CN113386983A - Decoupling four-degree-of-freedom soft docking mechanism - Google Patents
Decoupling four-degree-of-freedom soft docking mechanism Download PDFInfo
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- CN113386983A CN113386983A CN202110660655.1A CN202110660655A CN113386983A CN 113386983 A CN113386983 A CN 113386983A CN 202110660655 A CN202110660655 A CN 202110660655A CN 113386983 A CN113386983 A CN 113386983A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 64
- 238000003032 molecular docking Methods 0.000 title claims abstract description 26
- 238000013016 damping Methods 0.000 claims abstract description 60
- 239000000872 buffer Substances 0.000 claims abstract description 35
- 230000005540 biological transmission Effects 0.000 claims abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 6
- 210000001503 joint Anatomy 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 19
- 238000013519 translation Methods 0.000 claims description 11
- 230000000712 assembly Effects 0.000 claims description 10
- 238000000429 assembly Methods 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 9
- 238000005265 energy consumption Methods 0.000 claims description 2
- 230000004044 response Effects 0.000 claims description 2
- 238000011160 research Methods 0.000 abstract description 3
- 230000003139 buffering effect Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 239000007853 buffer solution Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 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 the field of space robot research and engineering, in particular to a decoupled four-degree-of-freedom soft docking mechanism which comprises a transmission mechanism, a damping buffer assembly and a sensing assembly. The transmission mechanism mainly comprises a clutch, a cross shaft structure, a rotary inner shell, a rotary outer shell, an electromagnetic braking sliding block, a sliding rail and the like; the damping buffer assembly mainly comprises a linear magnetorheological damper, a rotary magnetorheological damper, a linear spring mechanism, a torsion spring mechanism and the like; the sensing assembly comprises an encoder, a linear displacement sensor and the like. The soft docking mechanism mainly utilizes the magnetic rheological damper in the clutch, the electromagnetic braking sliding block and the damping buffer assembly to control the overall flexibility of the docking mechanism, and can realize spatial six-dimensional momentum unloading according to an operation task, thereby realizing soft docking of spatial operation.
Description
Technical Field
The invention relates to the field of space robot research and engineering, in particular to a decoupled four-degree-of-freedom soft docking mechanism.
Background
With the development of space science and technology, the footsteps of space exploration by human beings are increasingly accelerated, the space rendezvous and docking technology becomes an important field of current aerospace technology research, and the method is an effective way for expanding novel aerospace equipment and avoiding high risk caused by extravehicular operation of astronauts. In the process of space intersection and butt joint, two spacecrafts can be contacted and collided with each other, momentum transfer is asymmetric, unnecessary damage and deformation are caused in the collision process of the spacecrafts, safety of the spacecrafts is guaranteed, reliable butt joint is achieved, a damping buffer system is designed on a butt joint mechanism, and soft butt joint with a momentum unloading function is achieved.
The existing butt joint mechanism adopted by the space butt joint technology mainly comprises a cone-rod type butt joint system, a flying net technology, electromagnetic butt joint, a rigid mechanical arm type and the like. The docking mechanism mainly takes the flexible rope as a main executing element or designs a related mechanism capturing subsystem on the end effector, so that the high-precision requirements on the aspects of relative pose measurement, tracking, keeping and the like between two spacecrafts are required on constraint conditions, and the requirement on the instantaneous pose disturbance of space docking is extremely high.
Disclosure of Invention
Aiming at the problems of energy impact in the butt joint operation process of the existing space robot and energy step-type transmission of two spacecrafts under various complex space conditions, the invention designs a decoupled four-degree-of-freedom soft butt joint mechanism, which has four degrees of freedom of rotation around an X, Y, Z axis and translation along a Z axis in a Cartesian coordinate system, and the degrees of freedom do not interfere with each other; the damping buffer assembly is designed in the mechanism, so that the mechanism has the capacity of unloading the space six-dimensional momentum, stable soft docking in the docking process of the spacecraft can be realized, various risks caused by hard docking of current space operation are reduced, and the applicability and reliability of space robot operation are expanded. The mechanism is provided with a clutch and an electromagnetic braking sliding block to control the relative rotation of the revolute pair and the relative movement of the revolute pair and the moving pair, and each kinematic pair is locked when the mechanism does not execute a butt joint task, so that the mechanism presents rigidity; when the docking task is executed, the kinematic pairs are released, and the mechanism is made flexible.
In order to achieve the purpose, the invention adopts the following technical scheme:
a decoupled four-degree-of-freedom soft docking mechanism mainly comprises a transmission mechanism, a damping buffer assembly and a sensing assembly.
The transmission mechanism is a mechanical structure mainly composed of a fixing plate (101), a rotating outer shell (107), a rotating inner shell (108), a first support (310), a second support (305), a third support (112), a fourth support (103), a fifth support (113), a sixth support (102), a seventh support (106), an eighth support (111), a ninth support (110), a tenth support (109), a coupler (402), a rotating main shaft Z (411), a rotating main shaft Z fastening piece (406), a first deep groove ball bearing (407), a second deep groove ball bearing (409), a sleeve (408), a clutch X (203), a clutch Y (207), a clutch Z (403), a first electromagnetic braking sliding block (301), a second electromagnetic braking sliding block (308), a first sliding rail (302), a second sliding rail (309) and a linear damper fixing seat (306). The damping buffer assembly mainly comprises a torsion spring seat X (105), a torsion spring seat Y (210), a torsion spring seat Z (410), a torsion spring fixing member (206), a torsion spring X (204), a torsion spring Y (209), a torsion spring Z (404), a rotary magnetorheological damper X (201), a rotary magnetorheological damper Y (202), a rotary magnetorheological damper Z (401), a damping shaft Z (413), a cross shaft (104), a linear spring Z (304) and a linear magnetorheological damper (303). The sensing assembly consists of a linear displacement sensor (307), an encoder X (205), an encoder Y (208) and an encoder Z (405), and is mainly used for measuring motion parameters of rotation around an X, Y, Z axis and translation along a Z axis.
The linear magneto-rheological damper (303) and the linear spring Z (304) jointly form a damping buffer device in the Z-axis translation direction. The linear magneto-rheological damper (303) body and the linear spring Z (304) are jointly fixed on the linear damper fixing seat (306). The linear damper fixing seat (306) is respectively connected with the third bracket (112) and the fourth bracket (103) through the second bracket (305) and the first brackets (310) which are distributed up and down symmetrically. The input end of the linear magneto-rheological damper (303) is connected with the fixed plate (101), and the fixed plate (101) is respectively connected with the bracket six (102) and the bracket five (113). A first electromagnetic brake sliding block (301) fixed on the sixth bracket (102) and a first sliding rail (302) fixed on the fourth bracket (103) form a pair of moving pairs along the Z axis; similarly, the second electromagnetic brake slider (308) fixed on the fifth bracket (113) and the second slide rail (309) fixed on the third bracket (112) form another pair of moving pairs along the Z axis, and the two moving pairs can be controlled to move relatively by electromagnetic control to be in a free sliding mode or a locking mode.
The base body of the rotary magnetorheological damper X (201) is mounted on the bracket eight (111), the base body of the rotary magnetorheological damper Y (202) is mounted on the bracket three (112), and the rotating shafts of the rotary magnetorheological damper X and the bracket three are respectively served by the cross shaft (104). Rotors of the clutch X (203) and the clutch Y (207) are connected with the cross shaft (104) through keys respectively, wherein a stator of the clutch X (203) is connected with the support seventh (106), and a stator of the clutch Y (207) is connected with the support fourth (103). The encoder X (205) is connected to the bracket seven (106) through a torsion spring seat X (105), the encoder Y (208) is connected to the bracket four (103) through a torsion spring seat Y (210), and the rotating shafts of the encoders are served by a cross shaft. And one end of each of the torsion springs X (204) and Y (209) is connected with the cross shaft (104) through a torsion spring fixing piece (206), and the other end of each of the torsion springs X (105) and Y (210) is respectively connected with a torsion spring seat X (105) and a torsion spring seat Y (210).
The rotary magnetorheological damper Z (401) is connected with a support nine (110), a rotating shaft of the rotary magnetorheological damper Z (401) is a damping shaft Z (413), and the support nine (110) is respectively connected with a support seven (106) and a support eight (111). The rotor of the clutch Z (403) is connected with a rotary main shaft Z (411) through a key and can rotate along with the shaft, the stator of the clutch Z is connected with a rotary shell connecting plate (412), and the rotary shell connecting plate (412) is connected with a support nine (110) through a front support ten (109) and a rear support ten (109) which are symmetrical. The encoder Z (405) is connected to a rotary housing connection plate (412) through a torsion spring seat Z (410), and the axis thereof is a rotary main shaft Z (411). In addition, a rotating main shaft Z (411) is connected with the rotating inner shell through a rotating main shaft Z fixing piece (406), and the rotating main shaft Z and the rotating inner shell can synchronously rotate. Similarly, one end of the torsion spring Z (404) is connected with the rotating spindle Z (411) through the torsion spring fixing piece (206), and the other end is connected with the torsion spring seat Z (410). The damping shaft Z (413) is connected with the rotating main shaft Z (411) through a coupler (402) to realize transmission.
The rotary shell (107) is connected with a rotary shell connecting plate (412). A first deep groove ball bearing (407) and a second deep groove ball bearing (409) are arranged between the rotary inner shell (108) and the rotary outer shell (107), so that relative rotation of the two is realized.
The rotary magnetorheological damper X (201) and the torsion spring X (204) form an X-axis rotary damping buffer assembly; the rotary magnetorheological damper Y (202) and the torsion spring Y (209) form a Y-axis rotary damping buffer assembly; the rotary magnetorheological damper Z (401) and the torsion spring Z (404) form a Z-axis rotary damping buffer assembly; the linear magnetorheological damper (303) and the linear spring Z (304) form a Z-axis linear damping buffer assembly.
Compared with the prior art, the invention has the following characteristics:
1. the mechanism has four degrees of freedom of rotation around an X, Y, Z axis and translation along a Z axis, and the four degrees of freedom do not interfere with each other, so that motion decoupling is realized. By designing motion control components, namely a clutch and an electromagnetic brake sliding block, at the positions of the sliding pair and the rotating pair, the mechanism can be in a rigid state and a flexible state under the electromagnetic control.
2. The mechanism designs four groups of damping buffer assemblies of three rotations and one straight line, and unloads momentum impact in the butt joint process: the momentum of the X, Y, Z rotational direction is unloaded by the three sets of rotational damping buffer assemblies during docking; the momentum of the Z-axis line is unloaded by the linear damping buffer assembly; x, Y the momentum in the linear direction of the shaft may be converted to a momentum in the rotational direction Y, X, which is unloaded by the Y, X shaft rotational damping bumper assembly. Therefore, the mechanism can realize the space six-dimensional momentum unloading, thereby realizing the stable soft contact when the spacecraft is in butt joint.
3. The mechanism adopts the magneto-rheological damper with flexible controllable damping coefficient, and can realize semi-active control on the mechanism. The magneto-rheological damper has the advantages of low energy consumption, simple structure, continuous, reversible and adjustable damping force, large adjustable range, quick response, good temperature stability, capability of being combined with microcomputer control and the like. Therefore, the flexible butt joint mechanism can be applied to a space flexible butt joint mechanism, and plays roles in reducing impact vibration load, unloading momentum and absorbing collision kinetic energy.
Drawings
FIG. 1 is a schematic view of the overall appearance structure of an embodiment of the present invention;
FIGS. 2 and 3 are schematic views of partial external structures of the embodiment of the present invention;
fig. 4 is a partial internal structural view of an embodiment of the present invention.
The reference numerals in the drawings are explained below:
the device comprises a fixing plate (101), a six bracket (102), a four bracket (103), a cross shaft (104), a torsion spring seat X (105), a seven bracket (106), a rotary outer shell (107), a rotary inner shell (108), a ten bracket (109), a nine bracket (110), an eight bracket (111), a three bracket (112), a five bracket (113), a rotary magnetorheological damper X (201), a rotary magnetorheological damper Y (202), a clutch X (203), a torsion spring X (204), a coder X (205), a torsion spring fixing member (206), a clutch Y (207), a coder Y (208), a torsion spring Y (209), a torsion spring seat Y (210), a first electromagnetic brake sliding block (301), a first sliding rail (302), a linear magnetorheological damper (303), a linear spring Z (304), a second bracket (305), a linear damper fixing seat (306), a linear displacement sensor (307), The device comprises a second electromagnetic braking sliding block (308), a second sliding rail (309), a first support (310), a rotary magnetorheological damper Z (401), a coupler (402), a clutch Z (403), a torsion spring Z (404), an encoder Z (405), a rotary main shaft Z fixing piece (406), a first deep groove ball bearing (407), a sleeve (408), a second deep groove ball bearing (409), a torsion spring seat Z (410), a rotary main shaft Z (411), a rotary shell connecting plate (412) and a damping shaft Z (413).
Detailed description of the preferred embodiments
The invention is further described below with reference to the accompanying drawings 1 to 4:
the invention comprises a transmission mechanism, a damping and buffering assembly and a sensing assembly.
The transmission mechanism is a mechanical structure mainly composed of a fixing plate (101), a rotating outer shell (107), a rotating inner shell (108), a first support (310), a second support (305), a third support (112), a fourth support (103), a fifth support (113), a sixth support (102), a seventh support (106), an eighth support (111), a ninth support (110), a tenth support (109), a coupler (402), a rotating main shaft Z (411), a rotating main shaft Z fastening piece (406), a first deep groove ball bearing (407), a second deep groove ball bearing (409), a sleeve (408), a clutch X (203), a clutch Y (207), a clutch Z (403), a first electromagnetic braking sliding block (301), a second electromagnetic braking sliding block (308), a first sliding rail (302), a second sliding rail (309) and a linear damper fixing seat (306). The damping buffer assembly mainly comprises a torsion spring seat X (105), a torsion spring seat Y (210), a torsion spring seat Z (410), a torsion spring fixing member (206), a torsion spring X (204), a torsion spring Y (209), a torsion spring Z (404), a rotary magnetorheological damper X (201), a rotary magnetorheological damper Y (202), a rotary magnetorheological damper Z (401), a damping shaft Z (413), a cross shaft (104), a linear spring Z (304) and a linear magnetorheological damper (303). The sensing assembly consists of a linear displacement sensor (307), an encoder X (205), an encoder Y (208) and an encoder Z (405), and is mainly used for measuring motion parameters of rotation around an X, Y, Z axis and translation along a Z axis.
The linear magneto-rheological damper (303) and the linear spring Z (304) jointly form a damping buffer device in the Z-axis translation direction. The linear magneto-rheological damper (303) body and the linear spring Z (304) are jointly fixed on the linear damper fixing seat (306). The linear damper fixing seat (306) is respectively connected with the third bracket (112) and the fourth bracket (103) through the second bracket (305) and the first brackets (310) which are distributed up and down symmetrically. The input end of the linear magneto-rheological damper (303) is connected with the fixed plate (101), and the fixed plate (101) is respectively connected with the bracket six (102) and the bracket five (113). A first electromagnetic brake sliding block (301) fixed on the sixth bracket (102) and a first sliding rail (302) fixed on the fourth bracket (103) form a pair of moving pairs along the Z axis; similarly, the second electromagnetic brake slider (308) fixed on the fifth bracket (113) and the second slide rail (309) fixed on the third bracket (112) form another pair of moving pairs along the Z axis, and the two moving pairs can be controlled to move relatively by electromagnetic control to be in a free sliding mode or a locking mode.
The base body of the rotary magnetorheological damper X (201) is mounted on the bracket eight (111), the base body of the rotary magnetorheological damper Y (202) is mounted on the bracket three (112), and the rotating shafts of the rotary magnetorheological damper X and the bracket three are respectively served by the cross shaft (104). Rotors of the clutch X (203) and the clutch Y (207) are connected with the cross shaft (104) through keys respectively, wherein a stator of the clutch X (203) is connected with the support seventh (106), and a stator of the clutch Y (207) is connected with the support fourth (103). The encoder X (205) is connected to the bracket seven (106) through a torsion spring seat X (105), the encoder Y (208) is connected to the bracket four (103) through a torsion spring seat Y (210), and the rotating shafts of the encoders are served by a cross shaft. And one end of each of the torsion springs X (204) and Y (209) is connected with the cross shaft (104) through a torsion spring fixing piece (206), and the other end of each of the torsion springs X (105) and Y (210) is respectively connected with a torsion spring seat X (105) and a torsion spring seat Y (210).
The rotary magnetorheological damper Z (401) is connected with a support nine (110), a rotating shaft of the rotary magnetorheological damper Z (401) is a damping shaft Z (413), and the support nine (110) is respectively connected with a support seven (106) and a support eight (111). The rotor of the clutch Z (403) is connected with a rotary main shaft Z (411) through a key and can rotate along with the shaft, the stator of the clutch Z is connected with a rotary shell connecting plate (412), and the rotary shell connecting plate (412) is connected with a support nine (110) through a front support ten (109) and a rear support ten (109) which are symmetrical. The encoder Z (405) is connected to a rotary housing connection plate (412) through a torsion spring seat Z (410), and the axis thereof is a rotary main shaft Z (411). In addition, a rotating main shaft Z (411) is connected with the rotating inner shell through a rotating main shaft Z fixing piece (406), and the rotating main shaft Z and the rotating inner shell can synchronously rotate. Similarly, one end of the torsion spring Z (404) is connected with the rotating spindle Z (411) through the torsion spring fixing piece (206), and the other end is connected with the torsion spring seat Z (410). The damping shaft Z (413) is connected with the rotating main shaft Z (411) through a coupler (402) to realize transmission.
The rotary shell (107) is connected with a rotary shell connecting plate (412). A first deep groove ball bearing (407) and a second deep groove ball bearing (409) are arranged between the rotary inner shell (108) and the rotary outer shell (107), so that relative rotation of the two is realized.
The rotary magnetorheological damper X (201) and the torsion spring X (204) form an X-axis rotary damping buffer assembly; the rotary magnetorheological damper Y (202) and the torsion spring Y (209) form a Y-axis rotary damping buffer assembly; the rotary magnetorheological damper Z (401) and the torsion spring Z (404) form a Z-axis rotary damping buffer assembly; the linear magnetorheological damper (303) and the linear spring Z (304) form a Z-axis linear damping buffer assembly.
When the docking task is not executed, the first electromagnetic brake sliding block (301), the second electromagnetic brake sliding block (308), the clutch X (203), the clutch Y (207) and the clutch Z (403) are all in a power-on locking state, so that the relative fixation is kept between the first electromagnetic brake sliding block (301) and the first sliding rail (302), between the second electromagnetic brake sliding block (308) and the second sliding rail (309), between the cross shaft (104) and the fourth support (103), between the fifth support (112), between the seventh support (106) and between the eighth support (111), between the rotary outer shell (107) and the rotary inner shell (108), and the whole mechanism is in a rigid state.
When a docking task is executed, the first electromagnetic brake slider (301), the second electromagnetic brake slider (308), the clutch X (203), the clutch Y (207) and the clutch Z (403) are all in a power-off disconnection state, so that relative motion can be generated between the first electromagnetic brake slider (301) and the first sliding rail (302), between the second electromagnetic brake slider (308) and the second sliding rail (309), between the cross shaft (104) and the fourth support (103), between the fifth support (112), between the seventh support (106) and the eighth support (111), between the rotary outer shell (107) and the rotary inner shell (108), and the whole mechanism is in a flexible operation state. Four groups of rotary and straight damping buffer assemblies are added into the mechanism, momentum in the butt joint process is unloaded, the mechanism is placed in a space Cartesian coordinate system, the yaw direction and the pitch direction of the mechanism are respectively used as an X axis and a Y axis, momentum in the X, Y, Z rotary direction is unloaded by the three groups of rotary damping buffer assemblies in the butt joint process, momentum in the Z axis straight line is unloaded by the straight damping buffer assemblies, momentum in the X, Y axis straight line direction is unloaded by the Y, X axis rotary damping buffer assemblies through transmission and conversion, and therefore the mechanism can achieve space six-dimensional momentum unloading. The momentum-unloading implementation principle specific to each direction is as follows:
when the tail end of the mechanism is impacted by momentum in the X-axis rotation direction, the clutch X (203) is in a separation state, angular momentum enables the support seven (106), the support eight (111) and the cross shaft (104) to rotate relatively, at the moment, the torsion spring X (204) can be twisted to generate a passive buffering effect, the encoder X (205) monitors motion variables and transmits the variables to the controller, a semi-active controller is formed by a designed target control algorithm and the rotary magneto-rheological damper X (201), the target control algorithm calculates expected damping torque for buffering collision according to the motion variables, and the rotary magneto-rheological damper X (201) outputs corresponding damping torque through electromagnetic control, so that unloading control of the impact angular momentum in the X-axis rotation direction is achieved.
When the tail end of the mechanism is impacted by momentum in the Y-axis rotation direction, the clutch Y (207) is in a separated state, angular momentum enables the third support (112), the fourth support (103) and the cross shaft (104) to rotate relatively, at the moment, the torsion spring Y (209) can be twisted to generate a passive buffering effect, the encoder Y (208) monitors motion variables and transmits the variables to the controller, a semi-active controller is formed by a designed target control algorithm and the rotary magneto-rheological damper Y (202), the target control algorithm calculates expected damping torque for buffering collision according to the motion variables, and the rotary magneto-rheological damper Y (202) outputs corresponding damping torque through electromagnetic control, so that unloading control of the impact angular momentum in the Y-axis rotation direction is achieved.
When the tail end of the mechanism is impacted by momentum in the Z-axis rotation direction, the clutch Z (403) is in a separated state, angular momentum enables the rotary outer shell (107) and the rotary inner shell (108) to rotate relatively, at the moment, the torsion spring Z (404) can be twisted to generate a passive buffering effect, the encoder Z (405) monitors a motion variable and transmits the motion variable to the controller, a semi-active controller is formed by a designed target control algorithm and the rotary magnetorheological damper Z (401), the target control algorithm calculates expected damping torque for buffering collision according to the motion variable, and the rotary magnetorheological damper Z (401) outputs corresponding damping torque through electromagnetic control, so that unloading control of the impact angular momentum in the Z-axis rotation direction is achieved.
When the tail end of the mechanism is impacted by momentum in the X-axis linear direction, the momentum impact in the X-axis linear direction can be converted into angular momentum impact in the Y-axis rotating direction due to the moment arm between the force action point and the cross shaft, and therefore the momentum is converted and unloaded.
When the tail end of the mechanism is impacted by momentum in the Y-axis linear direction, the momentum impact in the Y-axis linear direction can be converted into angular momentum impact in the X-axis rotating direction due to the moment arm between the force action point and the cross shaft, and therefore the momentum is converted and unloaded.
When the tail end of the mechanism is impacted by momentum in the Z-axis linear direction, the first electromagnetic brake slider (301) and the first sliding rail (302) and the second electromagnetic brake slider (308) and the second sliding rail (309) are in a separated state and can perform relative translation. A fixing plate (101) of the mechanism is impacted, so that relative translation occurs between a first electromagnetic brake sliding block (301) and a first sliding rail (302), and between a second electromagnetic brake sliding block (308) and a second sliding rail (309), at the moment, a linear spring Z (304) can deform, so that a passive buffering effect is generated, a linear displacement sensor (307) monitors a motion variable and transmits the motion variable to a controller, a semi-active controller is formed by a designed target control algorithm and a linear magneto-rheological damper (303), the target control algorithm calculates expected damping force for buffering collision according to the motion variable, and then the linear magneto-rheological damper (303) outputs corresponding damping force through electromagnetic control, so that unloading control of the joint on Z-axis linear momentum is realized.
Claims (7)
1. A decoupling four-degree-of-freedom soft docking mechanism mainly comprises a transmission mechanism, a damping buffer assembly and a sensing assembly: the transmission mechanism is a mechanical structure mainly composed of a fixing plate (101), a rotating outer shell (107), a rotating inner shell (108), a first support (310), a second support (305), a third support (112), a fourth support (103), a fifth support (113), a sixth support (102), a seventh support (106), an eighth support (111), a ninth support (110), a tenth support (109), a coupler (402), a rotating main shaft Z (411), a rotating main shaft Z fastening piece (406), a first deep groove ball bearing (407), a second deep groove ball bearing (409), a sleeve (408), a clutch X (203), a clutch Y (207), a clutch Z (403), a first electromagnetic braking sliding block (301), a second electromagnetic braking sliding block (308), a first sliding rail (302), a second sliding rail (309) and a linear damper fixing seat (306); the damping buffer assembly mainly comprises a torsion spring seat X (105), a torsion spring seat Y (210), a torsion spring seat Z (410), a torsion spring fixing member (206), a torsion spring X (204), a torsion spring Y (209), a torsion spring Z (404), a rotary magnetorheological damper X (201), a rotary magnetorheological damper Y (202), a rotary magnetorheological damper Z (401), a damping shaft Z (413), a cross shaft (104), a linear spring Z (304) and a linear magnetorheological damper (303); the sensing assembly consists of a linear displacement sensor (307), an encoder X (205), an encoder Y (208) and an encoder Z (405), and is mainly used for measuring motion parameters of rotation around an X, Y, Z axis and translation along a Z axis.
2. The decoupled four degree-of-freedom soft docking mechanism of claim 1, wherein: the linear magneto-rheological damper (303) and the linear spring Z (304) jointly form a damping buffer device in the Z-axis translation direction; the linear magneto-rheological damper (303) body and the linear spring Z (304) are jointly fixed on the linear damper fixing seat (306); the linear damper fixing seat (306) is respectively connected with the bracket III (112) and the bracket IV (103) through a bracket II (305) and two bracket I (310) which are distributed up and down symmetrically; the input end of the linear magneto-rheological damper (303) is connected with the fixed plate (101), and the fixed plate (101) is respectively connected with the bracket six (102) and the bracket five (113); a first electromagnetic brake sliding block (301) fixed on the sixth bracket (102) and a first sliding rail (302) fixed on the fourth bracket (103) form a pair of moving pairs along the Z axis; similarly, the second electromagnetic brake slider (308) fixed on the fifth bracket (113) and the second slide rail (309) fixed on the third bracket (112) form another pair of moving pairs along the Z axis, and the two moving pairs can be controlled to move relatively by electromagnetic control to be in a free sliding mode or a locking mode.
3. The decoupled four degree-of-freedom soft docking mechanism of claim 1, wherein: the base body of the rotary magnetorheological damper X (201) is arranged on the bracket eight (111), the base body of the rotary magnetorheological damper Y (202) is arranged on the bracket three (112), and the rotating shafts of the rotary magnetorheological damper X and the rotary magnetorheological damper Y are respectively served by a cross shaft (104); rotors of a clutch X (203) and a clutch Y (207) are connected with a cross shaft (104) through keys respectively, wherein a stator of the clutch X (203) is connected with a bracket seven (106), and a stator of the clutch Y (207) is connected with a bracket four (103); the encoder X (205) is connected to the seventh bracket (106) through a torsion spring seat X (105), the encoder Y (208) is connected to the fourth bracket (103) through a torsion spring seat Y (210), and the rotating shafts of the encoders are served by a cross shaft; and one end of each of the torsion springs X (204) and Y (209) is connected with the cross shaft (104) through a torsion spring fixing piece (206), and the other end of each of the torsion springs X (105) and Y (210) is respectively connected with a torsion spring seat X (105) and a torsion spring seat Y (210).
4. The decoupled four degree-of-freedom soft docking mechanism of claim 1, wherein: the rotary magnetorheological damper Z (401) is connected with a support nine (110), a rotating shaft of the rotary magnetorheological damper Z (401) is a damping shaft Z (413), and the support nine (110) is respectively connected with a support seven (106) and a support eight (111); the rotor of the clutch Z (403) is connected with a rotating main shaft Z (411) through a key and can rotate along with the shaft, the stator of the clutch Z is connected with a rotating shell connecting plate (412), and the rotating shell connecting plate (412) is connected with a bracket nine (110) through a front bracket ten (109) and a rear bracket ten (109) which are symmetrical; the encoder Z (405) is connected with a rotary shell connecting plate (412) through a torsion spring seat Z (410), and the axis of the encoder Z is a rotary main shaft Z (411); in addition, a rotating main shaft Z (411) is connected with the rotating inner shell through a rotating main shaft Z fixing piece (406), and the rotating main shaft Z and the rotating inner shell can synchronously rotate; one end of a torsion spring Z (404) is connected with the rotating main shaft Z (411) through a torsion spring fixing piece (206), and the other end of the torsion spring Z (404) is connected with a torsion spring seat Z (410); the damping shaft Z (413) is connected with the rotating main shaft Z (411) through a coupler (402) to realize transmission.
5. The decoupled four degree-of-freedom soft docking mechanism of claim 1, wherein: the rotary shell (107) is connected with a rotary shell connecting plate (412); a first deep groove ball bearing (407) and a second deep groove ball bearing (409) are arranged between the rotary inner shell (108) and the rotary outer shell (107), so that relative rotation of the two is realized.
6. The decoupled four degree-of-freedom soft docking mechanism of claim 1, wherein: the rotary magnetorheological damper X (201) and the torsion spring X (204) form an X-axis rotary damping buffer assembly; the rotary magnetorheological damper Y (202) and the torsion spring Y (209) form a Y-axis rotary damping buffer assembly; the rotary magnetorheological damper Z (401) and the torsion spring Z (404) form a Z-axis rotary damping buffer assembly; the linear magnetorheological damper (303) and the linear spring Z (304) form a Z-axis linear damping buffer assembly.
7. The mechanism of claims 1-6, wherein the mechanism comprises: the mechanism has four degrees of freedom of rotation around an X, Y, Z axis and translation along a Z axis, the four degrees of freedom are not interfered with each other, motion decoupling is realized, and the mechanism can be in a rigid state and a flexible state under the electromagnetic control by designing motion control components, namely a clutch and an electromagnetic braking sliding block, at the positions of a sliding pair and a rotating pair; the mechanism designs four groups of damping buffer assemblies of three rotations and one straight line, and unloads momentum impact in the butt joint process: in the docking process, momentum in the X, Y, Z rotation direction is unloaded by the three groups of rotary damping buffer assemblies, momentum in the Z-axis linear direction is unloaded by the linear damping buffer assemblies, momentum in the X, Y axis linear direction can be converted into momentum in the Y, X rotation direction, and then the momentum is unloaded by the Y, X axis rotary damping buffer assemblies, so that the mechanism can realize the unloading of momentum in six dimensions in space, and stable soft contact of a spacecraft during docking is realized; the mechanism adopts the magneto-rheological damper with flexible controllable damping coefficient, can realize semi-active control on the mechanism, and has the excellent characteristics of low energy consumption, simple structure, continuous and smooth adjustment of damping force, large adjustable range, quick response, good temperature stability, capability of being combined with microcomputer control and the like, so that the magneto-rheological damper can be applied to a space soft butt joint mechanism, and plays roles in reducing impact vibration load, momentum unloading and absorbing collision kinetic energy.
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