CN114986548B - Electromechanical quick-change interface for renewable robot for large-scale spatial operation - Google Patents
Electromechanical quick-change interface for renewable robot for large-scale spatial operation Download PDFInfo
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- CN114986548B CN114986548B CN202210393978.3A CN202210393978A CN114986548B CN 114986548 B CN114986548 B CN 114986548B CN 202210393978 A CN202210393978 A CN 202210393978A CN 114986548 B CN114986548 B CN 114986548B
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 238000003032 molecular docking Methods 0.000 claims abstract description 27
- 210000001503 joint Anatomy 0.000 claims description 15
- 230000008859 change Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 2
- 238000001125 extrusion Methods 0.000 claims description 2
- 238000000926 separation method Methods 0.000 claims description 2
- 239000010959 steel Substances 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 13
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000006870 function Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 230000006798 recombination Effects 0.000 description 2
- 238000005215 recombination Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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- Engineering & Computer Science (AREA)
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Abstract
An electromechanical quick-change interface for a renewable robot for large-scale space operation belongs to the technical field of space on-orbit construction robots. The environment adaptability, the hardware fault tolerance capability, the large-scale accurate mobility capability and the functional diversity of the space robot are improved to a great extent. The interface comprises a docking mechanism, a locking mechanism and an electrical module; the docking mechanism is of a split type docking structure, two split bodies of the docking mechanism are locked into a whole or separated into two parts through the locking mechanism, and the electric module is arranged on the docking mechanism. The invention has the advantages of small volume, light weight, large tolerance, high connection precision and high connection strength, has simple structure and reliable functions, and greatly improves the environment adaptability, hardware fault tolerance capability, large-scale accurate movement capability and functional diversity of the space robot.
Description
Technical Field
The invention belongs to the technical field of space on-orbit construction robots, and particularly relates to an electromechanical quick-change interface for a space large-scale operation renewable robot.
Background
With the continuous development of space science and technology, the construction demands of large space facilities such as space stations, space power stations, on-orbit fuel supply stations and the like are increasingly urgent. The on-orbit construction technology breaks through the limitation of vehicles, makes it possible to construct ultra-large space facilities, and has been studied in the united states, europe, japan, canada, and other countries. Meanwhile, international space station construction and maintenance experience has shown that: the space robot is core equipment of on-orbit service of the spacecraft, and safety and economy of space control can be greatly improved. However, with the continuous depth of human space utilization and development, the existing 6-7 degree of freedom space robot system cannot meet the future on-orbit construction requirements. The international space station is built in 1998, the building is completed in 2010 to enter a comprehensive use stage, and a space robot mobile service system comprising SSRMS, MBS and SPDM is built successively to adapt to the environment of the gradually huge space station and the complex tasks, so that the on-orbit building space robot develops towards multiple branches, super redundancy and multiple functions. Compared with the international space station, the on-orbit construction workload is larger, the task variety is more, the working environment is more complex in the future, and new challenges are provided for the large-range mobile working capacity, the configuration change and the functional diversity of the on-orbit construction space robot. The on-orbit construction robot technology is an important guarantee for realizing the aerospace state of China.
In the face of future on-orbit construction space robot technology, a space multi-branch renewable robot system which is light, can move in a large range and has an on-orbit autonomous configuration recombination is provided, an electromechanical quick-change interface is one of key technologies of the space renewable robot system, the space renewable robot consists of joint modules through the electromechanical quick-change interface, and on-orbit configuration recombination, fault module replacement and end effector replacement can be independently completed through the quick-change interface so as to adapt to different on-orbit construction task requirements; meanwhile, a certain number of electromechanical quick-change interfaces are arranged on the space truss, and the space renewable robot can realize large-scale accurate movement capacity on the space truss through connection and combination of the interfaces; therefore, the design of the electromechanical quick-change interface of the renewable robot for large-scale operation in space has great significance in space science and technology, national defense and economy.
Disclosure of Invention
The invention provides an electromechanical quick-change interface for a space large-scale operation renewable robot, which greatly improves the environment adaptability, hardware fault tolerance capability, large-scale accurate movement capability and functional diversity of the space robot.
The technical scheme adopted by the invention is as follows: an electromechanical quick-change interface for a renewable robot for large-scale spatial operation comprises a docking mechanism, a locking mechanism and an electrical module; the docking mechanism is of a split type docking structure, two split bodies of the docking mechanism are locked into a whole or separated into two parts through the locking mechanism, and the electric module is arranged on the docking mechanism.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention has the advantages of small volume, light weight, large tolerance, high connection precision and high connection strength, has simple structure and reliable functions, and greatly improves the environment adaptability, hardware fault tolerance capability, large-scale accurate movement capability and functional diversity of the space robot.
2. The locking structure of the invention is simple, has strong reliability, and can bear larger axial load, bending moment and torque.
3. The high tolerance performance of the invention allows the docking mechanism to generate certain pose deviation, thereby ensuring the docking efficiency and accuracy.
Drawings
FIG. 1 is an exploded view of the structure of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
Wherein: 1. a docking mechanism; 2. a locking mechanism; 3. an electrical module; 11. a driving sleeve; 12. a passive sleeve; 13. a positioning key; 14. a groove; 21. a driving member; 22. a locking member; 23. locking a spherical surface; 24. an electric push rod; 25. an electric push rod bracket; 26. a locking ramp; 211. t-shaped chute I; 221. A T-bond; 222. a protruding head; 223. locking the steel ball; 31. a spring contact pin member; 32. and a driving plate.
Detailed Description
For a better understanding of the objects, structures and functions of the present invention, reference should be made to the following detailed description of the invention with reference to the accompanying drawings.
Referring to fig. 1 to 4, the electromechanical quick-change interface for a renewable robot for large-scale spatial operation of the present invention includes a docking mechanism 1, a locking mechanism 2, and an electrical module 3; the docking mechanism 1 is of a split type docking structure, two split bodies of the docking mechanism 1 are locked into a whole or separated into two parts through the locking mechanism 2, and the electric module 3 is mounted on the docking mechanism 1.
The docking mechanism 1 comprises an active sleeve 11 and a passive sleeve 12; the main bodies of the driving sleeve 11 and the driven sleeve 12 are of round structures, the driving sleeve 11 and the driven sleeve 12 are in a concave-convex mutual butt joint mode, the butt joint surface of the driving sleeve 11 is a driving conical surface according to the requirement on tolerance performance, the driven sleeve 12 is correspondingly provided with a driven conical surface, the driving sleeve 11 and the driven sleeve 12 are in butt joint to achieve high-precision positioning, a positioning key 13 is arranged on the butt joint surface of the driving sleeve 11, a groove 14 matched with the positioning key 13 is arranged on the butt joint surface of the corresponding driven sleeve 12, and the degree of freedom of axial rotation is locked.
One end of a driving piece 21 of the locking mechanism 2 is arranged on the driving sleeve 11, the other end of the driving piece 21 is connected with a locking piece 22, the driving piece 21 can drive the other end of the locking piece 22 to move, and the other end of the locking piece 22 can be locked or separated from the driven sleeve 12, so that the locking butt joint or mutual separation of the driving sleeve 11 and the driven sleeve 12 is realized.
The locking mechanism 2 comprises a driving piece 21, a locking piece 22, a locking spherical surface 23, an electric push rod 24, an electric push rod bracket 25 and a locking inclined surface 26; the driving member 21 is in a cone structure, the driving member 21 can axially slide in an equal-diameter central hole of the driving sleeve 11 through the electric push rod 24, three inclined T-shaped sliding grooves 211 are uniformly distributed on the outer conical surface of the driving member 21, the three T-shaped sliding grooves 211 are 120 degrees, the three T-shaped sliding grooves 211 and the butt joint surface form 45 degrees, namely the conical part of the driving member 21 are 45-degree inclined surfaces, the three base bodies of the locking member 22 are T-shaped platforms, the three T-shaped platforms are uniformly distributed and are arranged on the outer side of the driving member 21 in a surrounding manner, the end surfaces of the three T-shaped platforms close to the driving member 21 are inclined surfaces matched with the outer conical surface of the driving member 21, the end surfaces of the three T-shaped platforms close to the driving member 21 are respectively provided with a T-shaped key 221 and the T-shaped sliding grooves 211, the driving member 21 can drive the three locking members 22 to radially move along the axis, the three T-shaped platforms can radially slide in the T-shaped sliding grooves II along the butt joint surface on the driving sleeve 11, the outer end surfaces of the three T-shaped sliding grooves are respectively provided with a protruding head 222, each protruding head 222 is provided with a through hole, and the locking head 222 is in contact with the spherical surface 23, and the outer side of the locking sleeve 23 can be locked by the spherical surface 23, and the locking interface is locked by the spherical surface 23, and the locking joint 23 can be locked by the locking joint 12, and the outer side is locked by the locking joint surface 23, and the locking device is locked by the locking device.
The electric push rod 24 is fixed on the driving sleeve 11 through the electric push rod bracket 25 and can axially move, when the driving piece 21 axially moves under the pushing action of the electric push rod 24, the locking piece 22 can be driven to radially and outwards move in a T-shaped groove of the driving piece 21, when the locking spherical surface 23 is in contact with the locking inclined surface 26 of the driven sleeve 12, the interface locking is completed, the locking inclined surface 26 is obliquely arranged from inside to outside, the inclination angle of 5 degrees on the locking inclined surface 26 can compensate a certain processing error, the driving piece 21 is axially moved under the pulling of the electric push rod 24, the locking spherical surface 23 is pulled to radially and inwards move, and the unlocking is completed.
The electrical module 3 comprises a drive plate 32 and a spring contact pin member 31; the driving plate 32 is mounted on the driving sleeve 11, the driving plate 32 drives the electric push rod 24, and the driving sleeve 11 and the driven sleeve 12 are connected in a power supply and communication mode through a spring contact pin member 31 mounted between the driving sleeve 11 and the driven sleeve 12.
The spring contact pin member 31 is composed of a separate spring contact pin plate and pad plate, which can be connected to each other by pressing, and are mounted on the active sleeve 11 and the passive sleeve 12, respectively.
Working principle:
Before docking, the electric push rod 24 and the active piece 21 are in a retracted state, the locking piece 22 is tightened and gathered at the center, and at the moment, the active sleeve 11 can approach the passive sleeve 12 through the robot system under the guidance of visual information of the global camera of the space on-orbit construction environment to prepare for docking.
The active sleeve 11 enters the envelope range of the passive sleeve 12, the active sleeve 11 continuously moves forward, the upper active conical surface is fully contacted with the passive conical surface on the passive sleeve 12, the radial position deviation is eliminated, the active sleeve 11 continuously moves forward, when the positioning key 13 on the active sleeve 11 is matched with the groove 14 on the passive sleeve 12 and is clamped, the docking mechanism 1 completes docking work, the freedom degree of each direction is eliminated, meanwhile, the spring contact pins are connected with the welding pads through extrusion, and the power on and communication of the quick-change interface are realized.
When the quick-change interface starts to be locked, under the pushing action of the electric push rod 24, the driving piece 21 moves axially towards the driven sleeve 12 to drive the locking piece 22 and the locking spherical surface 23 to slide outwards along the corresponding T-shaped sliding grooves II on the driving piece 21 and the driving sleeve 11 in the radial direction, the electric push rod 24 continues to push the driving piece 21, the locking spherical surface 23 stops moving when moving to be in contact with the locking inclined surface 26 on the outer surface of the driven sleeve 12, the driven sleeve 12 is locked at the moment, and the locking stage is completed.
When the quick-change interface starts to unlock, under the pulling action of the electric push rod 24, the driving part 21 moves axially towards the direction of the driving sleeve 11, the locking part 22 and the locking spherical surface 23 are driven to move inwards along the corresponding T-shaped sliding grooves on the driving part 21 and the driving sleeve 11, the electric push rod 24 continues to pull the driving part 21, the locking spherical surface 23 is gradually separated from the locking inclined surface 26 on the surface of the driven sleeve 12, and when the electric push rod 24 is restored to the initial state, the locking stage is completed, and the driving sleeve 11 and the driven sleeve 12 can be freely separated.
Replacement description: the inclination angles of the T-shaped sliding grooves in the driving sleeve 11 and the driving piece 21 can be changed, and the T-shaped sliding grooves can be replaced by dovetail grooves or guide grooves with other structures; the electric push rod 24 can be replaced by a driving device capable of linear motion such as a motor lead screw, an electromagnet or a memory alloy.
1. The mechanical arm joint module can autonomously change the configuration and replace the module through the interface, and can replace different end tools through the interface in the face of different on-orbit construction tasks, and meanwhile, the large-range accurate movement capability can be realized through the interface arranged on the truss.
2. The renewable robot system can change the configuration and replace the end effector through the interface, so that the environment adaptability and the hardware fault tolerance of the renewable robot system are enhanced.
3. The regenerating robot can realize large-range moving capability through the interface arranged on the space truss, and the operation range of the robot is improved.
It will be understood that the application has been described in terms of several embodiments, and that various changes and equivalents may be made to these features and embodiments by those skilled in the art without departing from the spirit and scope of the application. In addition, many modifications may be made to adapt a particular situation or material to the teachings of the application without departing from the essential scope thereof. Therefore, it is intended that the application not be limited to the particular embodiment disclosed, but that the application will include all embodiments falling within the scope of the appended claims.
Claims (4)
1. An electromechanical quick change interface for a space-wide-range-operation renewable robot, characterized in that: comprises a butt joint mechanism (1), a locking mechanism (2) and an electrical module (3); the docking mechanism (1) is of a split type docking structure, two split bodies of the docking mechanism (1) are locked into a whole or separated into two parts through the locking mechanism (2), the electric module (3) is arranged on the docking mechanism (1),
The butt joint mechanism (1) comprises an active sleeve (11) and a passive sleeve (12); the active sleeve (11) and the passive sleeve (12) are in a concave-convex mutual butt joint mode, the butt joint surface of the active sleeve (11) is an active conical surface, the passive sleeve (12) is correspondingly provided with a passive conical surface, the butt joint surface of the active sleeve (11) is provided with a positioning key (13), the butt joint surface of the passive sleeve (12) is provided with a groove (14) matched with the positioning key (13), the degree of freedom of axial rotation is locked,
One end of a driving piece (21) of the locking mechanism (2) is arranged on the driving sleeve (11), the other end of the driving piece (21) is connected with a locking piece (22), the driving piece (21) can drive the other end of the locking piece (22) to move, so that the other end of the locking piece (22) can be locked or separated from the driven sleeve (12), the locking butt joint or mutual separation of the driving sleeve (11) and the driven sleeve (12) is realized,
The locking mechanism (2) comprises a driving piece (21), a locking piece (22), a locking spherical surface (23), an electric push rod (24) and a locking inclined surface (26); the driving part (21) is of a cone structure, the driving part (21) can axially slide in an equal-diameter central hole of the driving sleeve (11) through the electric push rod (24), three inclined T-shaped sliding grooves (211) are uniformly distributed in the outer conical surface of the driving part (21), three base bodies of the locking parts (22) are T-shaped platforms, the three T-shaped platforms are uniformly distributed around the outer side of the driving part (21), a T-shaped key (221) is respectively arranged on the end surface, close to the driving part (21), of the three T-shaped platforms and is in sliding connection with the T-shaped sliding grooves (211), the driving part (21) can drive the three locking parts (22) to radially move along the axis, the three T-shaped platforms can radially slide in the T-shaped sliding grooves (11), a protruding head (222) is respectively arranged on the outer end surface of each T-shaped platform, each protruding head (222) is provided with a through hole, the through bolts are connected with the locking steel balls (223) to form a locking spherical surface (23), and the locking spherical surface (23) can be in contact with a locking inclined surface (26) on the outer side of the driven sleeve (12) when the locking spherical surface is in contact with the inclined surface.
2. An electromechanical quick change interface for a spatially diverse work robot according to claim 1, wherein: the locking inclined surface (26) is arranged obliquely from inside to outside.
3. An electromechanical quick change interface for a spatially diverse work robot according to claim 2, wherein: the electrical module (3) comprises a drive plate (32) and a spring contact pin member (31); the driving plate (32) is arranged on the driving sleeve (11), the driving plate (32) drives the electric push rod (24), and the driving sleeve (11) and the driven sleeve (12) are connected in a power supply and communication mode through the spring contact pin member (31) arranged between the driving sleeve and the driven sleeve.
4. An electromechanical quick change interface for a space-wide-range-operation renewable robot according to claim 3, wherein: the spring contact pin member (31) is composed of a spring contact pin plate and a pad plate, the spring contact pin and the pad are in extrusion contact to realize electrical connection, and the spring contact pin plate and the pad plate are respectively arranged on the driving sleeve (11) and the driven sleeve (12).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210393978.3A CN114986548B (en) | 2022-04-14 | 2022-04-14 | Electromechanical quick-change interface for renewable robot for large-scale spatial operation |
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| CN202210393978.3A CN114986548B (en) | 2022-04-14 | 2022-04-14 | Electromechanical quick-change interface for renewable robot for large-scale spatial operation |
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| CN116742410B (en) * | 2023-07-05 | 2024-06-21 | 哈尔滨工业大学 | Modularized large-tolerance sex-free electromechanical interface for on-orbit assembly task |
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