CN114734407A - Commutator and tool for space station mechanical arm target adapter - Google Patents
Commutator and tool for space station mechanical arm target adapter Download PDFInfo
- Publication number
- CN114734407A CN114734407A CN202210664045.3A CN202210664045A CN114734407A CN 114734407 A CN114734407 A CN 114734407A CN 202210664045 A CN202210664045 A CN 202210664045A CN 114734407 A CN114734407 A CN 114734407A
- Authority
- CN
- China
- Prior art keywords
- commutator
- bevel gear
- target adapter
- driving mechanism
- torque wrench
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Details Of Spanners, Wrenches, And Screw Drivers And Accessories (AREA)
- Motor Or Generator Current Collectors (AREA)
Abstract
The invention provides a commutator and a tool for a space station mechanical arm target adapter, which comprise a handle mechanism, a fitting mechanism, a commutator shell, an expansion bolt clamping ring and a torque wrench interface, wherein a driving mechanism is arranged in the commutator shell; the locking mechanism and the attaching mechanism are both connected to the commutator shell, the locking mechanism is used for locking the handle mechanism, and the attaching mechanism is located below the expansion bolt clamping ring and used for attaching the target adapter. The commutator and the tool for the space station mechanical arm target adapter can realize the operation of quickly mounting and dismounting the expansion bolt of the target adapter, occupy small space and are convenient and fast to operate; the locking after the installation can be realized and fixed, and the reliability and the safety of product operation are improved.
Description
Technical Field
The invention belongs to the technical field of spaceflight, and particularly relates to a commutator and an on-orbit quick dismounting tool for dismounting an expansion bolt of a target adapter of a mechanical arm of a space station.
Background
The space manipulator plays an indispensable role in the space station assembling and building process. The target adapters are used as base points of the space manipulator and distributed at each designated position of the cabin wall of the space station, and are matched with the space manipulator to capture a target object and complete a task of crawling the surface of the cabin; if the target adapter fails, the operation range of the space manipulator is directly influenced, and even the task of the space manipulator fails; the arrangement of the peripheral cabin of the target adapter is compact, the radial allowable space of a product is small, the distance between the expansion bolts and the radial installation of the target adapter is only 37mm, the axial distance between the expansion bolts and the installation bottom surface of the target adapter, and the radial allowable space and the space between the expansion bolts and the cabin wall are limited, so that a tool is urgently needed for disassembling and assembling the target adapter or the expansion bolts, and the maintenance tool also needs to meet the space constraint requirement.
Disclosure of Invention
In view of the above, the present invention is directed to a diverter for a target adapter of a robot arm in a space station, so as to provide a diverter capable of meeting the requirements of quick unloading and reloading of an expansion bolt of a target adapter, thereby achieving the task of quick on-track maintenance and replacement of the target adapter.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a commutator for a space station mechanical arm target adapter comprises a handle mechanism, a fitting mechanism, a commutator shell, an expansion bolt clamping ring and a torque wrench interface piece,
a driving mechanism is arranged in the commutator shell, two ends of the driving mechanism are respectively connected to the expansion bolt clamping ring and the torque wrench interface piece, and the torque wrench interface piece drives the expansion bolt clamping ring to rotate through the driving mechanism under the action of external force;
the handle mechanism is movably connected with the commutator shell and used for fixing the target adapter;
the locking mechanism and the attaching mechanism are connected to the commutator housing, the locking mechanism is used for locking the handle mechanism, and the attaching mechanism is located below the expansion bolt clamping ring and used for attaching the target adapter.
Furthermore, the driving mechanism comprises a vertical driving mechanism and a horizontal driving mechanism, one side of the horizontal driving mechanism is fixedly provided with an expansion bolt clamping ring, the vertical driving mechanism is meshed with the horizontal driving mechanism, a torque wrench interface is fixedly arranged above the vertical driving mechanism, and under the action of external force, the torque wrench interface drives the expansion bolt clamping ring to rotate through the vertical driving mechanism and the horizontal driving mechanism.
Further, vertical drive mechanism includes the bevel gear axle, go up the bevel gear, horizontal drive mechanism includes down the bevel gear, down the bevel gear axle, moment spanner interface piece below fixed mounting goes up the bevel gear axle, go up bevel gear axle bottom fixed mounting and go up the bevel gear, go up bevel gear one side and lower bevel gear meshing, and can drive down bevel gear and rotate, bevel gear axle down in the inside fixed mounting of lower bevel gear, lower bevel gear axle one side fixed mounting expansion bolts snap ring, go up the outside bearing that cup joints of bevel gear axle, the bearing is installed on the inner wall of commutator housing top, a rolling bearing is cup jointed to lower bevel gear axle outside, rolling bearing fixed mounting is on the inner wall of commutator housing one side.
Further, laminating mechanism includes arc backup plate, hypoplastron, activity tongue torsional spring and activity tongue pivot, hypoplastron top fixed mounting arc backup plate, and the arc backup plate is located expansion bolts snap ring below, and the opening of arc backup plate is outside, and outside edge is located the inboard at the outside edge of expansion bolts snap ring, hypoplastron one side fixed connection to commutator housing, the opposite side fixed mounting activity tongue pivot of hypoplastron, the outside fixed movable tongue torsional spring that cup joints of activity tongue pivot, the outside still fixed connection to activity tongue of activity tongue pivot.
Furthermore, a friction disc is fixedly installed above the shell of the commutator, an elastic plunger is fixedly sleeved outside the torque wrench interface piece, and the elastic plunger is located above the friction disc and is in contact connection with the friction disc and the torque wrench interface piece.
Furthermore, the commutator shell is movably connected with the handle mechanism in a limiting way.
Furthermore, the handle mechanism comprises an upper pressure plate, a fixed handle and a movable handle, one side of the upper pressure plate is connected with the commutator shell in a limiting and rotating mode, one end of the upper pressure plate is fixedly connected with the fixed handle, and the other end of the upper pressure plate is connected with the movable handle in a rotating mode.
Furthermore, the side plate of the upper press plate is connected to the side wall of the commutator housing through the press plate rotating shaft, the press plate torsional spring is fixedly sleeved outside the press plate rotating shaft, the side plate of the upper press plate is also fixedly provided with a torsional spring limiting shaft, and the torsional spring limiting shaft is positioned above the press plate torsional spring and used for limiting the press plate rotating shaft.
Furthermore, locking mechanism includes locking spanner and locking cam, and locking cam passes through the connecting piece and is connected to the commutator casing, and can rotate relative to the connecting piece, and locking cam one side fixed connection is to locking spanner.
Compared with the prior art, the commutator for the space station mechanical arm target adapter has the following advantages:
(1) the commutator for the target adapter of the mechanical arm of the space station can realize the operation of quickly mounting and dismounting the expansion bolt of the target adapter, occupies small space and is convenient and fast to operate; the locking after the installation can be realized and fixed, and the reliability and the safety of product operation are improved.
(2) The commutator for the space station mechanical arm target adapter can be realized by one hand, so that the reliability and the safety of on-orbit maintenance operation of astronauts are improved. After the task ergonomics evaluation, the operation meets the ergonomic requirement.
Another object of the present invention is to provide a tool for a target adapter of a robotic arm of a space station, so as to provide a tool capable of satisfying the quick unloading and reloading work of an expansion bolt of the target adapter, thereby realizing the on-track quick maintenance and replacement task of the target adapter.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a tool for a space station mechanical arm target adapter comprises a torque wrench, wherein the torque wrench is detachably connected with a torque wrench interface clamp of a commutator, and the loading direction of the torque wrench is adjusted, so that the commutator transfers movement to load and unload an expansion bolt.
Compared with the prior art, the tool for the space station mechanical arm target adapter has the same advantages as the commutator for the space station mechanical arm target adapter, and the description is omitted.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 is a schematic structural diagram of a commutator for a target adapter of a robot arm of a space station according to an embodiment of the present invention;
FIG. 2 is an enlarged view of portion A of FIG. 1;
FIG. 3 is a schematic structural diagram of a handle mechanism according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a bonding mechanism according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a tool for a target adapter of a robotic arm of a space station according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a tool in use for a target adapter of a robotic arm at a spatial station according to an embodiment of the present invention;
FIG. 7 is an enlarged view of portion B of FIG. 6;
FIG. 8 is a schematic view of the position of the diverter when the upper platen according to an embodiment of the present invention is inserted into a target adapter;
FIG. 9 is a schematic view of a diverter in accordance with an embodiment of the present invention in a position mounted to a target adapter;
FIG. 10 is a schematic diagram illustrating the state of the diverter in an initial securement with a target adapter in accordance with an embodiment of the present invention;
FIG. 11 is a schematic view of the state of the diverter when latched to a target adapter in accordance with an embodiment of the present invention;
fig. 12 is a schematic diagram of a tool use state of a target adapter for a robot arm of a space station according to an embodiment of the present invention.
Description of reference numerals:
1-a target adapter; 11-expansion bolts; 12-upper surface end teeth; 13-side skin; 2-torque wrench; 21-rotating the main shaft; 22-a restoring spring; 23-semilunar axis; 24-a head housing; 25-a roller; 26-a spring; 27-a reversing top bead; 28-connecting pin; 29-pressing the spindle; 210-a tool end tip bead; 211-square tenon; 3-a commutator; 31-an upper platen; 32-a fixed handle; 33-a movable handle; 34-a movable handle base; 35-a movable handle rotating shaft; 36-torque wrench interface; 37-a resilient plunger; 38-platen shaft; 39-torsion spring limiting shaft; 310-a friction disc; 311-locking spanner; 312-a locking cam; 313-a commutator housing; 314-a string loop; 315-extravehicular fixation interface; 316-arc backup plate; 317-expansion bolt snap ring; 318-lower plate; 319-movable tongue; 320-a movable tongue torsion spring; 321-a movable tongue rotating shaft; 322-platen torsion spring; 323-upper bevel gear shaft; 324-a bearing; 325-upper bevel gear; 326-lower bevel gear; 327-lower bevel gear shaft; 328-a rotational bearing; 329-cardboard.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
The commutator 3 for the space station mechanical arm target adapter is shown in fig. 1 to 12 and comprises a handle mechanism, a fitting mechanism, a commutator housing 313 and a driving mechanism arranged in the commutator housing 313, wherein one end of the driving mechanism is provided with an expansion bolt clamping ring 317, the other end of the driving mechanism is provided with a torque wrench interface 36, under the action of external force, the torque wrench interface 36 drives the expansion bolt clamping ring 317 to rotate through the driving mechanism, one side of the commutator housing 313 is movably connected with the handle mechanism in a limiting manner, and the commutator is convenient to fix the target adapter; a locking mechanism is arranged above the commutator shell 313 and used for locking the upper pressing plate 31 of the handle mechanism; the attachment mechanism is fixedly mounted below the commutator housing 313 and is located below the expansion bolt snap ring 317 for attaching to a target adapter. The quick mounting and dismounting operation of the expansion bolt of the target adapter can be realized, the occupied space is small, and the operation is convenient and fast; the locking and fixing after the installation can be realized, and the reliability and the safety of the product operation are improved; the requirements of single-hand operation and low operating force are met, and the operating requirements are met through ergonomic evaluation.
As shown in fig. 6 and 7, the driving mechanism includes a vertical driving mechanism and a horizontal driving mechanism, an expansion bolt clamping ring 317 is fixedly installed on one side of the horizontal driving mechanism, the vertical driving mechanism is engaged with the horizontal driving mechanism, a torque wrench interface 36 is fixedly installed above the vertical driving mechanism, and under the action of external force, the torque wrench interface 36 drives the expansion bolt clamping ring 317 to rotate through the vertical driving mechanism and the horizontal driving mechanism.
In one embodiment, the vertical driving mechanism comprises an upper bevel gear shaft 323 and an upper bevel gear 325, the horizontal driving mechanism comprises a lower bevel gear 326 and a lower bevel gear shaft 327, the upper bevel gear shaft 323 is fixedly installed below the torque wrench interface member 36, the upper bevel gear 325 is fixedly installed at the bottom of the upper bevel gear shaft 323, one side of the upper bevel gear 325 is meshed with the lower bevel gear 326 and can drive the lower bevel gear 326 to rotate, the lower bevel gear shaft 327 is fixedly installed inside the lower bevel gear 326, the expansion bolt snap ring 317 is fixedly installed at one side of the lower bevel gear shaft 327, the bearing 324 is sleeved outside the upper bevel gear shaft 323, the bearing 324 is installed on the inner wall above the commutator housing 313, the rotating bearing 328 is sleeved outside the lower bevel gear shaft 327, and the rotating bearing 328 is fixedly installed on the inner wall at one side of the commutator housing 313. When the torque wrench interface 36 is rotated, the upper bevel gear shaft 323 and the upper bevel gear 325 are driven to rotate, and the lower bevel gear 326, the lower bevel gear shaft 327 and the expansion bolt clamp ring 317 are driven to rotate. In another embodiment, the vertical drive mechanism comprises an upper bevel gear 325, the horizontal drive mechanism comprises a lower bevel gear 326, a side wall of one side of the upper bevel gear 325 is fixedly connected to the bottom of the torque wrench interface 36, the upper bevel gear 325 and the lower bevel gear 326 are both helical gears and are engaged with each other, a side wall of the lower bevel gear 326 is fixedly connected to the expansion bolt retaining ring 317, and when the torque wrench interface 36 is rotated, the upper bevel gear 325 is driven to rotate the lower bevel gear 326 and the expansion bolt retaining ring 317. Preferably, the upper bevel gear 325 is vertically disposed, and the lower bevel gear 326 is horizontally disposed, so that the vertical and horizontal states facilitate the engagement with the target adapter 1, while increasing the stability of the apparatus in use. The upper bevel gear 325, the lower bevel gear 326, the bearing 324 and the rotating bearing 328 are all located inside the commutator housing 313, so that the gears are prevented from being damaged, meanwhile, the gears are prevented from scratching workers during use, the commutator housing 313 also plays a dustproof role, and the phenomenon that the commutator 3 is easily damaged or has poor precision due to the fact that dust is increased during the use time of the gears and the bearings is avoided.
As shown in fig. 4, the attaching mechanism includes an arc-shaped backup plate 316, a lower plate 318, a movable tongue 319, a movable tongue torsion spring 320, and a movable tongue rotation shaft 321, the arc-shaped backup plate 316 is fixedly installed above the lower plate 318, the arc-shaped backup plate 316 is located below the expansion bolt snap ring 317, an opening of the arc-shaped backup plate 316 is outward, an outermost edge of the arc-shaped backup plate is located inside an outer edge of the expansion bolt snap ring 317, one side of the lower plate 318 is fixedly connected to the commutator housing 313, the other side of the lower plate 318 is fixedly installed with the movable tongue rotation shaft 321, the movable tongue torsion spring 320 is fixedly sleeved outside the movable tongue rotation shaft 321, and the movable tongue 319 is also fixedly connected to the outside of the movable tongue rotation shaft 321.
The friction disc 310 is fixedly installed above the commutator shell 313, the elastic plunger 37 is fixedly sleeved outside the torque wrench interface piece 36, the elastic plunger 37 is located above the friction disc 310 and is in contact connection with the friction disc 310, the elastic plunger 37 increases the friction resistance between the torque wrench interface piece 36 and the friction disc 310 due to the self elastic action, the commutator 3 can stay in situ under the action of friction force, and the phenomenon that the commutator 3 is driven to rotate in a hollow way by the torque wrench 2 when the ratchet wheel is in a hollow way is avoided, so that the commutator 3 can continuously move in a single direction under the action of the unidirectional force of the torque wrench.
A rope ring 314 and an outboard fixed interface 315 are fixedly arranged on one side of the commutator shell 313, the rope ring 314 is convenient for astronauts to install pull ropes or ropes in the air, and the outboard fixed interface 315 is convenient for butt joint with the cabin wall of the space station.
The handle mechanism comprises an upper pressing plate 31, a fixed handle 32, a movable handle 33, a movable handle base 34, a movable handle rotating shaft 35, a pressing plate rotating shaft 38, a torsion spring limiting shaft 39 and a pressing plate torsion spring 322, the upper pressing plate 31 is of an L-shaped plate structure, a clamping plate 329 is fixedly installed on the outer side of the upper pressing plate 31, the fixed handle 32 is installed on one side, away from a commutator shell 313, of the upper plate of the upper pressing plate 31, the movable handle base 34 is installed on one side, close to the commutator shell 313, above the movable handle base 34, the movable handle rotating shaft 35 is connected to the movable handle 33 through the movable handle rotating shaft 35, the movable handle 33 can rotate along the movable handle rotating shaft 35 under the action of external force, and side plates of the upper pressing plate 31 are connected with the commutator shell 313 in a limiting and rotating mode.
In one or more embodiments, a side plate of the upper pressing plate 31 is connected to a side wall of the commutator housing 313 through a pressing plate rotating shaft 38, the pressing plate rotating shaft 38 is fixedly sleeved with a pressing plate torsion spring 322, the side plate of the upper pressing plate 31 is also fixedly provided with a torsion spring limiting shaft 39, and the torsion spring limiting shaft 39 is located above the pressing plate torsion spring 322 and used for limiting the pressing plate rotating shaft 38; but single hand gripping activity handle 33 and moment spanner interface piece 36 simultaneously during astronaut one-hand operation, with top board 31 open around clamp plate pivot 38 anticlockwise rotation, specific butt joint plug-in state, specific process is: the index finger and the middle finger (or any two fingers between the index finger, the middle finger and the ring finger) of the astronaut are respectively positioned at two sides of the movable handle 33, the thumb holds the torque wrench interface piece 36, so that the torque wrench interface piece 36 is positioned at the jaw of the hand, the astronaut pulls the movable handle 33 with one hand to rotate towards one side of the torque wrench interface piece 36, after the movable handle 33 is pulled by the fingers, the movable handle 33 sequentially passes through the movable handle rotating shaft 35 and the movable handle base 34 and drives the upper pressure plate 31 to rotate and open around the pressure plate rotating shaft 38 anticlockwise until the clamping plate 329 is just inserted into the groove of the target adapter 1, and the relative position of the commutator 3 and the target adapter 1 is fixed. The installation, fixation and locking of the commutator 3 and the target adapter 1 can be realized through the rotation and resetting of the upper pressure plate 31 and the movable tongue 319, and specific steps can be seen in the working process of a tool used for the target adapter of the mechanical arm of the space station below the text.
The locking mechanism comprises a locking wrench 311 and a locking cam 312, two sides of the locking cam 312 are respectively movably sleeved with a connecting piece, the lower part of the connecting piece is fixedly installed at the top of the commutator shell 313, one side of the locking cam 312 is fixedly connected to the locking wrench 311, the locking wrench 311 rotates under external force and can drive the locking cam 312 to rotate together, so that the locking cam 312 and the upper pressure plate 31 are clamped and fixed to form locking. The locking wrench 311 may be in a horizontal state or a vertical state, and may be a triangle with a sharp corner at one end, and the sharp corner has an indicating function, so that the worker can observe the angle conveniently.
The fixing and mounting mode can be any one or combination of screw connection, bolt connection and welding.
The torque wrench interface 36 is provided with a recess at the top for locking the torque wrench 2. The expansion bolt snap ring 317 is provided with an open slot for insertion of the target adapter expansion bolt 11.
As shown in fig. 5 and 6, the tool for the space station mechanical arm target adapter comprises a commutator 3 (hereinafter referred to as "commutator 3") and a torque wrench 2 for the space station mechanical arm target adapter, wherein when an expansion bolt of the space station mechanical arm target adapter needs to be operated, the commutator 3 is firstly butt-jointed, installed, fixed and locked with the target adapter 1; the moment wrench 2 is connected with the commutator 3, and the loading direction on the moment wrench 2 is adjusted, so that the commutator 3 can transmit motion to load and unload the expansion bolt.
The torque wrench 2 design is described in CN 110315459A patent, which is a slip type torque wrench with a dropping device. To facilitate the description of the operation of the tool for the space station robot arm target adapter, a brief description will now be given of the components of the torque wrench 2, the torque wrench 2 including a rotating spindle 21, a restoring spring 22, a half-moon shaft 23, a head housing 24, a roller 25, a spring 26, a reversing tip bead 27, a connecting pin 28, a pressing spindle 29, a tool end tip bead 210, and a square tenon 211.
The torque wrench 2 is used for applying torque to the expansion bolt 11 of the target adapter 1, has overload slipping capacity and prevents overload from damaging products; in addition, the torque wrench 2 has a ratchet function and a capability of continuous and repeated operation in a small operation space. The commutator 3 is used for mounting, fixing and locking with the target adapter 1, and commutates the rotating operation of the expansion bolt 11, reducing the radial maintenance space.
As shown in fig. 2 to 12, the working process of the tool for the space station robot arm target adapter is as follows:
1) as shown in fig. 8, the locking wrench 311 is confirmed to be in a vertical state, and the torque wrench interface 36 is manually rotated according to the opening direction of the expansion bolt 11 of the target adapter, so as to adjust the direction of the opening groove of the expansion bolt clamping ring 317 to match the opening direction of the expansion bolt 11; the torque wrench interface 36 and the movable handle 33 are held by a single hand, so that the commutator upper pressure plate 31 rotates around the pressure plate rotating shaft 38 counterclockwise and is opened under the action of holding force;
2) as shown in fig. 9, the state commutator 3 in the step 1) is installed with the target adapter 1, and during assembly, firstly, the expansion bolt snap ring 317 and the target adapter expansion bolt 11 are ensured to be inserted; after the insertion, the commutator 3 is pushed along the axial direction of the expansion bolt 11, at the moment, the commutator 3 is gradually inserted and close to the target adapter 1 under the action of thrust, the commutator lower plate 318 is inserted into the bottom surface of the side skin 13 of the target adapter until the side skin 13 is contacted with the movable tongue 319, the movable tongue 319 rotates anticlockwise around the movable tongue rotating shaft 321 and topples under the action of thrust, and after the movable tongue 319 crosses the width of the side skin 13, the movable tongue 319 rotates anticlockwise and resets under the action of the torque of the movable tongue torsion spring 320;
3) as shown in fig. 10, the commutator 3 is continuously pushed until the arc-shaped backup plate 316 completely fits the side skin 13 of the target adapter 1; after the complete attachment in place is confirmed through visual appearance, the movable handle 33 is loosened, and at the moment, the upper pressing plate 31 rotates clockwise under the torque action of the pressing plate torsion spring 322 and is clamped with the upper surface end teeth 12 of the target adapter 1 to form primary fixation;
4) as shown in fig. 11, the locking wrench 311 is pressed by one hand to change the vertical state into the horizontal state, the locking wrench 311 is pressed to drive the locking cam 312 to rotate together, and the locking cam 312 is clamped and fixed with the upper pressing plate 31 to form locking;
5) as shown in fig. 5, 6 and 12, the torque wrench 2 is connected with the commutator 3, and the rotating spindle 21 on the torque wrench 2 is pressed, and the tool end top bead 210 falls into the groove of the pressing spindle 29; the square tenon 211 of the torque wrench 2 is inserted into the groove of the torque wrench interface 36, after the square tenon is inserted in place, the rotating main shaft 21 on the torque wrench 2 is not pressed any more, the rotating main shaft 21 bounces and resets under the thrust action of the restoring spring 22, the tool end ejector bead 210 is pushed out and is clamped and locked with the groove of the torque wrench interface 36;
6) rotating a main rotating shaft 21 of the torque wrench 2 to switch loading or unloading for reversing; the rotation operation of the expansion bolt 11 of the target adapter can be realized by rotating the torque wrench 2; when the torque wrench 2 rotates, due to the friction force between the friction disc 310 and the elastic plunger 37, the commutator 3 can be ensured to stay in the original position under the action of the friction force when the torque wrench 2 returns, and idle running is avoided;
7) and (4) according to the reverse sequence of the steps, the commutator 3 and the torque wrench 2 can be taken down.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. A commutator for a space station robotic arm target adapter, comprising: comprises a handle mechanism, a joint mechanism, a commutator shell, an expansion bolt snap ring and a torque wrench interface piece,
a driving mechanism is arranged in the commutator shell, two ends of the driving mechanism are respectively connected to the expansion bolt clamping ring and the torque wrench interface piece, and the torque wrench interface piece drives the expansion bolt clamping ring to rotate through the driving mechanism under the action of external force;
the handle mechanism is movably connected with the commutator shell and used for fixing the target adapter;
the locking mechanism and the attaching mechanism are both connected to the commutator shell, the locking mechanism is used for locking the handle mechanism, and the attaching mechanism is located below the expansion bolt clamping ring and used for attaching the target adapter.
2. The diverter for a space station robotic arm target adapter as defined in claim 1, wherein: the driving mechanism comprises a vertical driving mechanism and a horizontal driving mechanism, one side of the horizontal driving mechanism is fixedly provided with an expansion bolt clamping ring, the vertical driving mechanism is meshed with the horizontal driving mechanism, a torque wrench interface piece is fixedly arranged above the vertical driving mechanism, and under the action of external force, the torque wrench interface piece drives the expansion bolt clamping ring to rotate through the vertical driving mechanism and the horizontal driving mechanism.
3. The diverter for a space station robot target adapter of claim 2, wherein: the vertical driving mechanism comprises an upper bevel gear shaft, an upper bevel gear, the horizontal driving mechanism comprises a movable lower bevel gear, a lower bevel gear shaft, an upper bevel gear shaft is fixedly installed below the torque wrench interface piece, an upper bevel gear is fixedly installed at the bottom of the upper bevel gear shaft, one side of the upper bevel gear is meshed with the lower bevel gear and can drive the lower bevel gear to rotate, a lower bevel gear shaft is fixedly installed inside the lower bevel gear, an expansion bolt snap ring is fixedly installed on one side of the lower bevel gear shaft, a bearing is sleeved outside the upper bevel gear shaft, the bearing is installed on the inner wall above the commutator housing, a rotating bearing is sleeved outside the lower bevel gear shaft, and the rotating bearing is fixedly installed on the inner wall on one side of the commutator housing.
4. The diverter for a space station robot target adapter of claim 1, wherein: the laminating mechanism comprises an arc-shaped backup plate, a lower plate, a movable tongue torsion spring and a movable tongue rotating shaft, wherein the arc-shaped backup plate is fixedly installed above the lower plate and is located below the expansion bolt clamping ring, the opening of the arc-shaped backup plate is outward, the outermost edge of the arc-shaped backup plate is located on the inner side of the outer edge of the expansion bolt clamping ring, one side of the lower plate is fixedly connected to the commutator shell, the movable tongue rotating shaft is fixedly installed on the other side of the lower plate, the movable tongue torsion spring is fixedly sleeved outside the movable tongue rotating shaft, and the movable tongue is further fixedly connected to the movable tongue outside the movable tongue rotating shaft.
5. The diverter for a space station robotic arm target adapter as defined in claim 1, wherein: the friction disc is fixedly installed above the commutator shell, the elastic plunger is fixedly sleeved outside the torque wrench interface piece, and the elastic plunger is located above the friction disc and is in contact connection with the friction disc and the elastic plunger.
6. The diverter for a space station robot target adapter of claim 1, wherein: the commutator shell is movably connected with the handle mechanism in a limiting way.
7. The diverter for a space station robotic arm target adapter as defined in claim 1, wherein: the handle mechanism comprises an upper pressure plate, a fixed handle and a movable handle, one side of the upper pressure plate is connected with the commutator shell in a limiting and rotating mode, one end of the upper pressure plate is fixedly connected with the fixed handle, and the other end of the upper pressure plate is connected with the movable handle in a rotating mode.
8. The diverter for a space station robot target adapter of claim 7, wherein: the curb plate of top board is connected to commutator casing lateral wall through the clamp plate pivot, and the clamp plate torsional spring is cup jointed to clamp plate pivot outside fixed, and the curb plate of top board is the spacing axle of fixed mounting torsional spring still, and the spacing axle of torsional spring is located the clamp plate torsional spring top for carry on spacingly to the clamp plate pivot.
9. The diverter for a space station robot target adapter of claim 1, wherein: the locking mechanism comprises a locking wrench and a locking cam, the locking cam is connected to the commutator housing through a connecting piece and can rotate relative to the connecting piece, and one side of the locking cam is fixedly connected to the locking wrench.
10. A tool for applying the commutator for a space station robot target adapter of any one of claims 1 to 9, comprising a torque wrench, wherein: the torque wrench is detachably connected with a torque wrench interface clamp of the commutator, and the loading direction of the torque wrench is adjusted, so that the commutator transfers movement to load and unload the expansion bolt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210664045.3A CN114734407B (en) | 2022-06-14 | 2022-06-14 | Commutator and tool for space station mechanical arm target adapter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210664045.3A CN114734407B (en) | 2022-06-14 | 2022-06-14 | Commutator and tool for space station mechanical arm target adapter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114734407A true CN114734407A (en) | 2022-07-12 |
| CN114734407B CN114734407B (en) | 2022-09-02 |
Family
ID=82287152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210664045.3A Active CN114734407B (en) | 2022-06-14 | 2022-06-14 | Commutator and tool for space station mechanical arm target adapter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114734407B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122265A (en) * | 2022-09-01 | 2022-09-30 | 天津航天机电设备研究所 | Space station target adapter expansion bolt uninstallation instrument |
| CN115139261A (en) * | 2022-09-01 | 2022-10-04 | 天津航天机电设备研究所 | Expansion bolt reversing tool for space station target adapter |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8424421B1 (en) * | 2012-03-26 | 2013-04-23 | World Tools Co., Ltd. | Jog-shuttle type ratchet wrench |
| CN208231661U (en) * | 2018-02-01 | 2018-12-14 | 阿尔特汽车技术股份有限公司 | A kind of tool crossover sub tool structure |
| CN113059533A (en) * | 2021-03-12 | 2021-07-02 | 河北工业职业技术学院 | Linkage screw rotating device |
| CN113253794A (en) * | 2021-05-31 | 2021-08-13 | 天津航天机电设备研究所 | Three-axis air bearing table pin lock mechanism |
| CN113681493A (en) * | 2021-09-03 | 2021-11-23 | 北京卫星环境工程研究所 | Fixed force wrench for astronaut in gravity-free environment |
| CN113733000A (en) * | 2021-09-03 | 2021-12-03 | 北京卫星环境工程研究所 | Aerospace ratchet wrench capable of being used with single hand |
| CN114290288A (en) * | 2021-12-07 | 2022-04-08 | 北京卫星环境工程研究所 | Spacecraft final assembly fastener pre-tightening device based on torque reversing |
| CN114474161A (en) * | 2022-04-19 | 2022-05-13 | 天津航天机电设备研究所 | Space station arm compresses tightly seat conversion equipment |
-
2022
- 2022-06-14 CN CN202210664045.3A patent/CN114734407B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8424421B1 (en) * | 2012-03-26 | 2013-04-23 | World Tools Co., Ltd. | Jog-shuttle type ratchet wrench |
| CN208231661U (en) * | 2018-02-01 | 2018-12-14 | 阿尔特汽车技术股份有限公司 | A kind of tool crossover sub tool structure |
| CN113059533A (en) * | 2021-03-12 | 2021-07-02 | 河北工业职业技术学院 | Linkage screw rotating device |
| CN113253794A (en) * | 2021-05-31 | 2021-08-13 | 天津航天机电设备研究所 | Three-axis air bearing table pin lock mechanism |
| CN113681493A (en) * | 2021-09-03 | 2021-11-23 | 北京卫星环境工程研究所 | Fixed force wrench for astronaut in gravity-free environment |
| CN113733000A (en) * | 2021-09-03 | 2021-12-03 | 北京卫星环境工程研究所 | Aerospace ratchet wrench capable of being used with single hand |
| CN114290288A (en) * | 2021-12-07 | 2022-04-08 | 北京卫星环境工程研究所 | Spacecraft final assembly fastener pre-tightening device based on torque reversing |
| CN114474161A (en) * | 2022-04-19 | 2022-05-13 | 天津航天机电设备研究所 | Space station arm compresses tightly seat conversion equipment |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115122265A (en) * | 2022-09-01 | 2022-09-30 | 天津航天机电设备研究所 | Space station target adapter expansion bolt uninstallation instrument |
| CN115139261A (en) * | 2022-09-01 | 2022-10-04 | 天津航天机电设备研究所 | Expansion bolt reversing tool for space station target adapter |
| CN115139261B (en) * | 2022-09-01 | 2022-11-25 | 天津航天机电设备研究所 | Expansion bolt reversing tool for space station target adapter |
| CN115122265B (en) * | 2022-09-01 | 2022-12-02 | 天津航天机电设备研究所 | Space station target adapter expansion bolt uninstallation instrument |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114734407B (en) | 2022-09-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114734407B (en) | Commutator and tool for space station mechanical arm target adapter | |
| US7814816B2 (en) | Power tool, battery, charger and method of operating the same | |
| JP5155375B2 (en) | Reciprocating adjustable spanner | |
| US8104382B2 (en) | Universal joint | |
| US8777934B1 (en) | Balancer swivel arm assembly | |
| CN110877308B (en) | Robot balancer maintenance jig | |
| US5537897A (en) | Split socket with movable facets and drive assembly | |
| US4968077A (en) | Portable hand hold device | |
| US5184861A (en) | Split rail gripper assembly and tool driver therefor | |
| US4970918A (en) | Adjustable tool | |
| JPH01234175A (en) | Power wrench | |
| EP0325669A1 (en) | Hydropneumatic gun for setting blind-rivet nuts | |
| CN111421567A (en) | Gear differential type under-actuated three-joint mechanical finger structure and operation method thereof | |
| US6651532B1 (en) | Drivable socket wrench | |
| JP2002160188A (en) | Robot arm mechanism | |
| US8342063B2 (en) | Open-ended ratchet wrench | |
| WO1990011416A1 (en) | Device for joining structural member for truss | |
| US4339970A (en) | Serviceable releasable socket retaining ratchet | |
| WO2021007860A1 (en) | Locking mechanism of pan-tilt, pan-tilt and unmanned aerial vehicle | |
| CN216264495U (en) | Assembly fixture and assembly system | |
| CN113681584B (en) | Mechanical arm | |
| CN214025443U (en) | Ratchet open spanner | |
| CN109573111B (en) | General large-tolerance space docking mechanism | |
| CN108858053B (en) | Fastening device | |
| US20070107559A1 (en) | Ratchet breakover tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |