CN111547280B - Low-power-consumption high-integration high-reliability space adhesion device - Google Patents
Low-power-consumption high-integration high-reliability space adhesion device Download PDFInfo
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- CN111547280B CN111547280B CN202010431372.5A CN202010431372A CN111547280B CN 111547280 B CN111547280 B CN 111547280B CN 202010431372 A CN202010431372 A CN 202010431372A CN 111547280 B CN111547280 B CN 111547280B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
Abstract
The invention provides a low-power-consumption high-integration high-reliability space adhesion device, which comprises: the connecting assembly is used for being in butt joint with the active platform; a buffer mechanism for mitigating normal impact of the device on the target, coupled to the linkage assembly; the force bearing structure is connected with the buffer mechanism; the front-end motor driving mechanism is connected with the buffer mechanism and is contacted with the tail end transmission mechanism; the tail end transmission mechanism is used for adhering the target, is connected with the bearing structure and is in contact with the front end motor driving mechanism; and the sensing and electric control part is arranged on the buffer mechanism and is used for controlling the whole adhesion device. The advantages are that: the device combines all parts, realizes the integration of the compaction, separation and buffering of the space adhesion device on the active platform, can realize the tangential loading during collision prepressing, and can realize the flattening and centripetal loading of the space four-bar mechanism through a differential mechanism consisting of two double-slider mechanisms.
Description
Technical Field
The invention relates to the field of space manipulation research, in particular to a low-power-consumption high-integration high-reliability space adhering claw device for space precise manipulation.
Background
In recent years, with the increase of the number of used spacecrafts, the development of missions of in-orbit maintenance of the spacecrafts, in-orbit operation and control, recovery of dead satellites, controlled meteority of medium and large space debris and the like has become or is about to become a research hotspot. The traditional space target capturing mode mainly comprises mechanical arm grabbing, net capturing and the like. The above means have limitations, and especially the target volume is not too large, however, the volume of the spacecraft or the remains of the spacecraft, such as a dead satellite, a medium-large space debris and the like, is often large, so that the traditional actuator is not suitable for the target.
Disclosure of Invention
The invention aims to provide a low-power-consumption high-integration high-reliability space adhesion device, which combines a connecting component, a buffer mechanism, a force bearing structure, a front end motor driving mechanism, a tail end transmission mechanism and a sensing and electric control part, realizes the structural integration of the space adhesion device on a driving platform in a compressing, separating and buffering mode, can realize the accurate space control of tangential loading during collision prepressing, and can improve the flattening force of an adhesion surface structure through a space four-bar mechanism which is in differential motion with two double-slider mechanisms and an loading and unloading ring; in addition, the space four-bar mechanism based on dry adhesion materials is adopted, so that the defects of poor connection adaptability, insufficient accurate control capability and the like of the traditional actuator can be well overcome.
In order to achieve the purpose, the invention is realized by the following technical scheme:
a low power, high integration, and high reliability space adhesive device, the device comprising:
the connecting assembly is used for being in butt joint with the active platform;
a buffer mechanism for mitigating normal impact of the device on the target, coupled to the linkage assembly;
the force bearing structure is connected with the buffer mechanism;
the front-end motor driving mechanism is connected with the buffer mechanism and the tail end transmission mechanism;
the tail end transmission mechanism is provided with an adhesion material, is connected with the bearing structure through a cylindrical pair and is in contact with the front end motor driving mechanism;
the sensing and electric control part is arranged on the buffer mechanism and controls the whole adhesion device;
wherein, the load-bearing structure comprises:
the top of the central shaft of the device is connected with the buffer mechanism, and the bottom of the central shaft of the device is provided with a central connecting block;
the tops of the supporting rods are connected with the buffer mechanism;
one end of each guide shaft is connected with the central connecting block, and the other end of each guide shaft is connected with the bottom of the support rod;
the two ends of the connecting rods are respectively connected with the supporting rods, and the connecting rods form an annular structure.
Preferably, the connection assembly comprises:
the conical head guide shafts are connected with the buffer mechanism in a sliding manner, and a fixing piece is arranged on each conical head guide shaft;
the separation springs are respectively connected with the fixing piece, and are sleeved on one end, close to the driving platform, of the conical head guide shaft;
and the axial butt joint supporting block is arranged on the buffer mechanism.
Preferably, the buffer mechanism includes:
the connecting plate is provided with a plurality of first through holes, the conical head guide shaft penetrates through the first through holes to be in butt joint with the driving platform, the conical head guide shaft is fixed on the connecting plate through the fixing piece, and the fixing piece is arranged on one side, close to the driving platform, of the connecting plate;
the top plate is provided with a plurality of second through holes corresponding to the first through holes, the second through holes are provided with buffer mechanism guide sleeves, and the conical head guide shaft penetrates through the first through holes to be inserted into the buffer mechanism guide sleeves and can slide in the buffer mechanism guide sleeves;
the buffer springs are respectively sleeved on the parts of the conical head guide shafts between the top plate and the connecting plate;
the connecting plate and the top plate are correspondingly provided with a plurality of third through holes and fourth through holes, the limiting screws penetrate through the third through holes and the fourth through holes, and the maximum relative distance between the connecting plate and the top plate is limited by the limiting screws;
and the shock absorber is arranged on the top plate, and a buffer shaft of the shock absorber is connected with the connecting plate.
Preferably, the top plate and the connecting plate are circular, the supporting rods are a second oblique rod and a third oblique rod, the second rod is inclined to the left, the third rod is inclined to the right, and the second rod and the third rod are arranged in a staggered manner;
the connecting rod is an arc-shaped connecting rod, one end of the arc-shaped connecting rod is connected with the second rod, the other end of the arc-shaped connecting rod is connected with the third rod, and the arc-shaped connecting rods form a circular ring.
Preferably, the motor drive mechanism includes:
the servo motor is used for providing driving force and is fixed on the motor base;
the motor base is provided with a round hole, and the bearing is fixed in the round hole;
the sliding lead screw is connected with the inner ring of the bearing, the sliding lead screw is in threaded connection with a lead screw nut arranged on a nut seat, one end of the sliding lead screw is connected with an output shaft of the servo motor, and the other end of the sliding lead screw penetrates through a fifth through hole formed in the nut seat;
the four-bar jack mechanism is hinged with the motor base and the nut base respectively, the upper end of the four-bar jack mechanism is a fixed base and is fixedly connected with the top plate through a first connecting piece, and the lower end of the four-bar jack mechanism is an output end of the four-bar jack mechanism and is connected with an axial sliding block of the tail end transmission mechanism through a cylindrical pair;
the servo motor drives the sliding screw to rotate, so that the nut matched with the sliding screw is driven to move axially along the sliding screw, the motor base and the nut base are driven to be relatively close to or far away from each other, and the output end of the four-bar jack mechanism and the fixed base of the four-bar jack mechanism are relatively far away from or close to each other.
Preferably, the end transmission mechanism comprises:
the axial sliding block is sleeved on the device central shaft and positioned above the central connecting block, an upper pull ring, an output end of a four-bar jack mechanism and an axial fixing nut are sequentially sleeved on the axial sliding block, the axial fixing nut is fixedly connected with the axial sliding block, the upper pull ring, the output end of the four-bar jack mechanism and the axial fixing nut form an axial sliding block group, and the axial sliding block group can move up and down along the device central shaft;
and the tail end adhesion unit transmission mechanisms are connected with the axial sliding block set and comprise spatial four-bar mechanisms for adhering targets, and the spatial four-bar mechanisms are connected with the axial sliding block set through differential mechanisms.
Preferably, a plurality of axial slider distance adjusting screws are arranged between the axial slider and the upper pull ring, the axial slider distance adjusting screws are screwed into threaded holes in corresponding positions on the upper pull ring through straight holes in the lower plate surface of the axial slider or screwed into threaded holes in the lower plate surface of the axial slider so as to prop against the end surface of the output end of the four-bar jack mechanism, or further prop against the lower end surface of the upper pull ring, and finally the axial slider is combined into a member, wherein the position of the upper pull ring in the member is adjustable.
Preferably, the spatial four-bar mechanism comprises:
the first fan-shaped rod and the second fan-shaped rod are hinged through the guide shaft;
the first adhesion surface structure and the second adhesion surface structure are respectively connected with the bottoms of the first fan-shaped rod and the second fan-shaped rod;
one end of the first long boss is connected with the first fan-shaped rod, and the other end of the first long boss is connected with the second connecting piece through a spherical hinge;
one end of the second long boss is connected with the second fan-shaped rod, and the other end of the second long boss is connected with a third connecting piece through a spherical hinge;
the second connecting piece and the third connecting piece are connected through a hinge hole by a bolt.
Preferably, the differential mechanism comprises:
the first double-slider mechanism comprises a shock absorption rod, one end of the shock absorption rod is hinged with the upper pull ring, and the other end of the shock absorption rod is hinged with a second connecting piece and a third connecting piece of the spatial four-bar mechanism through the bolt for the hinging hole;
a second double-slider mechanism which comprises a lower pull rod and a loading and unloading ring as a slider of the second double-slider mechanism,
the upper part of the loading and unloading ring is provided with a supporting chute, a damping rod of the first double-slider mechanism penetrates through the supporting chute and can move in the supporting chute, the lower part of the loading and unloading ring is provided with a through hole, the guide shaft penetrates through the through hole, and the guide shaft and the through hole at the lower part of the loading and unloading ring form a slider connection;
one end of the lower pull rod is hinged with the axial slide block, the other end of the lower pull rod is hinged with the loading and unloading ring at the middle part of the latter,
the space four-bar mechanism and the loading and unloading ring are fixed together in the axial direction of the guide shaft and can rotate around the axis of the guide shaft mutually.
Preferably, the damper lever of the first double slider mechanism includes:
one end of the upper half rod is hinged with the upper pull ring, and the other end of the upper half rod is fixedly connected with the middle connecting cup;
one end of the lower half rod is connected with the middle connecting cup through a cylindrical pair, and the other end of the lower half rod is hinged with the second connecting piece and the third connecting piece through the bolt for the hinged hole;
the middle connecting cup is characterized in that two ends of the middle connecting cup are respectively provided with a blind hole which is a first blind hole and a second blind hole, the first blind hole is communicated with the second blind hole through a through hole, a screw sequentially penetrates through a gasket, a high-molecular elastic damping element and the through hole to be in threaded connection with the lower half rod, a nut of the screw is movable in the first blind hole, and the high-molecular elastic damping element is positioned in the first blind hole and can be compressed and shortened.
Compared with the prior art, the invention has the following advantages:
(1) the space adhesion device is low in power consumption, high in integration and high in reliability, the connecting component, the buffer mechanism, the force bearing structure, the front end motor driving mechanism, the tail end transmission mechanism and the sensing and electric control part are combined, the structure integration of the space adhesion device in compression, separation and buffering on a driving platform is realized, the tangential loading during collision prepressing can be realized, the space accurate control can be realized, and the flattening force of an adhesion surface structure can be improved through the space four-bar mechanism which is in differential motion with the two double-slider mechanisms and the loading and unloading ring;
(2) according to the low-power-consumption high-integration high-reliability space adhering device, when the target is desorbed, the unloading and the backward folding desorption of each adhering surface structure are carried out simultaneously, and the desorption action adaptive to the anisotropic adhering material is obtained through the simplest movement and mechanism;
(3) in the low-power-consumption high-integration high-reliability space adhesion device, the loading and unloading rings can bear oblique impact of the adhesion surface structure, absorb high-frequency vibration and enable the adhesion surface structure to be folded backwards and symmetrical;
(4) in the low-power-consumption high-integration high-reliability space adhesion device, the elastic damping material of the high-molecular elastic damping element in the stretchable first double-slider mechanism can be pre-tensioned by adjusting the distance between the two axial sliders, so that the sub-high-frequency vibration is absorbed and the tail end adhesion unit obtains a proper collision response speed.
Drawings
FIG. 1 is a low power, high integration, and high reliability space adhesive apparatus of the present invention;
FIG. 2 is a schematic view of the force-bearing structure of the present invention;
FIG. 3 is a schematic view of a connecting assembly according to the present invention;
FIG. 4 is a schematic structural diagram of a motor driving mechanism according to the present invention;
FIG. 5 is a schematic view of a portion of the end effector mechanism of the present invention;
FIG. 6 is a schematic view of an axial slider configuration of the present invention;
FIG. 7 is a schematic view of the axial slider group structure of the present invention;
FIG. 8 is a schematic diagram of a spatial four-bar mechanism according to the present invention;
FIG. 9 is a partial bottom view of a low power, high integration, and high reliability space adhesive apparatus of the invention;
FIG. 10 is a schematic view of a loading and unloading loop configuration of the present invention;
fig. 11 is a schematic view of the shock-absorbing rod structure of the present invention.
Detailed Description
The present invention will now be further described by way of the following detailed description of a preferred embodiment thereof, taken in conjunction with the accompanying drawings.
Referring to fig. 1, a low power consumption, high integration and high reliability space adhesion device of the present invention comprises: the device comprises a connecting component 1 for butt joint with an active platform, a buffer mechanism 2 for mitigating normal impact of the device on a target, a force bearing structure 6, a front-end motor driving mechanism 3, a tail end transmission mechanism 5 for adhering the target, and a sensing and electric control part 4.
The buffer mechanism 2 is connected with the connecting component 1, and when the adhesion device provided by the invention collides with a target, the buffer mechanism 2 buffers the collision force and provides pre-pressure required by adhesion by the collision force. The force bearing structure 6 is connected with the buffer mechanism 2; the front end motor driving mechanism 3 is connected with the buffer mechanism 2 and is connected with the tail end transmission mechanism 5; the tail end transmission mechanism 5 is connected with the bearing structure 6 through a cylindrical pair and is connected with the front end motor driving mechanism 3; the sensing and electric control part 4 is arranged on the buffer mechanism 2 and controls the whole adhesion device.
As shown in fig. 2, the force-bearing structure 6 (truss support structure) of the present invention includes: a central shaft 3-8 of the device, a plurality of support rods, a plurality of guide shafts 5-1-9 and a plurality of connecting rods. The top of a central shaft 3-8 of the device is connected with the buffer mechanism 2, and the bottom of the central shaft is provided with a central connecting block 5-1-3; the top of the supporting rod is connected with the buffer mechanism 2; one end of the guide shaft 5-1-9 is connected with the central connecting block 5-1-3, and the other end of the guide shaft is connected with the bottom of the supporting rod; the two ends of the connecting rods are respectively connected with the bottom of each supporting rod, and the connecting rods form an annular structure.
In the embodiment, the force bearing structure 6 comprises 6 guide shafts 5-1-9, and the central shaft 3-8 and the guide shafts 5-1-9 of the device are used as a part of a supporting frame and a key part of a kinematic pair to play a role in guiding or hinging.
As shown in fig. 3, the connection assembly 1 includes: a plurality of cone head guide shafts 1-3, a plurality of separating springs 1-4 and an axial butt joint supporting block 1-2.
The conical head guide shaft 1-3 is connected with the buffer mechanism 2 in a sliding manner, and a fixing piece 1-5 is arranged on the conical head guide shaft 1-3; the separation springs 1-4 are respectively connected with the fixing pieces 1-5, and the separation springs 1-4 are sleeved on one ends of the conical head guide shafts 1-3 close to the driving platform; the axial butt joint supporting block 1-2 is connected with the buffer mechanism 2, and the axial butt joint supporting block 1-2 is used for axially positioning and supporting the device. In this embodiment, the connection assembly 1 comprises 3 cone-head guide shafts 1-3. When separating, the fuse wire unlocking device is used to release the axial connection between the device and the active platform, and then the device is pushed away from the platform by the separation spring 1-4.
As shown in fig. 3, the damper mechanism 2 includes: the device comprises a connecting plate 1-1, a top plate 2-4, a plurality of buffer springs 2-5, a plurality of limit screws 2-1, a buffer mechanism guide sleeve 2-3 and a shock absorber 2-2.
The connecting plate 1-1 is provided with a plurality of first through holes, the conical head guide shaft 1-3 penetrates through the first through holes to be in butt joint with the driving platform, the conical head guide shaft 1-3 is fixed on the connecting plate 1-1 through the fixing pieces 1-5, and the fixing pieces 1-5 are arranged on one side, close to the driving platform, of the connecting plate 1-1. The top plate 2-4 is provided with a plurality of second through holes corresponding to the first through holes, the second through holes are provided with buffer mechanism guide sleeves 2-3, and the conical head guide shafts 1-3 penetrate through the first through holes to be inserted into the buffer mechanism guide sleeves 2-3 and can slide in the buffer mechanism guide sleeves 2-3.
In addition, the buffer springs 2-5 are respectively sleeved on the parts of the conical head guide shafts 1-3 between the top plate 2-4 and the connecting plate 1-1 (see fig. 3). The connecting plate 1-1 and the top plate 2-4 are correspondingly provided with a plurality of third through holes and fourth through holes, and the limiting screws 2-1 penetrate through the third through holes and the fourth through holes and are used for limiting the maximum distance between the connecting plate 1-1 and the top plate 2-4. The shock absorber 2-2 is arranged on the top plate 2-4, and a buffer shaft of the shock absorber 2-2 is connected with the connecting plate 1-1.
In this embodiment, the top plate 2-4 and the connecting plate 1-1 are circular, the supporting rods are a second diagonal rod 6-1 and a third diagonal rod 6-2 (see fig. 2), the second diagonal rod 6-1 is inclined to the left, the third diagonal rod 6-2 is inclined to the right, and the two are arranged in a staggered manner; the connecting rod is an arc-shaped connecting rod 6-3, one end of the arc-shaped connecting rod 6-3 is connected with the second rod 6-1, the other end of the arc-shaped connecting rod 6-3 is connected with the third rod 6-2, and a plurality of arc-shaped connecting rods 6-3 form a circular ring. In addition, the buffer mechanism 2 comprises 3 buffer springs 2-5.
As shown in fig. 4, the motor drive mechanism 3 of the present invention includes: the four-bar jack comprises a servo motor 3-1 for providing driving force, a motor base 3-3, a bearing 3-4, a lead screw nut 3-5, a sliding lead screw 3-7, a nut base 3-6 and a four-bar jack mechanism 3-10. And the screw nut 3-5 is made of PPS (polyphenylene sulfide). The four-bar jack mechanism 3-10 comprises a fixed seat 3-12, an output end 3-11 of the four-bar jack mechanism and the like.
The servo motor 3-1 is fixed on the motor base 3-3, a round hole is formed in the motor base 3-3, and the bearing 3-4 is fixed in the round hole. The sliding lead screw 3-7 is connected with the inner ring of the bearing 3-4, the sliding lead screw 3-7 is connected with the lead screw nut 3-5, and the lead screw nut 3-5 is fixed on the nut seat 3-6. One end of the sliding lead screw 3-7 is connected with an output shaft of the servo motor 3-1, and the other end of the sliding lead screw passes through a fifth through hole formed in the nut seat 3-6. The four-bar jack mechanism 3-10 is hinged with the motor base 3-3 and the nut base 3-6, the upper end of the four-bar jack mechanism 3-10 is a fixed base 3-12 which is fixedly connected with the top plate 2-4 through a first connecting piece, the lower end is an output end 3-11 of the four-bar jack mechanism, and the four-bar jack mechanism is connected with an axial sliding block 5-1-2 (shown in figure 5) of the tail end transmission mechanism 5 through a cylindrical pair; and the output end 3-11 of the four-bar jack mechanism 3-10 is connected with the tail end transmission mechanism 5.
In this embodiment, the servo motor 3-1 is a low-power servo motor, and the servo motor 3-1 and the bearing 3-4 are of models that have been successfully adopted before. The servo motor 3-1 loads the tail end transmission mechanism 5 after decelerating and boosting through the sliding lead screw 3-7, the lead screw nut 3-5 and the four-rod jack mechanism 3-10, so that the axial slide block 5-1-2 (shown in figure 5) moves upwards, and the other slide block vertical to the servo motor performs adhesion centripetal loading movement or centrifugal unloading movement and then folding and desorption movement. In addition, each kinematic pair adopts molybdenum disulfide solid lubrication, and considers thermal stress deformation, and reasonable design clearance prevents to move and blocks.
When the four-rod jack mechanism works, the servo motor 3-1 drives the sliding lead screw 3-7 to rotate, and further drives the lead screw nut 3-5 in threaded connection with the sliding lead screw 3-7 to move in a translation mode along the axis direction of the sliding lead screw 3-7, so that the motor base 3-3 and the nut base 3-6 are close to or far away from each other, and finally the four-rod jack mechanism 3-10 is driven to act.
As shown in fig. 5, the terminal transmission mechanism 5 includes an axial slider 5-1-2, an upper pull ring 5-1-1, and a plurality of terminal adhesion unit transmission mechanisms 5-1 (in this embodiment, 6 terminal adhesion unit transmission mechanisms 5-1) for adhering an object, and the terminal adhesion unit transmission mechanism 5-1 includes a spatial four-bar mechanism 5-1-8. In the invention, a lead screw nut 3-5, a sliding lead screw 3-7, a four-rod jack mechanism 3-10, an upper pull ring 5-1-1, an axial slide block 5-1-2 and a tail end adhesion unit transmission mechanism 5-1 are adopted to decelerate and reinforce a low-power servo motor 3-1, so that the motion of a tail end adhesion unit in the tail end adhesion unit transmission mechanism 5-1 is matched with the requirement. As shown in fig. 9, which is a partial bottom view of the adhering apparatus of this embodiment, the apparatus includes 6 end adhering unit transmission mechanisms 5-1.
As shown in fig. 5, 6 and 7, the axial sliding block 5-1-2 is sleeved on the device central shaft 3-8, is positioned above the central connecting block 5-1-3, and is sequentially sleeved with an axial fixing nut 3-9, a four-bar jack mechanism output end 3-11 and an upper pull ring 5-1-1 from top to bottom. The axial fixing nut 3-9 is fixed at one end of the axial sliding block 5-1-2 and is used for axially fixing the output end 3-11 of the four-bar jack mechanism and the upper pull ring 5-1-1. The position of the upper pull ring 5-1-1 can be adjusted up and down along the axial slide block 5-1-2. In this embodiment, the end driving mechanism 5 includes 6 end adhesion unit driving mechanisms 5-1, and the end adhesion unit driving mechanisms 5-1 are circumferentially and uniformly arrayed.
A plurality of axial slider distance adjusting screws 5-1-4 are arranged between the axial slider 5-1-2 and the upper pull ring 5-1-1. The axial sliding block distance adjusting screw 5-1-4 penetrates through a straight hole on the lower plate surface of the axial sliding block 5-1-2 to be screwed into a threaded hole in a corresponding position on the upper pull ring 5-1-1 so as to be propped against the end surface of an output end 3-11 of the four-bar jack mechanism, or is screwed into a threaded hole on the lower plate surface of the axial sliding block 5-1-2 so as to be propped against the lower end surface of the upper pull ring 5-1-1.
As shown in FIG. 7, in the invention, the axial fixing nut 3-9, the output end 3-11 of the four-bar jack mechanism, the upper pull ring 5-1-1, the axial slider 5-1-2 and the axial slider distance-adjusting screw 5-1-4 form an axial slider group. After the axial slide block distance adjusting screw 5-1-4 is locked, the axial slide block is formed into a component, and the position of an upper pull ring 5-1-1 in the component is adjustable. The axial slider group can move up and down along the central axis 3-8 of the device.
As shown in fig. 8, the spatial four-bar mechanism 5-1-8 includes: the novel fan-shaped rod comprises a first fan-shaped rod 5-1-8-2, a second fan-shaped rod, a first long boss 5-1-8-5, a second long boss 5-1-8-1, a first adhesion surface structure 5-1-8-6, a second adhesion surface structure, two spherical hinges, a second connecting piece 5-1-8-7, a third connecting piece 5-1-8-3, a bolt for hinging holes 5-1-8-4 and a guide shaft 5-1-9. The first fan-shaped rod 5-1-8-2 and the second fan-shaped rod are hinged through the guide shaft 5-1-9 and can mutually generate angular displacement; the first adhesion surface structure 5-1-8-6 and the second adhesion surface structure of the anisotropic adhesion material are respectively fixed at the bottoms of the first fan-shaped rod 5-1-8-2 and the second fan-shaped rod, and the adhesion material moves centripetally to be a loading direction for enhancing normal adhesion force.
As shown in fig. 8, one end of the first long boss 5-1-8-5 is connected with the first fan-shaped rod 5-1-8-2, and the other end is connected with the second connecting piece 5-1-8-7 through a spherical hinge; one end of the second long boss 5-1-8-1 is connected with the second fan-shaped rod, and the other end of the second long boss is connected with a third connecting piece 5-1-8-3 through a spherical hinge; the second connecting piece 5-1-8-7 and the third connecting piece 5-1-8-3 are connected through a reamed hole by a bolt 5-1-8-4. One end of the spherical hinge is in threaded connection with the long boss through external threads, and the other end of the spherical hinge is inserted into the through hole at one end of the corresponding connecting piece and is fastened by a fastening screw.
As shown in fig. 5, the spatial four-bar mechanism 5-1-8 is connected to the axial sliding block set through a differential mechanism, and the differential mechanism comprises: a first double slider mechanism 5-1-6 and a second double slider mechanism 5-1-5.
The first double-slider mechanism 5-1-6 comprises a shock absorption rod (shown in figure 11), one end of the shock absorption rod is hinged with the connecting lug of the upper pull ring 5-1-1, the other end of the shock absorption rod forms hinged connection at a hinge formed by the second connecting piece 5-1-8-7 and the third connecting piece 5-1-8-3 through the bolt 5-1-8-4 for the hinged hole and the spatial four-bar mechanism 5-1-8, and the spatial four-bar mechanism 5-1-8 is a slider of the first double-slider mechanism 5-1-6.
The second double-slider mechanism 5-1-5 comprises a lower pull rod 5-1-5-1 and an unloading ring 5-1-7 as a slider of the second double-slider mechanism 5-1-5.
As shown in fig. 5 and 10, the loading and unloading ring 5-1-7 of the present invention is a structural schematic view, and the loading and unloading ring 5-1-7 is located between the first fan-shaped rod 5-1-8-2 and the second fan-shaped rod, which are axially fixed together. The upper part of the loading and unloading ring 5-1-7 is provided with a supporting chute, and the damping rod of the first double-slider mechanism 5-1-6 passes through the supporting chute and can move in the supporting chute, so that the damping rod is more stable when the adhesion surface structure 5-1-8-6 is impacted to generate unbalance loading, and does not deviate from the symmetrical surface position of the tail end adhesion unit transmission mechanism 5-1. The loading and unloading ring 5-1-7 is a slide block of the second double-slide block mechanism 5-1-5, the lower part of the loading and unloading ring is provided with a through hole, and the guide shaft 5-1-9 penetrates through the through hole. The guide shaft 5-1-9 and the through hole at the lower part of the loading and unloading ring 5-1-7 form a slide block connection. The second double-slider mechanism 5-1-5 comprises a lower pull rod 5-1-5-1, one end of the lower pull rod 5-1-5-1 is hinged with the lower end connecting lug of the axial slider 5-1-2 through a pin shaft, and the other end of the lower pull rod is hinged with the middle through hole of the loading and unloading ring 5-1-7 through a pin shaft.
The spatial four-bar mechanism 5-1-8 and the loading and unloading ring 5-1-7 are axially fixed together on the guide shaft 5-1-9 and can mutually rotate around the axis of the guide shaft 5-1-9.
When the axial sliding block set (shown in figure 7) moves upwards from the initial position, the second double-sliding-block mechanism 5-1-5 pulls the spatial four-bar mechanism 5-1-8 to move towards the central connecting block 5-1-3, and simultaneously, the shock absorption rod (shown in figure 11) of the first double-sliding-block mechanism 5-1-6 is pulled to be stretched to form a pulling force to load the spatial four-bar mechanism 5-1-8, so that the moment that the first fan-shaped rod 5-1-8-2 and the second fan-shaped rod maintain the coplanarity is further increased. When the axial sliding block set moves in the reverse direction, the second double-sliding-block mechanism 5-1-5 pushes the spatial four-bar mechanism 5-1-8 to move away from the central connecting block 5-1-3, the spatial four-bar mechanism 5-1-8 is unloaded, meanwhile, the extension of the shock absorption rod of the first double-sliding-block mechanism 5-1-6 is reduced, the tensile force is reduced, and the moment for keeping the first fan-shaped rod 5-1-8-2 and the second fan-shaped rod in the same plane is reduced.
As shown in fig. 11, the damper lever (fig. 11) of the first double slider mechanism 5-1-6 includes: 5-1-6-1 parts of an upper half rod, 5-1-6-3 parts of screws, 5-1-6-5 parts of high-molecular elastic damping elements, 5-1-6-2 parts of a middle connecting cup and 5-1-6-6 parts of a lower half rod.
One end of the upper half rod 5-1-6-1 is connected with the connecting lug of the upper pull ring 5-1-1 through a pin shaft, and the other end is connected with a middle connecting cup 5-1-6-2; one end of the lower half rod 5-1-6-6 is connected with the middle connecting cup 5-1-6-2, and the other end of the lower half rod forms a rotating hinge connection with the second connecting piece 5-1-8-7 and the third connecting piece 5-1-8-3 through the bolt 5-1-8-4 for the reaming hole. Two blind holes including a first blind hole and a second blind hole are formed at two ends of the middle connecting cup 5-1-6-2. The two blind holes are connected through a small through hole, and the screw 5-1-6-3 sequentially penetrates through the gasket 5-1-6-4, the macromolecular elastic damping element 5-1-6-5 and the through hole to be in threaded connection with the lower half rod 5-1-6-6. The macromolecular elastic damping element 5-1-6-5 is positioned in the first blind hole and can be compressed and shortened, and the gasket 5-1-6-4 and the nut of the screw 5-1-6-3 are limited in the first blind hole by the macromolecular elastic damping element 5-1-6-5.
In the embodiment, the upper half rod 5-1-6-1 is connected with the middle connecting cup 5-1-6-2 through a threaded fastener, the threaded fastener adopts special aerospace glue loosening prevention and loosening prevention, and a structural loosening prevention design is adopted at necessary positions. The polymer elastic damping element 5-1-6-5 is made of polyimide materials, has a damping function and is resistant to a space environment, and plays a certain vibration damping function during impact. The shock absorbing rod (fig. 11) can be increased in length in tension to accommodate differential motion of the two-slider mechanism.
In the initial state, the damping rod of the first double-slider mechanism 5-1-6 has a smaller included angle with the central shaft 3-8 of the device than the lower pull rod 5-1-5-1 of the second double-slider mechanism 5-1-5. The shock absorption rod enables the end face of the lower half rod 5-1-6-6 to be pressed on the hole bottom plane of the second blind hole of the middle connecting cup along the axial direction by means of the elasticity of the high polymer elastic damping element 5-1-6-5. The gasket 5-1-6-4 and the macromolecular elastic damping element 5-1-6-5 are simultaneously positioned in the first blind hole of the middle connecting cup 5-1-6-2, and a certain gap is formed between the gasket and the blind hole in the radial direction.
The distance between the axial sliding block 5-1-2 and the upper pull ring 5-1-1 of the axial sliding block group (figure 7) can be adjusted through the distance adjusting screw 5-1-4 of the axial sliding block so as to change the included angle between the shock absorption rod and the central shaft 3-8 of the device. The differential motion of the first double-slider mechanism 5-1-6 and the second double-slider mechanism 5-1-5 causes the shock absorption rod to be pulled or pressed, so that the space four-bar mechanism 5-1-8 is loaded, the two adhesion surface structures of each adhesion unit can be driven to be flattened, flattened and consolidated, folded backwards, and simultaneously the centripetal loading or centrifugal unloading of each adhesion unit is realized. The spatial four-bar mechanism 5-1-8 is an adjustable transmission ratio mechanism which outputs force along the connecting line of the two spherical hinges and inputs loading force to the other pair of hinges.
During buffering and pre-pressing, the servo motor 3-1 drives the tail end adhesion unit transmission mechanism 5-1 to move through the sliding screw rod 3-7 and the four-rod jack mechanism 3-10, and meanwhile drives the adhesion surface structure 5-1-8-6 to move centripetally so as to enhance normal adhesion force. Wherein, the output force of the sliding lead screw 3-7 and the lead screw nut 3-5 is input to the four-bar jack mechanism 3-10 through the motor base 3-3 and the nut base 3-6.
When the servo motor 3-1 moves to drive the axial sliding block group to move close to the top plate 2-4 along the central shaft 3-8 of the device, the pulling displacement of the lower half rod 5-1-6-6 to the loading and unloading ring 5-1-7 along the guide shaft 5-1-9 is smaller than the pulling displacement of the upper half rod 5-1-6-1 to the loading and unloading ring 5-1-7 along the guide shaft 5-1-9 through the spatial four-bar mechanism 5-1-8. Because the lower pull rod 5-1-5-1 of the second double-slider mechanism 5-1-5 is a member and the length is not variable, the shock absorption rod is pulled, the macromolecular elastic damping element 5-1-6-5 is pressed, and the pressure of the lower half rod 5-1-6-6 and the middle connecting cup 5-1-6-2 in the shock absorption rod in the axial direction of the shock absorption rod disappears. When the tension of the shock-absorbing rod continues to increase, the lower half rod 5-1-6-6 and the middle connecting cup 5-1-6-2 generate a gap in the axial direction, and the shock-absorbing rod extends to adapt to the differential motion result. At the moment, the shock absorption rod forms loading tension on the loading force input end of the spatial four-bar mechanism 5-1-8, so that the flattening moments of the first adhesion surface structure 5-1-8-6 and the second adhesion surface structure are larger, the flatness of the two adhesion surface structures during centripetal loading is ensured, and possible disturbance moments for enabling the adhesion units to be detached and folded are resisted.
And after the axial sliding block set moves back to cross the position at the initial loading time, the middle connecting cup 5-1-6-2 of the first double-sliding block mechanism 5-1-6 pushes the lower half rod 5-1-6-6 to reversely load the spatial four-bar mechanism 5-1-8 through the bottom plane of the second blind hole, so that the first fan-shaped rod 5-1-8-2 and the second fan-shaped rod generate moment which is separated from the coplane, the two fan-shaped rods are symmetrically folded back, and the adhesion surface is separated from the adhesion state.
In conclusion, the low-power-consumption high-integration high-reliability space adhesion device disclosed by the invention combines the connecting component 1, the buffer mechanism 2, the force bearing structure 6, the front end motor driving mechanism 3, the tail end transmission mechanism 5 and the sensing and electric control part 4, realizes the structural integration of the pressing, separating and buffering of the space adhesion device on the active platform, can realize tangential loading during adhesion collision prepressing, and can improve the flattening force of an adhesion surface structure through the differential motion of the two double-slider mechanisms; in addition, when the desorption is carried out on the target, each adhered surface unit can be tangentially unloaded and can be symmetrically folded back through the reverse differential motion of the two double-slider mechanisms, so that the desorption is completed. The device obtains the adhering and desorbing movement adapting to the anisotropic adhering material by the simplest mechanism.
While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.
Claims (10)
1. A low power, high integration, and high reliability space adhesive device, the device comprising:
the connecting assembly (1) is used for being in butt joint with the active platform;
a buffer mechanism (2) used for mitigating the normal impact of the device on the target and connected with the connecting component (1);
the force bearing structure (6) is connected with the buffer mechanism (2);
the front end motor driving mechanism (3) is connected with the buffer mechanism (2) and is connected with the tail end transmission mechanism (5);
the tail end transmission mechanism (5) is provided with an adhesion material, is connected with the bearing structure (6) through a cylindrical pair and is in contact with the front end motor driving mechanism (3);
a sensing and electric control part (4) which is arranged on the buffer mechanism (2) and controls the whole adhesion device;
wherein the force-bearing structure (6) comprises:
the top of the device central shaft (3-8) is connected with the buffer mechanism (2), and the bottom of the device central shaft (3-8) is provided with a central connecting block (5-1-3);
the tops of the supporting rods are connected with the buffer mechanism (2);
one end of each guide shaft (5-1-9) is connected with the central connecting block (5-1-3), and the other end of each guide shaft (5-1-9) is connected with the bottom of the support rod;
the two ends of the connecting rods are respectively connected with the supporting rods, and the connecting rods form an annular structure.
2. The low-power-consumption high-integration high-reliability space adhesion device according to claim 1, wherein the connecting component (1) comprises:
the conical head guide shafts (1-3) are connected with the buffer mechanism (2) in a sliding manner, and a fixing piece (1-5) is arranged on each conical head guide shaft (1-3);
the separating springs (1-4) are respectively connected with the fixing pieces (1-5), and the separating springs (1-4) are sleeved on one end, close to the driving platform, of the conical head guide shaft (1-3);
and the axial butt joint supporting block (1-2) is arranged on the buffer mechanism (2).
3. The low-power-consumption high-integration high-reliability space adhesion device according to claim 2, wherein the buffer mechanism (2) comprises:
the connecting plate (1-1) is provided with a plurality of first through holes, the conical head guide shaft (1-3) penetrates through the first through holes to be in butt joint with the driving platform, the conical head guide shaft (1-3) is fixed on the connecting plate (1-1) through the fixing piece (1-5), and the fixing piece (1-5) is arranged on one side, close to the driving platform, of the connecting plate (1-1);
the top plate (2-4) is provided with a plurality of second through holes corresponding to the first through holes, the second through holes are provided with buffer mechanism guide sleeves (2-3), and the conical head guide shafts (1-3) penetrate through the first through holes to be inserted into the buffer mechanism guide sleeves (2-3) and can slide in the buffer mechanism guide sleeves (2-3);
the buffer springs (2-5) are respectively sleeved on the parts of the conical head guide shafts (1-3) between the top plates (2-4) and the connecting plates (1-1);
the limiting screw (2-1) is arranged on the connecting plate (1-1) and the top plate (2-4) and is correspondingly provided with a plurality of third through holes and fourth through holes, the limiting screw (2-1) penetrates through the third through hole and the fourth through hole, and the maximum relative distance between the connecting plate (1-1) and the top plate (2-4) is limited by the limiting screw (2-1);
the shock absorber (2-2) is arranged on the top plate (2-4), and a buffer shaft of the shock absorber (2-2) is connected with the connecting plate (1-1).
4. The low-power-consumption high-integration high-reliability space adhesion device according to claim 3,
the top plate (2-4) and the connecting plate (1-1) are circular, the supporting rods are a second oblique rod (6-1) and a third oblique rod (6-2), the second rod (6-1) inclines leftwards, the third rod (6-2) inclines rightwards, and the two rods are arranged in a staggered mode;
the connecting rod is an arc-shaped connecting rod (6-3), one end of the arc-shaped connecting rod (6-3) is connected with the second rod (6-1), the other end of the arc-shaped connecting rod is connected with the third rod (6-2), and a plurality of arc-shaped connecting rods (6-3) form a circular ring.
5. The low-power-consumption high-integration high-reliability space adhesion device according to claim 3, wherein the motor drive mechanism (3) comprises:
the servo motor (3-1) is used for providing driving force, and the servo motor (3-1) is fixed on the motor base (3-3);
the motor base (3-3) is provided with a round hole, and the bearing (3-4) is fixed in the round hole;
the sliding lead screw (3-7) is connected with the inner ring of the bearing (3-4), the sliding lead screw (3-7) is in threaded connection with a lead screw nut (3-5) arranged on a nut seat (3-6), one end of the sliding lead screw (3-7) is connected with an output shaft of the servo motor (3-1), and the other end of the sliding lead screw penetrates through a fifth through hole formed in the nut seat (3-6);
the four-bar jack mechanism (3-10) is respectively hinged with the motor base (3-3) and the nut base (3-6), the upper end of the four-bar jack mechanism (3-10) is provided with a fixed base (3-12) which is fixedly connected with the top plate (2-4) through a first connecting piece, and the lower end of the four-bar jack mechanism is provided with an output end (3-11) of the four-bar jack mechanism which is connected with an axial sliding block (5-1-2) of the tail end transmission mechanism (5) through a cylindrical pair;
the servo motor (3-1) drives the sliding screw rod (3-7) to rotate, further drives the nut (3-5) matched with the sliding screw rod (3-7) to move axially along the sliding screw rod (3-7), further drives the motor base (3-3) and the nut base (3-6) to relatively approach or separate, and further enables the output end (3-11) of the four-rod jack mechanism and the fixed base (3-12) of the four-rod jack mechanism (3-10) to relatively separate or approach.
6. The low-power-consumption high-integration high-reliability space adhesion device according to claim 5, wherein the end transmission mechanism (5) comprises:
the axial sliding block (5-1-2) is sleeved on the device central shaft (3-8) and is positioned above the central connecting block (5-1-3), the axial sliding block (5-1-2) is sequentially sleeved with an upper pull ring (5-1-1), an output end (3-11) of the four-bar jack mechanism and an axial fixing nut (3-9), the axial fixing nut (3-9) is fixedly connected with the axial sliding block (5-1-2), the upper pull ring (5-1-1), the output end (3-11) of the four-bar jack mechanism and the axial fixing nut (3-9) form an axial sliding block set, the axial sliding block set can move up and down along the central shaft (3-8) of the device;
the tail end adhesion unit transmission mechanisms (5-1) are used for adhering targets and are connected with the axial sliding block set, each tail end adhesion unit transmission mechanism (5-1) comprises a spatial four-bar mechanism (5-1-8) used for adhering targets, and the spatial four-bar mechanisms (5-1-8) are connected with the axial sliding block set through differential mechanisms.
7. The low-power-consumption high-integration high-reliability space adhesive device according to claim 6,
a plurality of axial sliding block distance adjusting screws (5-1-4) are arranged between the axial sliding block (5-1-2) and the upper pull ring (5-1-1), the axial sliding block distance adjusting screw (5-1-4) or a straight hole passing through the lower plate surface of the axial sliding block (5-1-2) is screwed into a threaded hole at the corresponding position on the upper pull ring (5-1-1) so as to prop against the end surface of the output end (3-11) of the four-bar jack mechanism, or screwed into a threaded hole on the lower plate surface of the axial slide block (5-1-2) to further prop against the lower end surface of the upper pull ring (5-1-1), and finally the axial slide block is combined into a component, wherein the position of the upper pull ring (5-1-1) in the component is adjustable.
8. The space-adhering device of low power consumption, high integration and high reliability according to claim 6, wherein said space four-bar mechanism (5-1-8) comprises:
a first sector bar (5-1-8-2) and a second sector bar, both hinged by said guide shaft (5-1-9);
the first adhesion surface structure (5-1-8-6) and the second adhesion surface structure are respectively connected with the bottoms of the first fan-shaped rod (5-1-8-2) and the second fan-shaped rod;
one end of the first long boss (5-1-8-5) is connected with the first fan-shaped rod (5-1-8-2), and the other end of the first long boss is connected with the second connecting piece (5-1-8-7) through a spherical hinge;
one end of the second long boss (5-1-8-1) is connected with the second fan-shaped rod, and the other end of the second long boss is connected with the third connecting piece (5-1-8-3) through a spherical hinge;
the second connecting piece (5-1-8-7) and the third connecting piece (5-1-8-3) are connected through a reamed hole by a bolt (5-1-8-4).
9. The low-power-consumption, high-integration and high-reliability space adhesive device of claim 8, wherein the differential mechanism comprises:
the first double-slider mechanism (5-1-6) comprises a shock absorption rod, one end of the shock absorption rod is hinged with the upper pull ring (5-1-1), and the other end of the shock absorption rod is hinged with a second connecting piece (5-1-8-7) and a third connecting piece (5-1-8-3) of the spatial four-bar mechanism (5-1-8) through a bolt (5-1-8-4) for a hinged hole;
a second double-slider mechanism (5-1-5) which comprises a lower pull rod (5-1-5-1) and a loading and unloading ring (5-1-7) as a slider of the second double-slider mechanism (5-1-5),
a supporting chute is formed in the upper part of the loading and unloading ring (5-1-7), a damping rod of the first double-slider mechanism (5-1-6) penetrates through the supporting chute and can move in the supporting chute, a through hole is formed in the lower part of the loading and unloading ring (5-1-7), the guide shaft (5-1-9) penetrates through the through hole, and the guide shaft (5-1-9) is connected with the through hole in the lower part of the loading and unloading ring (5-1-7) in a sliding block manner;
one end of the lower pull rod (5-1-5-1) is hinged with the axial slide block (5-1-2), the other end is hinged with the loading and unloading ring (5-1-7) at the middle position of the latter,
the spatial four-bar mechanism (5-1-8) and the loading and unloading ring (5-1-7) are axially fixed together on the guide shaft (5-1-9) and can mutually rotate around the axis of the guide shaft (5-1-9).
10. The low-power-consumption high-integration high-reliability space adhesion device according to claim 9, wherein the shock-absorbing rod of the first double-slider mechanism (5-1-6) comprises:
one end of the upper half rod (5-1-6-1) is hinged with the upper pull ring (5-1-1), and the other end is fixedly connected with the middle connecting cup (5-1-6-2);
one end of the lower half rod (5-1-6-6) is connected with the middle connecting cup (5-1-6-2) through a cylindrical pair, and the other end of the lower half rod is hinged with the second connecting piece (5-1-8-7) and the third connecting piece (5-1-8-3) through the bolt (5-1-8-4) for the hinging hole;
two ends of the middle connecting cup (5-1-6-2) are respectively provided with a blind hole which is a first blind hole and a second blind hole, the first blind hole is communicated with the second blind hole through a through hole, a screw (5-1-6-3) sequentially penetrates through a gasket (5-1-6-4), a high-molecular elastic damping element (5-1-6-5) and the through hole to be in threaded connection with the lower half rod (5-1-6-6), a nut of the screw (5-1-6-3) can move in the first blind hole, and the high-molecular elastic damping element (5-1-6-5) is positioned in the first blind hole and can be compressed and shortened.
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