CN112061423A

CN112061423A - Modularized quick-change mechanical interface capable of being replaced on track

Info

Publication number: CN112061423A
Application number: CN202010792567.2A
Authority: CN
Inventors: 游斌弟; 曹芊; 刘育强; 庄原; 刘华伟; 刘永健; 马亮
Original assignee: Beijing Institute of Spacecraft System Engineering; Harbin Institute of Technology Weihai
Current assignee: Beijing Institute of Spacecraft System Engineering; Harbin Institute of Technology Weihai
Priority date: 2020-08-09
Filing date: 2020-08-09
Publication date: 2020-12-11
Anticipated expiration: 2040-08-09
Also published as: CN112061423B

Abstract

A modularized quick-change mechanical interface capable of being replaced on a rail relates to the field of mechanical interfaces capable of being replaced on the rail and comprises a servo motor, a space cam upper fixing plate, a space cam lower fixing plate, a positioning guide pin, a transmission shaft, a transmission device, a transmission gear, a sheave mechanism, a space cam mechanism, a driven gear and an inner claw; the inner claw comprises a transmission cylinder and a connecting toothed plate; the sheave mechanism comprises a driving drive plate and a sheave; the space cam mechanism comprises a space cam and a driving pin, the space cam is in a sleeve shape and is provided with a driving chute which is axially fluctuated, and the space cam is sleeved on a transmission cylinder on the upper side of the grooved wheel; the drive round pin sets up on the transmission cylinder, and the fishback is located space cam upper fixed plate upside, and servo motor drive transmission shaft rotates, and initiative driver plate sets up on the transmission shaft. The locking mechanism has the advantages of simple transmission, compact structure, quick locking, high transmission precision, high transmission efficiency and the like.

Description

Modularized quick-change mechanical interface capable of being replaced on track

Technical Field

The invention relates to the field of on-rail replacement of mechanical interfaces, in particular to a modular quick-change mechanical interface which has the advantages of simple mechanical transmission, compact structure, quick locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy rate, difficult damage and locking and can be replaced on a rail.

Background

At present, in the aerospace field, the traditional one-time launching satellite is gradually eliminated due to the problems of high maintenance cost, difficult repair of damaged equipment, power source exhaustion and the like. In order to ensure that the spacecraft can continuously and stably operate in a complex environment, the in-orbit replaceable module spacecraft is gradually developed and applied. The on-orbit replacement unit is required to have standard independent mechanical and electronic interfaces no matter the 'rail express train' or the existing modularized spacecraft, and the module has the performances of replacement, easy operation, plug and play and the like.

At present, a design scheme of a mechanical interface of a modularized spacecraft adopts a screw nut to lock and cooperate, and in the scheme, the screw nut has self-locking performance, so that a pre-tightening device is not required to be designed for the structure, but the positioning precision requirement of a spacecraft module is higher, the fault tolerance is poor, and under a complex space environment, the lubricating effect is easy to damage, and in the face of multiple locking and unlocking processes, a screw nut locking mechanism easily forms a cold welding phenomenon, so that the structure is locked.

The other design scheme of the existing modularized spacecraft mechanical interface adopts a sliding groove type contact locking mechanism, the scheme is provided with a conical guide hole which is matched with a cylinder in a guide mode, so that the fault tolerance can be further enhanced, and the locking and unlocking of the controllable module unit can be controlled through a contact switch. But the internal mechanical transmission mechanism is too complex, greatly reducing the volume ratio of the modularized spacecraft and reducing the internal functionality of the ORU. Meanwhile, as the space environment is complex, the gear train for transmission in the structure is very easy to damage.

Disclosure of Invention

The invention aims to solve the defects of the prior art and provides the modularized quick-change mechanical interface which has the advantages of simple mechanical transmission, compact structure, quick locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy rate, difficult damage and locking and can be replaced on the track.

The technical scheme adopted by the invention for solving the defects of the prior art is as follows:

the utility model provides a modularization quick change mechanical interface that can change on rail which characterized in that: the device comprises a servo motor, a space cam upper fixing plate, a space cam lower fixing plate, a positioning guide pin, a transmission shaft, a transmission device, a transmission gear, a geneva gear, a space cam mechanism, a driven gear and an inner claw; the inner claw comprises a transmission cylinder, and at least three connecting toothed plates are uniformly distributed on the transmission cylinder in the circumferential direction; the positioning guide plate is connected with the transmission cylinder through a bearing, and the positioning guide pin is arranged on the positioning guide plate; the grooved wheel mechanism comprises a driving plate and a grooved wheel, and the grooved wheel is fixed on the transmission cylinder on the upper side of the positioning guide plate; the space cam mechanism comprises a space cam and a driving pin, the space cam is in a sleeve shape, a driving chute which is axially fluctuated is arranged on the side wall of the space cam, and the space cam can freely rotate and axially freely slide and is sleeved on the transmission cylinder at the upper side of the grooved pulley; the driving pin is matched with the driving sliding groove and arranged on the transmission cylinder, the driven gear is arranged on the space cam, an upper space cam fixing plate and a lower space cam fixing plate are respectively connected with the upper end part and the lower end part of the space cam through bearings, positioning guide holes are respectively formed in the positions, opposite to the positioning guide pins, of the upper space cam fixing plate and the lower space cam fixing plate, the positioning guide pins can axially and freely slide and penetrate through the positioning guide holes, the connecting toothed plate is located on the upper side of the upper space cam fixing plate, a transmission shaft is arranged on the lower space cam fixing plate, and the transmission gear is meshed with the driven gear and arranged on the transmission shaft; the servo motor is fixedly arranged on the upper fixing plate and/or the lower fixing plate of the space cam, the servo motor is connected with the transmission shaft through a transmission device and drives the transmission shaft to rotate, and the driving drive plate of the geneva mechanism is arranged on the transmission shaft on the lower side of the lower fixing plate of the space cam.

The grooved wheel in the grooved wheel mechanism is an eight-groove grooved wheel, namely the grooved wheel is provided with eight radially arranged poking and rotating grooves; four connecting toothed plates are uniformly distributed at the upper end of the transmission cylinder in the circumferential direction; the driving sliding groove is a flat sliding groove with two ends at the lower part and the middle part at the upper part. The initial position of the driving pin is located at one end of the driving sliding groove, the servo motor drives the transmission shaft to rotate through the transmission device, and the transmission gear and the driven gear drive the space cam to rotate on the transmission cylinder. Before the cylindrical pin on the driving drive plate enters the dial groove of the grooved wheel, the driving sliding groove on the space cam pushes the driving pin to drive the transmission cylinder and the connecting toothed plate to axially move upwards; after the cylindrical pin on the driving drive plate enters the toggle groove of the grooved wheel, the cylindrical pin toggles the grooved wheel to rotate through the toggle groove, and the transmission cylinder and the connecting toothed plate are driven to rotate by 45 degrees along with the spatial cam in the same direction; after the cylindrical pin on the driving dial is separated from the dial groove of the grooved wheel, the driving sliding groove on the space cam pushes the driving pin to drive the transmission cylinder and the connecting toothed plate to axially move downwards, and the final position of the driving pin is located at the other end of the driving sliding groove.

The space cam upper fixing plate is provided with a space cam upper fixing plate and a space cam lower fixing plate, wherein the space cam upper fixing plate is provided with a connecting toothed plate and a connecting toothed plate, and toothed plate embedded grooves matched with the connecting toothed plate are respectively arranged on the upper side surface of the space cam upper fixing plate and opposite to the connecting toothed plate. When the driving pin is located the initial position, the connection pinion rack is located the pinion rack embedded groove, except that the location uide pin, space cam upper fixed plate upper flank is a smooth composition surface.

The transmission device is a worm gear transmission mechanism, a worm of the worm gear transmission mechanism is connected with an output shaft of the servo motor, and a worm wheel is arranged on the transmission shaft in a manner of being matched with the worm. The transmission may also be a gear transmission.

The middle part of the upper side surface of the upper fixing plate of the space cam is provided with a circular connecting plate, and the toothed plate embedded groove is formed in the circular connecting plate. When the driving pin is located initial position, the connection pinion rack is located the pinion rack embedded groove, and the ring shape connecting plate upper flank is a flat composition surface, connects firmly.

The invention is provided with a connecting seat plate matched with an inner claw, the connecting seat plate is provided with an inserting through hole, inserting notches matched with a connecting toothed plate are uniformly distributed on the connecting seat plate around the inserting through hole, and the upper end of the inner claw can penetrate through the connecting seat plate to the upper side of the connecting seat plate through the inserting through hole and the inserting notches. The opposite position of the connecting seat plate and the positioning guide pin is provided with a guide insertion hole matched with the connecting seat plate, and the positioning guide pin can freely slide in the guide insertion hole in the axial direction to play a role in guiding and positioning.

When the space cam replaceable spacecraft module is used, the space cam upper fixing plate and the space cam lower fixing plate are connected with the replaceable spacecraft module (by matching bolts with the connecting holes). The connecting seat plate is matched with the inner claws, inserting through holes are formed in the connecting seat plate, inserting notches matched with the connecting toothed plates are uniformly distributed in the connecting seat plate around the inserting through holes, and the upper ends of the inner claws can penetrate through the connecting seat plate to the upper side of the inner claws through the inserting through holes and the inserting notches. The connecting seat plate is arranged on the spacecraft main body and is connected with the replaceable spacecraft module. Removable spacecraft module is transported to and is leaned on with spacecraft main part junction, space cam upper fixed plate is relative with the connection seat board (the back pastes), the inner claw upper end is relative with the grafting through-hole, connection tooth plate and the relative back of inserting the notch, servo motor forward rotation, space cam mechanism grabs upward movement in driving, connection tooth plate passes and inserts the notch and goes to the connection seat board upside, grab rotation in the geneva mechanism drives, make connection tooth plate and insert the notch and stagger, grab downward movement in the space cam mechanism drives, connection tooth plate compresses tightly on connection seat board, realize with removable spacecraft module locking connection in spacecraft main part. The invention has the advantages of simple mechanical transmission, compact structure, quick locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy, difficult damage, locking and the like.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of the present invention with the upper space cam fixing plate, the lower space cam fixing plate and the associated bearings removed.

Fig. 3 is a schematic perspective view of the present invention without the space cam upper fixing plate, the space cam lower fixing plate, the positioning guide pin, the servo motor, the transmission device, the transmission shaft, the transmission gear, the driving dial of the geneva mechanism and the related bearing.

Fig. 4 is a schematic sectional view of the present invention without the upper space cam fixing plate, the lower space cam fixing plate, the positioning guide pin, the servo motor, the transmission device, the transmission shaft, the transmission gear, and the driving plate of the geneva mechanism.

Fig. 5 is a schematic structural diagram of the transmission device, the transmission shaft, the transmission gear and the driving dial of the geneva mechanism in the invention.

Fig. 6 is a schematic structural view of a fixing plate on a space cam according to the present invention.

Fig. 7 is a schematic structural view of a space cam lower fixing plate according to the present invention.

Fig. 8 is a schematic structural view of a positioning guide plate in the present invention.

Fig. 9 is a schematic view showing the structure of the connection seat plate according to the present invention.

Detailed Description

The modular quick-change mechanical interface capable of being replaced in an on-track manner as shown in fig. 1 to 8 comprises a servo motor 5, a space cam upper fixing plate 1, a space cam lower fixing plate 2, a positioning guide plate 14, a positioning guide pin 4, a transmission shaft 6, a transmission device, a transmission gear 8, a geneva mechanism, a space cam mechanism, a driven gear 12 and an inner claw; the inner claw comprises a transmission cylinder 19, four connecting toothed plates 3 (which are arranged in a protruding mode radially outwards) are circumferentially and uniformly distributed on the periphery of the upper end of the transmission cylinder 19, and the transmission cylinder 19 and the connecting toothed plates 3 form the inner claw. The middle part of the positioning guide plate 14 is connected with the lower end part of the transmission cylinder through a bearing (the bearing at the lowest end of the transmission cylinder 19 in fig. 4), the transmission cylinder can rotate relative to the positioning guide plate and cannot move axially, the positioning guide pins 4 are arranged on the positioning guide plate, as can be seen from the figure, the positioning guide plate 14 is in a square plate shape, and the four positioning guide pins are respectively arranged at four corners of the positioning guide plate; the grooved wheel mechanism comprises a driving dial 9 and a grooved wheel 13, and the grooved wheel 13 is fixed on a transmission cylinder 19 on the upper side of a positioning guide plate 14; the space cam mechanism comprises a space cam 11 and a driving pin 15, the space cam 11 is in a sleeve shape, a driving chute 16 which radially penetrates through the side wall of the space cam and extends in the circumferential direction and undulates in the axial direction is arranged on the side wall of the sleeve-shaped space cam 11, and the space cam 11 can freely rotate and axially and freely slide and is sleeved on a transmission cylinder 19 on the upper side of the grooved wheel 13; the driving pin 15 is matched with the driving chute 16 and arranged on the transmission cylinder; the driving pin can be inserted into the driving sliding groove in a sliding mode along the length direction of the driving sliding groove, the space cam rotates to drive the driving sliding groove to move relative to the driving pin, and the driving pin is driven to move up and down in the axial direction. The driven gear 12 is arranged on the space cam on the lower side of the driving chute and is used for driving the space cam to rotate; the upper spatial cam fixing plate 1 and the lower spatial cam fixing plate 2 are respectively connected with the upper end part and the lower end part of the spatial cam 11 through bearings (bearings in which the upper part and the middle part of a transmission cylinder 19 are connected with the spatial cam 11 in fig. 4), as can be seen from the figure, the middle parts of the upper spatial cam fixing plate 1 and the lower spatial cam fixing plate 2 are respectively provided with

mounting holes

21 and 24, the upper end of the transmission cylinder extends out of the mounting hole 21 of the upper spatial cam fixing plate 1, and the connecting toothed plate 3 is positioned on the upper side of the upper spatial cam fixing plate 1; as can be seen from the figure, the four corners of the space cam upper fixing plate 1 and the space cam lower fixing plate 2 are respectively provided with connecting holes for connecting with the replaceable spacecraft module or the bracket thereof. The positions of the upper space cam fixing plate and the lower space cam fixing plate, which are opposite to the positioning guide pins 4, are respectively provided with positioning guide holes 22 and 23, and the positioning guide pins 4 can axially and freely slide and penetrate through the positioning guide holes 22 and 23. A transmission shaft 6 is arranged on the space cam lower fixing plate 2 at the outer side of the grooved wheel 13 through a bearing, and a transmission gear 8 and a driven gear 12 are meshed and arranged on the transmission shaft 6 at the upper side of the space cam lower fixing plate; the servo motor 5 is fixedly arranged on the upper fixing plate and/or the lower fixing plate of the space cam, the servo motor 5 is connected with the transmission shaft 6 through a transmission device to drive the transmission shaft 6 to rotate, as can be seen from the figure, the transmission device is a worm gear transmission mechanism, a worm 10 of the worm gear transmission mechanism is connected with an output shaft of the servo motor 5, and a worm 7 is arranged on the transmission shaft 6 in a way of being matched with the worm 10; the transmission may also be a gear transmission. The driving dial 9 and the grooved wheel 13 of the grooved wheel mechanism are arranged on the transmission shaft 6 at the lower side of the space cam lower fixing plate in a matching way, a dial mounting groove is arranged on the positioning guide plate 14, and a part of a chassis of the driving dial 9 is positioned in the dial mounting groove.

The space cam upper fixing plate 1 and the space cam lower fixing plate 2 are provided with through holes for providing sufficient installation space for an electric interface and other components.

The grooved pulley 13 in the grooved pulley mechanism is an eight-groove grooved pulley, namely the grooved pulley 13 is provided with eight radially arranged poking and rotating grooves; four connecting toothed plates (which are arranged in a protruding manner in the radial direction) are uniformly distributed at the upper end of the transmission cylinder 19 in the circumferential direction; the driving sliding groove is a sliding groove with two ends at the lower part and the middle part at the upper part and is in smooth transition in an inverted V shape. The initial position of the driving pin 15 is located at one end of the driving sliding groove, the servo motor drives the transmission shaft to rotate through the transmission device, and the transmission gear and the driven gear drive the space cam to rotate on the transmission cylinder. Before the cylindrical pin 20 on the driving dial 9 enters the dial groove of the grooved wheel, the driving sliding groove 16 on the space cam pushes the driving pin 15 to drive the transmission cylinder and the connecting toothed plate to axially move upwards; after the cylindrical pin 20 on the driving drive plate enters the toggle groove of the grooved wheel, the cylindrical pin 20 toggles the grooved wheel to rotate through the toggle groove, and the transmission cylinder and the connecting toothed plate are driven to rotate for 45 degrees along with the spatial cam in the same direction; after the cylindrical pin 20 on the driving dial is released from the dial slot of the grooved wheel, the driving sliding slot on the space cam pushes the driving pin to drive the transmission cylinder and the connecting toothed plate to axially move downwards, and the final position of the driving pin is located at the other end of the driving sliding slot.

The invention is further improved, the servo motor is connected with the worm through the quincunx elastic coupling, and the vibration generated by self-excitation of the motor can be effectively absorbed, so that the accuracy of the rotating angle of the inner claw is improved.

The invention is further improved, and toothed plate embedded grooves matched with the connecting toothed plates are respectively arranged at the positions, opposite to the four connecting toothed plates, on the upper side surface of the upper fixing plate of the space cam. When the driving pin is located the initial position, the connection pinion rack is located the pinion rack embedded groove, except that the location uide pin, space cam upper fixed plate upper flank is a smooth composition surface.

The invention is further improved, as shown in fig. 1 and 6, a circular connecting plate 18 is arranged in the middle of the upper side surface of the upper fixing plate of the space cam, and a toothed plate embedded groove 17 is formed in the circular connecting plate 18. When the driving pin is located initial position, the connection pinion rack 3 is located pinion rack embedded groove 17, and the ring shape connecting plate upper flank is a flat composition surface, and is more firm after the connection.

The invention is provided with a connecting seat plate 27 matched with the inner claw, the connecting seat plate 27 is provided with an inserting through hole 28, inserting notches 29 matched with the connecting tooth plate 3 are evenly distributed on the connecting seat plate around the inserting through hole 28, and the upper end of the inner claw can penetrate through the connecting seat plate 27 to the upper side thereof through the inserting through hole 28 and the inserting notches 29. The connecting seat plate is provided with a guide inserting hole 26 matched with the positioning guide pin 4 at the position opposite to the positioning guide pin, and the upper end of the positioning guide pin 26 is conical and can freely slide in the guide inserting hole 26 in the axial direction, thereby playing the role of guiding and positioning.

The upper and lower parts in the invention name are relative up and down directions of each part in the figure.

When the replaceable spacecraft module is used, the space cam upper fixing plate and the space cam lower fixing plate are connected with the replaceable spacecraft module through the matching of the bolts and the connecting holes. The connection seat plate is arranged on the spacecraft main body and used for connecting with the replaceable spacecraft module. The replaceable spacecraft module is conveyed to a connection position with a spacecraft main body, an upper fixing plate of a space cam is opposite to (or attached to) a connecting seat plate, the upper end of an inner claw is opposite to an inserting through hole 28, a connecting toothed plate 3 is opposite to an inserting groove 29, and a positioning guide pin 4 is opposite to a guide inserting hole 26, then a servo motor rotates in the positive direction, a space cam mechanism drives the inner claw and the positioning guide plate 14 to move upwards, the positioning guide pin 4 is matched with the guide inserting hole 26 to play a guiding and positioning role, the connecting toothed plate penetrates through the inserting groove 29 to move to the upper side of the connecting seat plate, in the process, a sheave mechanism is in a resting section, and a; then, the geneva mechanism works in a matching way, and the geneva mechanism drives the inner claw to rotate so as to enable the connecting toothed plate to be staggered with the insertion notch; and finally, the geneva gear mechanism is in a resting section, the space cam mechanism drives the inner claw to move downwards, and the connecting toothed plate is tightly pressed on the connecting seat plate, so that the replaceable spacecraft module is locked and connected on the spacecraft main body.

The connection process is completed by only one servo motor without other driving parts, so that the structure is more compact and the space is saved; the worm and worm gear transmission mechanism is used as a motion input mechanism, the structure can realize the looseness prevention of a mechanically connected interface by utilizing the self-locking function of the worm and worm gear mechanism, and meanwhile, the whole structure is more compact. The invention has the advantages of simple mechanical transmission, compact structure, quick locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy, difficult damage, locking and the like.

Claims

1. The utility model provides a modularization quick change mechanical interface that can change on rail which characterized in that: the device comprises a servo motor, a space cam upper fixing plate, a space cam lower fixing plate, a positioning guide pin, a transmission shaft, a transmission device, a transmission gear, a geneva gear, a space cam mechanism, a driven gear and an inner claw; the inner claw comprises a transmission cylinder, and at least three connecting toothed plates are uniformly distributed on the transmission cylinder in the circumferential direction; the positioning guide plate is connected with the transmission cylinder through a bearing, and the positioning guide pin is arranged on the positioning guide plate; the grooved wheel mechanism comprises a driving plate and a grooved wheel, and the grooved wheel is fixed on the transmission cylinder on the upper side of the positioning guide plate; the space cam mechanism comprises a space cam and a driving pin, the space cam is in a sleeve shape, a driving chute which is axially fluctuated is arranged on the side wall of the space cam, and the space cam can freely rotate and axially freely slide and is sleeved on the transmission cylinder at the upper side of the grooved pulley; the driving pin is matched with the driving sliding groove and arranged on the transmission cylinder, the driven gear is arranged on the space cam, an upper space cam fixing plate and a lower space cam fixing plate are respectively connected with the upper end part and the lower end part of the space cam through bearings, positioning guide holes are respectively formed in the positions, opposite to the positioning guide pins, of the upper space cam fixing plate and the lower space cam fixing plate, the positioning guide pins can axially and freely slide and penetrate through the positioning guide holes, the connecting toothed plate is located on the upper side of the upper space cam fixing plate, a transmission shaft is arranged on the lower space cam fixing plate, and the transmission gear is meshed with the driven gear and arranged on the transmission shaft; the servo motor is fixedly arranged on the upper fixing plate and/or the lower fixing plate of the space cam, the servo motor is connected with the transmission shaft through a transmission device and drives the transmission shaft to rotate, and the driving drive plate of the geneva mechanism is arranged on the transmission shaft on the lower side of the lower fixing plate of the space cam.

2. The on-track replaceable mechanical interface of claim 1, wherein: the grooved wheel in the grooved wheel mechanism is an eight-groove grooved wheel, namely the grooved wheel is provided with eight radially arranged poking and rotating grooves; four connecting toothed plates are uniformly distributed at the upper end of the transmission cylinder in the circumferential direction; the driving sliding groove is a flat sliding groove with two ends at the lower part and the middle part at the upper part.

3. The on-track replaceable mechanical interface of claim 1 or 2, wherein: and toothed plate embedded grooves matched with the connecting toothed plates are respectively arranged at the positions, opposite to the connecting toothed plates, on the upper side surface of the upper fixing plate of the space cam.

4. The on-track replaceable mechanical interface of claim 3, wherein: the middle of the upper side face of the upper fixing plate of the space cam is provided with a circular connecting plate, and the toothed plate embedded groove is formed in the circular connecting plate.

5. The on-track replaceable mechanical interface of claim 4, wherein: the transmission device is a worm gear transmission mechanism, a worm of the worm gear transmission mechanism is connected with an output shaft of the servo motor, and a worm wheel is arranged on the transmission shaft in a manner of being matched with the worm.