rotate; the positioning device is vertically fixed on the chassis; the lead screw is vertically arranged and rotationally connected with the chassis; the central line of the screw rod is superposed with the central line of the positioning device; the movable disc is sleeved on the screw rod and is in threaded connection with the screw rod; a plurality of mechanical claws are circumferentially arrayed on the movable disc, and one end of each mechanical claw is rotationally connected with the movable disc; the upper middle part of the mechanical claw is connected with the positioning device in a sliding way;
the driving mechanism drives the screw rod to rotate, drives the movable disc to move up and down, and realizes opening or closing of the other ends of the mechanical claws.
The invention has the beneficial effects that: force transmission is realized through the movable disc, rotation of the lead screw is converted into translational motion of the movable disc, intermediate connecting pieces are reduced, the structure is simple, reliability in a space environment is higher, failure cannot occur, and a plurality of mechanical claws can act simultaneously; meanwhile, the positioning device limits and guides the movement of the mechanical claw; the invention has simple structure and high reliability.
On the basis of the technical scheme, the invention can be further improved as follows.
Furthermore, the positioning device comprises a plurality of limiting frames, the limiting frames are circumferentially arrayed on the base, and the array central lines of the limiting frames are superposed with the central line of the lead screw; the limiting frames correspond to the mechanical claws one by one.
Furthermore, a limiting through hole is formed in the limiting frame, and a limiting rotating shaft is arranged in the limiting through hole; the middle part of the mechanical claw is provided with a chute; the middle part of the mechanical claw is arranged in the limiting through hole in a penetrating mode, the limiting rotating shaft penetrates through the sliding groove, and the two ends of the limiting rotating shaft extend out of the sliding groove to be connected with the limiting frame in a rotating mode.
The beneficial effect of adopting the further scheme is that: the butt joint reliability is high; the limiting frame limits and guides the movement of the mechanical claw.
Furthermore, the top end of the limiting frame is bent towards the screw rod direction to form a bent part, a second through hole is formed in the bent part, and the second through hole is communicated with the limiting through hole;
the sliding chute is bent and comprises an opening and closing section and a translation section which are communicated, the included angle between the opening and closing section and the translation section is an obtuse angle, and the opening and closing section is arranged close to the movable disc;
when the movable disc moves downwards to a first limit position, the limiting rotating shaft moves along the opening and closing section to drive each mechanical gripper to rotate to abut against the side wall of the corresponding second through hole, and the other ends of the mechanical grippers are folded; the movable plate continues to move downwards, the limiting rotating shaft moves along the translation section, and the mechanical claw hand slides downwards along the side wall of the second through hole.
The beneficial effect of adopting the further scheme is that: when the gripper hand rotates around spacing pivot to the lateral wall butt with the second through-hole, when the spout slided along spacing pivot simultaneously, the gripper hand was balanced under the moment of two effort of the lateral wall of removal dish and second through-hole, gripper hand stable in structure, and the reliability is high, at the butt joint in-process, improves working property.
Further, still include slide rail and slider, the slide rail vertical fixation is on the chassis, and slider fixed mounting is in the week side of removal dish, slider and slide rail sliding connection.
The beneficial effect of adopting the further scheme is that: for the redundant design, play direction and limiting displacement to reciprocating of removal dish, can avoid removing the dish and take place to rotate.
Furthermore, the number of the slide rails is multiple, and the slide rails and the limiting frames are arranged in a staggered and spaced mode; the sliding blocks correspond to the sliding rails one to one.
The beneficial effect of adopting the further scheme is that: simple structure, reasonable layout, even stress, prolonged service life and improved utilization rate of limited space.
Further, still include a plurality of installing supports, adjacent spacing and slide rail pass through installing support fixed connection.
The beneficial effect of adopting the further scheme is that: has the supporting function, and improves the service life and the working performance.
Further, still include the butt joint dish, the butt joint dish fixed mounting is at positioner's top.
The beneficial effect of adopting the further scheme is that: the butt joint plate is used for being in butt joint fixation with an external load.
In another aspect, the present invention provides a load adapter comprising a space docking device as described above.
The beneficial effect of this scheme of adoption is: the scheme has all the effective effects of the space docking device, and is not repeated herein.
Drawings
FIG. 1 is a diagram illustrating an open state of a gripper according to an embodiment of the present invention;
FIG. 2 is an exploded view of one embodiment of the present invention;
FIG. 3 is a diagram illustrating a closed state of the gripper according to an embodiment of the present invention;
fig. 4 is a diagram illustrating a closed state of the gripper according to another embodiment of the present invention.
In the drawings, the components represented by the respective reference numerals are listed below:
100. chassis, 200, actuating mechanism, 300, lead screw, 400, removal dish, 410, slider, 500, positioner, 510, spacing frame, 511, spacing through-hole, 512, kink, 513, second through-hole, 520, spacing pivot, 530, slide rail, 540, installing support, 600, gripper hand, 610, spout, 700, to the dish.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1-4, a space docking device includes a base plate 100, a driving mechanism 200, a lead screw 300, a movable plate 400, a positioning device 500, and a plurality of mechanical grippers 600, wherein the driving mechanism 200 drives the lead screw 300 to rotate; the positioning device 500 is vertically fixed on the chassis 100; the lead screw 300 is vertically arranged and rotatably connected with the chassis 100; the central line of the lead screw 300 coincides with the central line of the positioning device 500; the movable disc 400 is sleeved on the screw 300 and is in threaded connection with the screw 300; a plurality of mechanical claws 600 are circumferentially arrayed on the movable plate 400, and one end of each mechanical claw is rotatably connected with the movable plate 400; the middle part of the mechanical gripper 600 is connected with the positioning device 500 in a sliding way;
the driving mechanism 200 drives the screw 300 to rotate, and drives the moving plate 400 to move up and down, so as to open or close the plurality of mechanical claws 600.
Preferably, the driving mechanism 200 is a motor; the force transmission is realized through the movable disc 400, the rotation of the screw 300 is converted into the translational motion of the movable disc 400, the number of intermediate connecting pieces is reduced, the structure is simple, the reliability in a space environment is higher, the failure cannot occur, and the plurality of mechanical claws 600 can act simultaneously; meanwhile, the positioning device 500 limits and guides the movement of the mechanical gripper 600; the invention has simple structure and high reliability.
As shown in fig. 1-4, a spatial docking device, a positioning device 500 includes a plurality of limiting frames 510, the limiting frames 510 are circumferentially arrayed on a base, and the central line of the array coincides with the central line of a lead screw 300; the limiting frames 510 correspond to the mechanical claws 600 one by one;
the limiting frame 510 is provided with a limiting through hole 511, and a limiting rotating shaft 520 is arranged in the limiting through hole 511; the middle part of the mechanical gripper 600 is provided with a chute 610; the middle of the gripper 600 is inserted into the limiting through hole 511, the limiting rotating shaft 520 passes through the sliding slot 610, and both ends of the limiting rotating shaft extend out of the sliding slot 610 to be rotatably connected with the limiting frame 510.
The butt joint reliability is high; the limiting frame 510 limits and guides the movement of the gripper 600
Specifically, in this embodiment, the number of the limiting frames 510 is three.
Preferably, the top end of the limiting frame 510 is bent towards the direction of the screw 300 to form a bent part 512, a second through hole 513 is formed in the bent part 512, and the second through hole 513 is communicated with the limiting through hole 511;
the sliding chute 610 is bent and comprises an opening and closing section and a translation section which are communicated, an included angle between the opening and closing section and the translation section is an obtuse angle, and the opening and closing section is arranged close to the movable disc 400;
when the moving plate 400 moves downwards to the first limit position, the limit rotating shaft 520 moves along the opening and closing section to drive each mechanical gripper 600 to rotate to abut against the side wall of the corresponding second through hole 513, so that the other ends of the plurality of mechanical grippers 600 are folded; the moving plate 400 continues to move downward from the first limit position, the limit rotating shaft 520 moves along the translation section, and the gripper 600 slides downward along the sidewall of the second through hole 513.
After the gripper 600 rotates around the limiting rotating shaft 520 to abut against the side wall of the second through hole 513, when the translation section of the sliding groove 610 slides along the limiting rotating shaft 520, the gripper 600 is balanced under the moment of two acting forces of the side walls of the moving plate 400 and the second through hole 513, the gripper 600 is stable in structure and high in reliability, and the working performance is improved in the butt joint process.
When the moving plate 400 moves upward, the mechanical gripper opens and moves upward.
As shown in fig. 1-4, the space docking device further includes a slide rail 530 and a slider 410, the slide rail 530 is vertically fixed on the bottom plate 100, the slider 410 is fixedly installed on the peripheral side of the movable plate 400, and the slider 410 is slidably connected with the slide rail 530.
For the redundancy design, the up-and-down movement of the movable plate 400 is guided and limited, and the movable plate 400 can be prevented from rotating.
As shown in fig. 1-4, in the space docking device, a plurality of slide rails 530 are provided and are arranged with the spacing frame 510 in a staggered and spaced manner; the sliders 410 are in one-to-one correspondence with the slide rails 530.
Simple structure, reasonable layout, even stress, prolonged service life and improved utilization rate of limited space.
Specifically, in the present embodiment, the number of the sliding rails 530 is three.
As shown in fig. 1 to 4, the space docking device further includes a plurality of mounting brackets 540, and the adjacent limiting brackets 510 and the sliding rails 530 are connected by the mounting brackets 540.
Has the supporting function, and improves the service life and the working performance.
Specifically, in this embodiment, the number of the mounting brackets 540 is 6, and the mounting brackets 540, the limiting frame 510 and the slide rail 530 surround to form a cylindrical structure.
The mounting bracket 540 is hollow. The weight is reduced and the driving mechanism 200 can be installed.
As shown in fig. 1 to 4, the space docking device further includes a docking tray 700, and the docking tray 700 is fixedly installed at the top end of the positioning device 500.
The docking tray 700 is used for docking and fixing with an external load.
The working process of the embodiment is as follows: the motor drives the screw 300 to rotate, the screw 300 rotates to drive the movable disc 400 to move up and down, and the movable disc 400 drives the mechanical claw to open or close.
Example 2
A load adapter comprises the space docking device.
The beneficial effect of this embodiment is: the present embodiment has all the effective effects of the above space docking device, and will not be described herein.
In the description herein, reference to the terms "embodiment one," "embodiment two," "example," "specific example," or "some examples," etc., means that a particular method, apparatus, or feature described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, methods, apparatuses, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A space docking device is characterized by comprising a base plate, a driving mechanism, a screw rod, a movable plate, a positioning device and a plurality of mechanical claws, wherein the driving mechanism drives the screw rod to rotate; the positioning device is vertically fixed on the chassis; the lead screw is vertically arranged with the chassis and is connected with the chassis in a rotating way; the central line of the lead screw is superposed with the central line of the positioning device; the movable disc is sleeved on the lead screw and is in threaded connection with the lead screw; a plurality of mechanical claws are circumferentially arrayed on the movable disc, and one end of each mechanical claw is rotatably connected with the movable disc; the upper middle part of the mechanical claw is connected with the positioning device in a sliding way;
the driving mechanism drives the screw rod to rotate, drives the movable disc to move up and down, and realizes opening or closing of the other ends of the plurality of mechanical claws.
2. The space docking device according to claim 1, wherein the positioning device comprises a plurality of limiting frames, the plurality of limiting frames are circumferentially arrayed on the base, and the central lines of the arrays are coincident with the central line of the lead screw; the limiting frames correspond to the mechanical claws one to one.
3. The space docking device according to claim 2, wherein a limiting through hole is formed in the limiting frame, and a limiting rotating shaft is arranged in the limiting through hole; the middle part of the mechanical claw is provided with a sliding chute; the middle part of the mechanical claw is arranged in the limiting through hole in a penetrating mode, the limiting rotating shaft penetrates through the sliding groove, two ends of the limiting rotating shaft extend out of the sliding groove, and the limiting frame is connected with the limiting frame in a rotating mode.
4. The space docking device according to claim 2, wherein the top end of the limiting frame is bent toward the lead screw to form a bent portion, the bent portion is provided with a second through hole, and the second through hole is communicated with the limiting through hole;
the sliding chute is bent and comprises an opening and closing section and a translation section which are communicated, the included angle between the opening and closing section and the translation section is an obtuse angle, and the opening and closing section is arranged close to the movable disc;
when the movable disc moves downwards to a first limit position, the limiting rotating shaft moves along the opening and closing section to drive each mechanical gripper to rotate to abut against the side wall of the corresponding second through hole, and the other ends of the mechanical grippers are folded; the movable plate continues to move downwards, the limiting rotating shaft moves along the translation section, and the mechanical claw hand slides downwards along the side wall of the second through hole.
5. The space docking device according to claim 2, further comprising a slide rail and a slide block, wherein the slide rail is vertically fixed on the bottom plate, the slide block is fixedly installed on the peripheral side of the movable plate, and the slide block is slidably connected with the slide rail.
6. The space docking device according to claim 5, wherein the number of the slide rails is plural, and the slide rails and the limiting frames are arranged in a staggered and spaced manner; the sliding blocks correspond to the sliding rails one to one.
7. The space docking device according to claim 6, further comprising a plurality of mounting brackets, wherein the adjacent limiting frames and the sliding rails are fixedly connected through the mounting brackets.
8. A space docking device according to any one of claims 1 to 7 further comprising a docking tray fixedly mounted on top of the positioning device.
9. A load adapter comprising a space docking device as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421518.1A CN111038745A (en) | 2019-12-31 | 2019-12-31 | Space docking assembly and load adapter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911421518.1A CN111038745A (en) | 2019-12-31 | 2019-12-31 | Space docking assembly and load adapter |
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| Publication Number | Publication Date |
|---|---|
| CN111038745A true CN111038745A (en) | 2020-04-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911421518.1A Pending CN111038745A (en) | 2019-12-31 | 2019-12-31 | Space docking assembly and load adapter |
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| Country | Link |
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| CN (1) | CN111038745A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115465479A (en) * | 2022-08-30 | 2022-12-13 | 哈尔滨工业大学 | Spatial multi-limb reconfigurable robot |
| CN116101519A (en) * | 2023-01-09 | 2023-05-12 | 中国科学院空间应用工程与技术中心 | Locking device for rotary matching linear displacement motion and space load |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294690A (en) * | 2011-05-12 | 2011-12-28 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN103625656A (en) * | 2013-12-24 | 2014-03-12 | 哈尔滨工业大学 | Small-size spacecraft butt-joint mechanism |
| CN108622440A (en) * | 2018-07-16 | 2018-10-09 | 哈尔滨理工大学 | A kind of three-pawl type Space Docking Mechanism |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
| CN208715501U (en) * | 2018-07-16 | 2019-04-09 | 哈尔滨理工大学 | A kind of three-pawl type Space Docking Mechanism |
-
2019
- 2019-12-31 CN CN201911421518.1A patent/CN111038745A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102294690A (en) * | 2011-05-12 | 2011-12-28 | 哈尔滨工业大学 | Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking |
| CN103625656A (en) * | 2013-12-24 | 2014-03-12 | 哈尔滨工业大学 | Small-size spacecraft butt-joint mechanism |
| CN108622440A (en) * | 2018-07-16 | 2018-10-09 | 哈尔滨理工大学 | A kind of three-pawl type Space Docking Mechanism |
| CN208715501U (en) * | 2018-07-16 | 2019-04-09 | 哈尔滨理工大学 | A kind of three-pawl type Space Docking Mechanism |
| CN108972607A (en) * | 2018-07-19 | 2018-12-11 | 深圳市慧传科技有限公司 | A kind of Intelligent mechanical arm device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115465479A (en) * | 2022-08-30 | 2022-12-13 | 哈尔滨工业大学 | Spatial multi-limb reconfigurable robot |
| CN116101519A (en) * | 2023-01-09 | 2023-05-12 | 中国科学院空间应用工程与技术中心 | Locking device for rotary matching linear displacement motion and space load |
| CN116101519B (en) * | 2023-01-09 | 2023-07-25 | 中国科学院空间应用工程与技术中心 | Locking device for rotary matching linear displacement motion and space load |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200421 |
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| RJ01 | Rejection of invention patent application after publication |