CN113911395A - Variable-rigidity unfolding mechanism for asteroid sampling detection - Google Patents
Variable-rigidity unfolding mechanism for asteroid sampling detection Download PDFInfo
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- 125000006850 spacer group Chemical group 0.000 claims abstract description 5
- 229910000639 Spring steel Inorganic materials 0.000 claims description 41
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Abstract
The invention discloses a variable stiffness unfolding mechanism for asteroid sampling detection, which comprises: the rope winder comprises a cage-shaped spring a, a cage-shaped spring b, a rope winder, a force sensor, a base and a load mounting plate; one end of the cage-shaped spring a and one end of the cage-shaped spring b are coaxially connected in series through a spacer ring, and the rotating directions of the cage-shaped spring a and the cage-shaped spring b are opposite; the other end of the cage-shaped spring a is connected with the front end of the base, and the rear end of the base is arranged on the detector; the other end of the cage-shaped spring b is connected with the rear end of the load mounting plate, and the front end of the load mounting plate is provided with a sampling/detecting device; the force sensor is arranged between the load mounting plate and the sampling/detecting equipment and is used for measuring the reaction force of the sampling/detecting equipment during working in real time; the rope winder is installed on the base and used for driving a steel wire rope connected between the rope winder and the load mounting plate to be wound or released so as to drive the load mounting plate to be wound or released relative to the base.
Description
Technical Field
The invention relates to the technical field of deep space exploration, in particular to a variable-rigidity unfolding mechanism for asteroid sampling exploration.
Background
The asteroid is the material residue after the solar system is formed, and is also an important carrier for people to know the origin, formation and evolution of the solar system, and the asteroid has very important scientific significance for sampling and detecting.
Under the limitation of conditions of weak gravity of asteroid, short rotation period, complex and variable surface topography, unknown medium characteristics of a star table and the like, the sampling detection of the asteroid is carried out in a 'one touch and one walk' mode at present, namely, the detector does not land the asteroid but touches the star table for a short time through unfolded sampling detection equipment, and the asteroid flies away after the sampling is finished. Therefore, the unfolding mechanism needs to have certain touch buffering capacity besides unfolding the sampling detection equipment in place, and considering that the difference of the properties of the star surface medium is large, the rigidity of the unfolding mechanism needs to be matched with the mechanical properties of the star surface medium so as to obtain ideal touch time and contact effect.
The spring unfolding mechanism adopted by the Japanese falcon II absorbs residual kinetic energy in touch through compression deformation of the spring, but the rigidity and the unfolding length of the spring unfolding mechanism are not adjustable, so that the spring unfolding mechanism is weak in adaptability to different terrains, and effective contact time is difficult to guarantee. The American Euclidean detector adopts a mechanical arm carrying and unfolding mode, the required contact rigidity is obtained through joint force control, but the mechanical arm mechanism is complex in composition and high in control difficulty.
Disclosure of Invention
In view of the above, the invention provides a variable-stiffness unfolding mechanism for asteroid sampling detection, which adopts a cage-shaped spring as an unfolding driving structure, measures the front-end contact force in real time through a force sensor, adjusts the tension of a steel wire rope through a rope winder, realizes variable-stiffness control of the unfolding mechanism, ensures that the front-end sampling/detection equipment can obtain ideal contact pressure in the process of contacting with star surfaces with different characteristics, and has the characteristics of light weight, large expansion-contraction ratio, strong adaptability, simple control and the like.
The technical scheme of the invention is as follows: a variable stiffness deployment mechanism for asteroid sampling exploration, comprising: the rope winder comprises a cage-shaped spring a, a cage-shaped spring b, a rope winder, a force sensor, a base and a load mounting plate;
one end of the cage-shaped spring a and one end of the cage-shaped spring b are coaxially connected in series through a spacer ring, and the rotating directions of the cage-shaped spring a and the cage-shaped spring b are opposite; the other end of the cage-shaped spring a is connected with the front end of the base, and the rear end of the base is arranged on the detector; the other end of the cage-shaped spring b is connected with the rear end of the load mounting plate, and the front end of the load mounting plate is provided with a sampling/detecting device; the force sensor is arranged between the load mounting plate and the sampling/detecting equipment and is used for measuring the reaction force of the sampling/detecting equipment during working in real time; the rope winder is installed on the base and used for driving a steel wire rope connected between the rope winder and the load mounting plate to be wound or released so as to drive the load mounting plate to be wound or released relative to the base.
Preferably, the rope winder further comprises: the rope winding device comprises a rope winding motor, a motor bracket, an angular contact ball bearing, a winch and a fixed pulley;
the winch is mounted on the base through a pair of angular contact ball bearings, the rope winding motor is supported on the base through a motor support, and the winch is driven to rotate through the speed reduction of the primary straight gear; the rotating axis of the winch is coaxial with the axes of the cage-shaped spring a and the cage-shaped spring b, the roots of more than two steel wire ropes are fixed on the winch, a fixed pulley is arranged on one side of the wire outlet position of each steel wire rope, each fixed pulley is arranged on the base, the steel wire ropes are converted into vertical stretching orientation from horizontal winding orientation through the corresponding fixed pulleys, the movable end of each steel wire rope is connected to the fixed point position on the load mounting plate, the fixed point position on the load mounting plate is in one-to-one correspondence with the wire outlet position of the rope winder, the steel wire ropes are in a vertical state after being tensioned, the winch rotates to realize synchronous winding or releasing of more than two steel wire ropes, and the load mounting plate is parallel to the base in the process of spreading and retracting.
Preferably, the rope winder further comprises: a pinion and a bull gear; the small gear is installed at the output end of the rope winding motor, the large gear is fixedly connected with the winch, and the small gear is meshed with the large gear to form a first-stage straight gear.
Preferably, three steel wire ropes are arranged between the rope winder and the load mounting plate.
Preferably, three of said steel cords are evenly distributed in the circumferential direction of the winch.
Preferably, the cage-shaped spring b is the same as the cage-shaped spring a in structure and opposite in rotation direction; the cage-shaped spring a consists of a left-handed spring steel wire, a spring steel wire terminal, a pin shaft a, a pin shaft b, a front end supporting ring, a rear end supporting ring and a middle supporting ring;
more than three pin holes with the same size are uniformly distributed on the circumferential surface of the front end supporting ring along the circumferential direction, a pin shaft a is connected with each pin hole in a pin mode, and one end of each of more than three left-handed spring steel wires is rotatably connected to the pin shaft a through a spring steel wire terminal; wherein, both ends of each left-handed spring steel wire are respectively provided with a spring steel wire terminal through a set screw, and each spring steel wire terminal is provided with a pin hole;
the rear end supporting circular ring is rotationally connected with the other ends of the more than three left-handed spring steel wires;
more than three pin shafts b are uniformly and rotatably connected to the middle supporting ring along the circumferential direction, each pin shaft b is provided with a through hole along the radial direction, and a corresponding left-handed spring steel wire penetrates through the through hole; in the compression or extension process of the cage-shaped spring a, the pin shaft a and the pin shaft b rotate on the front end supporting ring, the rear end supporting ring and the middle supporting ring so as to adapt to the change of the lead angle of the steel wire of the left-handed spring.
Preferably, twelve left-handed spring steel wires are arranged between the front end supporting circular ring and the rear end supporting circular ring.
Has the advantages that:
1. according to the invention, the cage-shaped spring is used as an unfolding driving structure, the front-end contact force is measured in real time through the force sensor, and the tension force of the steel wire rope is adjusted through the rope winder, so that the integrated design of unfolding and folding, buffering and force control functions is realized, the front-end sampling/detecting equipment can obtain ideal contact pressure in the process of contact work with star surfaces with different characteristics, and the structure is compact, the control is simple and the robustness is strong; meanwhile, the device has the characteristics of light weight, large spreading ratio, strong adaptability, simple control and the like.
2. The rope winder is specifically designed, so that the reliable connection between the rope winder and the load mounting plate through the steel wire rope can be realized, and the winding and unwinding amount and the winding and unwinding speed of the steel wire rope can be accurately controlled, so that the unwinding stroke and the unwinding speed of a mechanism can be accurately controlled.
3. The specific design of the two cage-shaped springs can ensure the efficient telescopic adjustment of the spiral spring steel wires on the cage-shaped springs and effectively improve the expansion ratio of the mechanism; meanwhile, the rigidity of the unfolding mechanism is changed by matching with the tension adjustment of the steel wire rope, the contact force of the sampling/detecting equipment is controlled by the force sensor to meet the working requirement, and the adaptability of the variable-rigidity unfolding mechanism to star charts with different terrains and different characteristics is effectively improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of a cage-shaped spring a in the present invention.
Fig. 3 is a partial structural schematic diagram of the connection of the cage-shaped spring a and the spiral spring steel wire in the invention.
Fig. 4 is a schematic view of the serial assembly of the cage-shaped spring a and the cage-shaped spring b in the present invention.
FIG. 5 is a schematic view of the deployment mechanism of the present invention in a fully collapsed state.
The device comprises a cage-shaped spring a, a cage-shaped spring b, a cage-shaped spring 3, a rope winder 4, a force sensor 5, a base 6, a load mounting plate 7, a spacer ring 8, a sampling/detecting device 1-1, a front end supporting ring 1-2, a rear end supporting ring 1-3, a middle supporting ring 1-4, a left-handed spring steel wire 1-5, a spring steel wire terminal 1-6, a pin shaft a, a pin shaft b, a pin shaft 3-1, a rope winding motor 3-2, a motor support 3-3, a pinion 3-4, a bull gear 3-5, an angular contact ball bearing 3-6, a winch 3-7, a fixed pulley 3-8 and a steel wire rope.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a variable-stiffness unfolding mechanism for asteroid sampling detection, which adopts a cage-shaped spring as an unfolding driving structure, measures the front-end contact force in real time through a force sensor, adjusts the tension of a steel wire rope through a rope winder, realizes variable-stiffness control of the unfolding mechanism, ensures that the front-end sampling/detection equipment can obtain ideal contact pressure in the process of contact work with star tables with different characteristics, and has the characteristics of light weight, large expansion-contraction ratio, strong adaptability, simple control and the like.
As shown in fig. 1, the variable stiffness deployment mechanism includes: a cage spring a1, a cage spring b2, a rope winder 3, a force sensor 4, a base 5 and a load mounting plate 6;
one end of the cage-shaped spring a1 and one end of the cage-shaped spring b2 are coaxially connected in series through a spacer ring 7, and the rotating directions of the cage-shaped spring a1 and the cage-shaped spring b2 are opposite; the other end of the cage-shaped spring a1 is connected with the front end of the base 5 through a screw, and the other end of the cage-shaped spring b2 is connected with the rear end of the load mounting plate 6 through a screw; the front end of the load mounting plate 6 is provided with a sampling/detecting device 8; the force sensor 4 is arranged between the load mounting plate 6 and the sampling/detecting equipment 8, and can measure the reaction force of the sampling/detecting equipment 8 during working in real time; the rope winder 3 is arranged on the base 5; the variable-rigidity unfolding mechanism is integrally arranged on the detector through a base 5; wherein, the end where the detector is located is the rear end of the variable stiffness deployment mechanism, and the end where the sampling/detection device 8 is located is the front end of the variable stiffness deployment mechanism.
In this embodiment, as shown in fig. 2 and 3, the cage-shaped spring a1 is composed of left-handed spring steel wires 1-4, spring steel wire terminals 1-5, a pin a1-6, a pin b1-7, a front end support ring 1-1, a rear end support ring 1-2, and a middle support ring 1-3;
12 pin holes with the same size are uniformly distributed on the circumferential surface of the front end supporting ring 1-1 along the circumferential direction (the axial direction of the pin holes is parallel to the radial direction of the front end supporting ring 1-1), a pin shaft a1-6 is pinned in each pin hole, and one end of each of 12 left-handed spring steel wires 1-4 is rotatably connected to the pin shaft a1-6 through a spring steel wire terminal 1-5; wherein, two ends of each left-handed spring steel wire 1-4 are respectively provided with a spring steel wire terminal 1-5 through a set screw, and each spring steel wire terminal 1-5 is provided with a pin hole;
the rear end supporting ring 1-2 is connected with the other end of the 12 left-handed spring steel wires 1-4 by a pin shaft in the same way, so that the 12 left-handed spring steel wires 1-4 can rotate relative to the rear end supporting ring 1-2;
12 pin shafts b1-7 are uniformly and rotatably connected to the middle supporting ring 1-3 along the circumferential direction, each pin shaft b1-7 is provided with a through hole along the radial direction, and the corresponding left-handed spring steel wire 1-4 penetrates through the through hole, so that the middle supporting ring 1-3 is connected with the 12 left-handed spring steel wires 1-4 through the pin shaft b 1-7; during the compression or extension process of the cage-shaped spring a1, the pin a1-6 and the pin b1-7 can rotate on the front end supporting ring 1-1, the rear end supporting ring 1-2 and the middle supporting ring 1-3 to adapt to the change of the helix angle of the left-handed spring steel wire 1-4.
In this embodiment, the cage-shaped spring b2 has the same structure as the cage-shaped spring a1 except that the right-handed spring steel wire is different from the left-handed spring steel wire 1-4.
In the embodiment, as shown in fig. 4, the rope winder 3 is composed of a rope winding motor 3-1, a motor support 3-2, a pinion 3-3, a gearwheel 3-4, an angular contact ball bearing 3-5, a winch 3-6, a fixed pulley 3-7 and a steel wire rope 3-8; the winch 3-6 is installed on a base 5 through a pair of angular contact ball bearings 3-5, a rope winding motor 3-1 is supported on the base 5 through a motor support 3-2 and drives the winch 3-6 to rotate through a first-stage straight gear in a speed reduction mode (a small gear 3-3 is installed at the output end of the rope winding motor 3-1, a large gear 3-4 is fixedly connected with the winch 3-6 through a screw, and the small gear 3-3 is meshed with the large gear 3-4); the rotation axis of the winch 3-6 is coaxial with the axes of the cage-shaped spring a1 and the cage-shaped spring b2, the roots of three steel wire ropes 3-8 are uniformly fixed on the winch 3-6 along the circumferential direction of the winch 3-6 (namely the roots of three groups of steel wire ropes 3-8 are arranged in central symmetry), the positions of wire outlet points are also arranged in central symmetry, one side of the wire outlet position of each steel wire rope 3-8 is provided with a fixed pulley 3-7, each fixed pulley 3-7 is arranged on the base 5 through a screw, each steel wire rope 3-8 is converted from horizontal winding orientation to vertical stretching orientation through the corresponding fixed pulley 3-7, the movable end of each steel wire rope 3-8 is connected to the position of a fixed point on the load mounting plate 6 through a set screw, the positions of the fixed points on the load mounting plate 6 correspond to the positions of the wire outlet points of the rope winders 3 one by one, the steel wire ropes 3-8 are in a vertical state after being tensioned, the winch 3-6 rotates to realize synchronous winding or releasing of the three steel wire ropes 3-8, the resultant action line of the three steel wire ropes 3-8 is coaxial with the axial lines of the cage-shaped spring a1 and the cage-shaped spring b2, and the load mounting plate 6 is kept parallel to the base 5 in the process of spreading and retracting.
The variable-rigidity unfolding mechanism has the working principle that:
as shown in FIG. 5, the variable rate deployment mechanism is collapsed, with cage spring a1 and cage spring b2 in compression, and is deployed entirely by the restoring forces of cage spring a1 and cage spring b 2; the rope winder 3 controls the unfolding or folding stroke of the load mounting plate 6 and the sampling/detecting equipment 8 at the front end of the load mounting plate through the folding and unfolding of steel wire ropes 3-8 arranged on the rope winder; in the working process of contacting the sampling/detecting equipment 8 with the star catalogue, the force sensor 4 measures the action reaction force of the sampling/detecting equipment 8 in real time;
specifically, when the mechanism needs to be unfolded, the rope winding motor 3-1 controls the winch 3-6 to rotate anticlockwise, the steel wire rope 3-8 is released, and the whole mechanism is unfolded under the driving of restoring forces of the cage-shaped spring a1 and the cage-shaped spring b 2; when the mechanism needs to be furled, the rope winding motor 3-1 drives the winch 3-6 to rotate clockwise, the winch 3-6 overcomes the restoring force of the cage-shaped spring a1 and the cage-shaped spring b2 to recover the steel wire rope 3-8, and the load mounting plate 6 is lifted upwards to realize furling of the mechanism;
the rope winding motor 3-1 controls the unfolding stroke and the unfolding speed of the mechanism by controlling the folding and unfolding amount and the folding and unfolding speed of the steel wire rope 3-8; in the overall unfolding or folding process of the mechanism, due to the limiting effect of the front end supporting ring 1-1, the rear end supporting ring 1-2 and the middle supporting ring 1-3, the winding diameter of the spiral spring steel wire (the left-handed spring steel wire 1-4 and the right-handed spring steel wire) is unchanged, and the spiral lead angle is increased along with the unfolding of the cage-shaped spring a1 and the cage-shaped spring b 2; because the cage-shaped spring a1 and the cage-shaped spring b2 are designed in a series-connection reverse rotation mode, the rotation torques of the end parts of the cage-shaped spring a1 and the cage-shaped spring b2 are mutually counteracted in the unfolding and folding processes, the posture of the load mounting plate 6 relative to the base 5 is not twisted, and the stable and controllable contact posture of the sampling/detecting device 8 at the front end to the star catalogue is ensured under different unfolding heights;
in the contact working process of the sampling/detecting device 8 and the star catalogue, if the sampling/detecting device 8 is in a balanced state, the sum of the contact force of the sampling/detecting device to the star catalogue and the tension force on the steel wire ropes 3-8 is equal to the restoring force of the cage-shaped spring a1 and the cage-shaped spring b 2; since the unfolding stroke is known, the restoring forces of the cage-shaped spring a1 and the cage-shaped spring b2 can be predicted, the rope winder 3 adjusts the tension force on the steel wire rope 3-8 by adjusting the torque output of the winch 3-6, so that the downward pressure actually applied to the sampling/detecting device 8 by the cage-shaped spring a1 and the cage-shaped spring b2 can be controlled, the equivalent stiffness of the unfolding mechanism is changed, and the front-end working pressure or action counter force is guaranteed to be kept within an allowable range.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. A variable stiffness deployment mechanism for asteroid sampling exploration, comprising: the rope winding device comprises a cage-shaped spring a (1), a cage-shaped spring b (2), a rope winder (3), a force sensor (4), a base (5) and a load mounting plate (6);
one end of the cage-shaped spring a (1) and one end of the cage-shaped spring b (2) are coaxially connected in series through a spacer ring (7), and the rotating directions of the cage-shaped spring a and the cage-shaped spring b are opposite; the other end of the cage-shaped spring a (1) is connected with the front end of the base (5), and the rear end of the base (5) is installed on the detector; the other end of the cage-shaped spring b (2) is connected with the rear end of the load mounting plate (6), and the front end of the load mounting plate (6) is provided with a sampling/detecting device (8); the force sensor (4) is arranged between the load mounting plate (6) and the sampling/detecting equipment (8) and is used for measuring the reaction force of the sampling/detecting equipment (8) during working in real time; the rope winder (3) is arranged on the base (5) and used for driving a steel wire rope (3-8) connected between the rope winder (3) and the load mounting plate (6) to be wound or released so as to drive the load mounting plate (6) to be wound or released relative to the base (5).
2. A variable stiffness deployment mechanism for asteroid sampling exploration according to claim 1, characterized in that the rope winder (3) further comprises: the rope winding device comprises a rope winding motor (3-1), a motor support (3-2), an angular contact ball bearing (3-5), a winch (3-6) and a fixed pulley (3-7);
the winch (3-6) is mounted on the base (5) through a pair of angular contact ball bearings (3-5), the rope winding motor (3-1) is supported on the base (5) through a motor support (3-2) and drives the winch (3-6) to rotate through a first-stage straight gear in a speed reduction mode; the rotation axis of the winch (3-6) is coaxial with the axes of the cage-shaped spring a (1) and the cage-shaped spring b (2), the roots of more than two steel wire ropes (3-8) are fixed on the winch (3-6), one side of the wire outlet position of each steel wire rope (3-8) is provided with a fixed pulley (3-7), each fixed pulley (3-7) is arranged on the base (5), the steel wire ropes (3-8) are converted from horizontal winding orientation to vertical stretching orientation through the corresponding fixed pulleys (3-7), the movable end of each steel wire rope (3-8) is connected to the fixed point position on the load mounting plate (6), the fixed point positions on the load mounting plate (6) are in one-to-one correspondence with the wire outlet positions of the rope winders (3), the steel wire ropes (3-8) are in a vertical state after being tensioned, the winch (3-6) rotates to realize synchronous winding or releasing of more than two steel wire ropes (3-8), in the process of unfolding and folding, the load mounting plate (6) is parallel to the base (5).
3. A variable stiffness deployment mechanism for asteroid sampling exploration according to claim 2, characterized in that the rope winder (3) further comprises: a pinion (3-3) and a bull gear (3-4); the small gear (3-3) is installed at the output end of the rope winding motor (3-1), the large gear (3-4) is fixedly connected with the winch (3-6), and the small gear (3-3) is meshed with the large gear (3-4) to form a first-stage straight gear.
4. A variable stiffness deployment mechanism for asteroid sampling exploration according to claim 2, characterized in that three wire ropes (3-8) are installed between the rope winder (3) and the load mounting plate (6).
5. A variable stiffness deployment mechanism for asteroid sampling exploration according to claim 4, characterized in that three of said wire ropes (3-8) are evenly distributed in the circumferential direction of the winch (3-6).
6. A variable stiffness deployment mechanism for asteroid sampling exploration according to any one of claims 1-5, wherein the cage spring b (2) is the same structure and opposite in rotation direction to the cage spring a (1); the cage-shaped spring a (1) consists of left-handed spring steel wires (1-4), spring steel wire terminals (1-5), pin shafts a (1-6), pin shafts b (1-7), a front-end supporting ring (1-1), a rear-end supporting ring (1-2) and a middle supporting ring (1-3);
more than three pin holes with the same size are uniformly distributed on the circumferential surface of the front end supporting ring (1-1) along the circumferential direction, a pin shaft a (1-6) is connected to each pin hole in a pin mode, and one end of more than three left-handed spring steel wires (1-4) is rotatably connected to the pin shaft a (1-6) through spring steel wire terminals (1-5); wherein, two ends of each left-handed spring steel wire (1-4) are respectively provided with a spring steel wire terminal (1-5) through a set screw, and each spring steel wire terminal (1-5) is provided with a pin hole;
the rear end supporting circular ring (1-2) is rotationally connected with the other ends of the more than three left-handed spring steel wires (1-4);
more than three pin shafts b (1-7) are uniformly and rotatably connected to the middle supporting ring (1-3) along the circumferential direction, each pin shaft b (1-7) is provided with a through hole along the radial direction, and a corresponding left-handed spring steel wire (1-4) penetrates through the through hole; in the compression or extension process of the cage-shaped spring a (1), the pin shafts a (1-6) and the pin shafts b (1-7) rotate on the front end supporting ring (1-1), the rear end supporting ring (1-2) and the middle supporting ring (1-3) so as to adapt to the change of the helix angle of the left-handed spring steel wire (1-4).
7. The variable stiffness deployment mechanism for asteroid sampling exploration according to claim 6, characterized in that twelve left-handed spring wires (1-4) are provided between the front end support ring (1-1) and the rear end support ring (1-2).
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