CN115477025B - Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard - Google Patents
Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard Download PDFInfo
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- CN115477025B CN115477025B CN202211366123.8A CN202211366123A CN115477025B CN 115477025 B CN115477025 B CN 115477025B CN 202211366123 A CN202211366123 A CN 202211366123A CN 115477025 B CN115477025 B CN 115477025B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/42—Arrangements or adaptations of power supply systems
- B64G1/44—Arrangements or adaptations of power supply systems using radiation, e.g. deployable solar arrays
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- 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
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
Abstract
A passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboards belongs to the technical field of space robots. The invention aims to solve the problem that a space robot is easy to interfere when cutting a steel wire rope of a solar sailboard. The invention comprises a clamping jaw mechanism, a driving mechanism, a supporting mechanism, a modularized interface mechanism and a supporting shell; the clamping jaw mechanism is arranged at one end of the supporting shell, the driving mechanism is arranged in the supporting shell through the supporting mechanism, one end of the driving mechanism extends out of the supporting shell and drives the clamping jaw mechanism to open and close, and the modularized interface mechanism is arranged at the other end of the supporting shell and can realize power output of the driving mechanism. The invention is mainly used for delaying the unfolding of the solar sailboard.
Description
Technical Field
The invention belongs to the technical field of space robots, relates to a special operation tool for an on-orbit maintenance robot of an aircraft, and particularly relates to a passive modularized interface clamping device for realizing auxiliary unfolding of a satellite fault sailboard.
Background
Solar panels are very important devices for satellites that can provide power to the satellites. The unfolding of the solar sailboard is achieved by unlocking the fire cutter, but once the fire cutter fails, the solar sailboard cannot be unfolded and fails, and the satellite cannot be powered on, so that the satellite is scrapped. For example, the first living broadcast satellite Xinnuo No. two in China causes economic loss of billions yuan because the solar sailboard cannot be unfolded. With the development of space robot technology, a space robot is adopted to assist in opening a solar sailboard by changing different end operating tools on the track. However, if the space robot is directly used to cut off the wire rope of the solar panel, the solar panel is automatically opened, but the solar panel is possibly collided with the space robot when being opened, so that the solar panel and the space robot are damaged, and the solar panel still cannot be used.
Disclosure of Invention
The invention aims to solve the technical problems, and provides a passive modularized interface clamping device for realizing auxiliary unfolding of a satellite fault sailboard, so that the solar sailboard can be unfolded in a delayed manner, a space robot for cutting off a solar sailboard steel wire rope can be smoothly evacuated, and the phenomenon that the unfolded solar sailboard interferes with the space robot to cause damage to the space robot and the solar sailboard is avoided.
The invention adopts the technical scheme for solving the technical problems that:
realize satellite trouble sailboard auxiliary unfolding's passive form modularization interface clamping device, its characterized in that: the device comprises a clamping jaw mechanism, a driving mechanism, a supporting mechanism, a modularized interface mechanism and a supporting shell; the clamping jaw mechanism is arranged at one end of the supporting shell, the driving mechanism is arranged in the supporting shell through the supporting mechanism, one end of the driving mechanism extends out of the supporting shell and drives the clamping jaw mechanism to open and close, and the modularized interface mechanism is arranged at the other end of the supporting shell and can realize power output of the driving mechanism.
Further, the clamping jaw mechanism comprises two clamping jaws I and a rotary support assembly I; a guide block is arranged at the connecting end of the clamping jaw I, and the side end surface of the guide block is provided with a guide slope surface which is inclined inwards; the rotary support assembly I is arranged at one end of the support shell, and the connecting ends of the two clamping jaws I are hinged through the rotary support assembly I to form a rotary pair.
Further, the rotary support assembly I comprises two support plates I, a pin shaft I, a torsion spring and a torsion spring positioning mandrel, wherein the connecting ends of the two clamping jaws I are positioned between the two support plates and are hinged through the pin shaft, the torsion spring positioning mandrel is inserted on the two support plates, the torsion spring is sleeved on the torsion spring positioning mandrel, one supporting leg of the torsion spring is inserted on a guide block of one clamping jaw I, and the other supporting leg of the torsion spring is inserted on a guide block of the other clamping jaw I;
the driving mechanism comprises two push rods, a trapezoidal screw shaft and a screw nut; the trapezoidal screw shaft is axially arranged in the supporting shell through the supporting mechanism and can rotate relative to the supporting shell, and the screw nut is in threaded connection with the trapezoidal screw shaft and can linearly move along the length direction of the trapezoidal screw shaft; the two push rods are oppositely arranged at two sides in the supporting shell, one end of each push rod is fixedly connected with the outer wall of the screw nut, and the other end of each push rod extends out of the supporting shell and is abutted to the guide slope of the guide block for clamping jaw I.
Further, the clamping jaw mechanism comprises two clamping jaws II and a rotary support assembly II; the rotary support assembly II is arranged at one end of the support shell, and the connecting ends of the two clamping jaws II are hinged through the rotary support assembly II to form a rotary pair.
Further, the rotary support assembly II comprises two support plates II and a pin shaft II; the connecting ends of the two clamping jaws II are positioned between the two supporting plates II and are hinged through a pin shaft II;
the driving mechanism comprises two connecting rod assemblies, a trapezoidal screw shaft and a screw nut; the trapezoidal screw shaft is axially arranged in the supporting shell through the supporting mechanism and can rotate relative to the supporting shell, and the screw nut is in threaded connection with the trapezoidal screw shaft and can linearly move along the length direction of the trapezoidal screw shaft; the two connecting rod assemblies are oppositely arranged at two sides in the supporting shell, one end of each connecting rod assembly is hinged with the outer wall of the screw nut, and the other end of each connecting rod assembly extends out of the supporting shell and is fixedly connected with the connecting end of the clamping jaw II.
Further, the connecting rod assembly comprises a connecting rod I and a connecting rod II, one end of the connecting rod I is integrally connected with the connecting end of the clamping jaw II, the other end of the connecting rod I is hinged with one end of the connecting rod II, and the other end of the connecting rod II is hinged with a screw nut.
Further, the clamping jaw mechanism further comprises two elastic cushions, and the opposite surfaces of the opening and closing ends of the two clamping jaws I and II are respectively provided with an elastic cushion.
Further, the supporting mechanism comprises two groups of supporting components I, and the two groups of supporting components I are respectively sleeved at two ends of the trapezoidal screw shaft; each group of supporting components I comprises a deep groove ball bearing, a bearing outer lock nut and a bearing inner lock nut; the deep groove ball bearing is sleeved on the trapezoidal screw shaft, one end of the inner ring of the deep groove ball bearing is abutted on the shaft shoulder of the trapezoidal screw shaft, and one end of the outer ring of the deep groove ball bearing is abutted on the shaft seat in the supporting shell; the bearing outer lock nut is sleeved outside the bearing inner lock nut, the bearing inner lock nut is in threaded connection with the end part of the trapezoidal screw shaft and is abutted against the other end of the inner ring of the deep groove ball bearing, and the bearing outer lock nut is in threaded connection with the inner wall of the supporting shell and is abutted against the other end of the outer ring of the deep groove ball bearing.
Further, the modularized interface mechanism comprises an interface support shell, an interface flange, two positioning pins, a power input shaft and a group of support components II; the interface support shell and the interface flange are coaxially and sequentially arranged at the tail part of the support shell, and the two positioning pins are respectively arranged at the end parts of the two ends of the interface support shell;
the power input shaft is arranged in the interface support shell through the support component II and can rotate relative to the interface support shell; one end of the power input shaft is connected with the power input end of the trapezoid screw shaft in a key way, and the other end of the power input shaft is of an external hexagonal structure.
Further, the support assembly II comprises two angular contact ball bearings, an outer spacer ring of the bearing, an inner spacer ring of the bearing, an outer lock nut of the angular contact ball bearing and an inner lock nut of the angular contact ball bearing; the two angular contact ball bearings are coaxially and sequentially sleeved on the power input shaft, a shaft shoulder is arranged on the power input shaft, an inner ring of the angular contact ball bearing close to one side of the interface flange is abutted on the shaft shoulder of the power input shaft, and an outer ring of the angular contact ball bearing close to one side of the interface flange is abutted on the shaft seat in the interface support shell;
the bearing outer spacer ring and the bearing inner spacer ring are coaxially sleeved on the power input shaft and are positioned between the two angular contact ball bearings, the bearing outer spacer ring is sleeved outside the bearing inner spacer ring, the end faces of the two ends of the bearing outer spacer ring are respectively abutted on the outer rings of the two angular contact ball bearings, and the end faces of the two ends of the bearing inner spacer ring are respectively abutted on the inner rings of the two angular contact ball bearings;
the outer lock nut of the angular contact ball bearing and the inner lock nut of the angular contact ball bearing are coaxially sleeved on the power input shaft and are positioned at one side of the two angular contact ball bearings; the inner locking nut of the angular contact ball bearing is in threaded connection with the power input shaft, the inner locking nut of the angular contact ball bearing is in butt joint with the inner ring of the angular contact ball bearing close to one side of the driving mechanism, the outer locking nut of the angular contact ball bearing is sleeved outside the inner locking nut of the angular contact ball bearing, and the outer locking nut of the angular contact ball bearing is in threaded connection with the inner wall of the interface supporting shell and is in butt joint with the outer ring of the angular contact ball bearing close to one side of the driving mechanism.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the two clamping jaws in the embodiment 1 and the embodiment 2 are used for clamping the failed solar sailboard in advance, and when the space robot shears the steel wires of the solar sailboard and smoothly withdraws the steel wires, the solar sailboard is released, so that the solar sailboard is smoothly unfolded, and the interference between the unfolded solar sailboard and the space robot is avoided, so that the space robot and the solar sailboard are damaged.
2. The auxiliary development clamping device provided by the invention adopts the modularized interface, can be in butt joint with the output interface of the space manipulator, and realizes the transmission of the torque of the trapezoidal screw shaft in the driving mechanism through the power output shaft of the space manipulator and the power input shaft of the modularized interface; the driving mechanism of the invention has no active power output, does not comprise a motor, a speed reducer and other mechanisms, and has simple integral structure, simple control and high reliability.
3. The driving mechanism adopts a trapezoidal screw shaft for transmission, and the trapezoidal screw shaft has self-locking capability and ensures the stability of clamping force.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the invention, without limitation to the invention.
FIG. 1 is an isometric view of example 1 of the present invention;
FIG. 2 is a top view of embodiment 1 of the present invention;
FIG. 3 is a cross-sectional view at A-A in FIG. 2;
fig. 4 is a front view of embodiment 1 of the present invention;
FIG. 5 is a cross-sectional view at B-B in FIG. 4;
FIG. 6 is a partial isometric view of example 1 of the invention;
FIG. 7 is a left side view of embodiment 1 of the present invention;
FIG. 8 is a right side view of embodiment 1 of the present invention;
FIG. 9 is an isometric view of example 2 of the present invention;
FIG. 10 is a top view of embodiment 2 of the present invention;
FIG. 11 is a cross-sectional view taken at C-C of FIG. 10;
FIG. 12 is a front view of embodiment 2 of the present invention;
fig. 13 is a cross-sectional view at D-D in fig. 12.
Reference numerals illustrate: 1-clamping jaw I; 1-1-guide blocks; 2-a rotary support assembly I; 2-1-supporting plate I; 2-2-pin I; 2-3-torsion spring; 2-4-torsional spring positioning mandrel; 3-an elastic cushion; 4-pushing rod; 5-trapezoid screw shafts; 6-a lead screw nut; 7-an outer support shell; 8-an inner support shell; 8-1-sliding grooves; 9-end caps; 10-an annular cavity structure; 11-connecting blocks; 12-deep groove ball bearings; 13-a bearing outer lock nut; 14-locking nut in bearing; 15-an interface flange; 16-locating pins; 17-a power input shaft; 18-a flat key; 19-angular contact ball bearings; 20-an outer spacer ring of the bearing; 21-a bearing inner spacer; 22-an outer lock nut of the angular contact ball bearing; 23-locking nut in angular contact ball bearing; 24-a connecting rod assembly; 24-1-connecting rod I; 24-2-connecting rod II; 25-clamping jaw II; 26-an interface support housing; 26-1-target marker i; 26-2-target marker ii; 27-a rotary support assembly II; 27-1-supporting plate II; 27-2-pin II.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
The application aims at the solar sailboard with the automatic unfolding function, the solar sailboard can be unfolded in a delayed mode by adopting two structural modes, so that a space robot for cutting off a steel wire rope of the solar sailboard can be smoothly evacuated, interference between the unfolded solar sailboard and the space robot is avoided, and damage to the space robot and the solar sailboard is caused; the present application is illustrated using two examples.
Example 1: referring to fig. 1 to 7, the embodiment of the present application provides a passive modular interface clamping device for implementing satellite fault sailboard auxiliary deployment, which includes a support housing E, a clamping jaw mechanism a, a driving mechanism B, a supporting mechanism C, and a modular interface mechanism D.
Referring to fig. 3, the support housing E according to the present embodiment includes an outer support housing 7, an inner support housing 8, and an end cover 9; the outer support shell 7 and the inner support shell 8 are both cylindrical structures; the inner support shell 8 is coaxially arranged in the outer support shell 7, and an annular cavity structure 10 is formed between the inner support shell and the outer support shell; one end of the annular cavity structure 10 is closed, and the other end is provided with an annular opening; the end cover 9 is arranged at the head end port of the outer support shell 7 and is positioned at the same side with the opening end of the annular cavity structure 10, two openings are formed at the opposite positions on the end cover 9, and the openings are communicated with the annular cavity structure 10; the clamping jaw mechanism A is arranged on the end cover 9; the modular interface mechanism D is arranged at the closed end of the annular cavity structure 10 and is connected with the tail end of the outer support shell 7 through a plurality of bolts.
In this embodiment, a chute 8-1 is respectively formed at opposite positions on two side walls of the inner supporting shell 8, the interior of the inner supporting shell 8 is communicated with the annular cavity structure 10 through the chute 8-1, and two ends in the inner supporting shell 8 are respectively provided with a shaft seat.
In this embodiment, the surface of the outer support shell 7 is subjected to bright anodic oxidation treatment, the solar absorption ratio αs=0.25±0.03 of the film layer, the hemispherical emissivity epsilon h=0.30±0.03, and the surface emissivity and the absorptivity are ensured to be as consistent as possible, so that the temperature difference in use in space environment is reduced, and the reliability of use is ensured.
Referring to fig. 1 and 2, the clamping jaw mechanism a according to the present embodiment is used for implementing auxiliary deployment of a solar panel, and includes two clamping jaws i 1, a rotary support assembly i 2, and two elastic cushions 3; the rotary support assembly I2 is arranged on the end cover 9, and the connecting ends of the two clamping jaws I1 are hinged through the rotary support assembly I2 to form a rotary pair; a guide block 1-1 is integrally arranged at the connecting end of the clamping jaw I1, and the side end surface of the guide block 1-1 is provided with a guide slope which is inclined inwards; the opening and closing end of the clamping jaw I1 is of a plate-shaped structure and is provided with a plurality of strip-shaped through holes which are arranged side by side so as to reduce the weight of the clamping jaw I1; the elastic cushion 3 is arranged on the opposite surfaces of the opening and closing ends of the two clamping jaws I1 respectively, and the elastic cushion 3 is fixedly connected with the clamping jaws I1 in a cementing mode, and the elastic cushion 3 can prevent the solar sailboard from being damaged during clamping due to the fact that the solar sailboard is fragile.
In this embodiment, referring to fig. 6, the rotary support assembly i 2 includes two support plates 2-1, a pin 2-2, a torsion spring 2-3, and a torsion spring positioning mandrel 2-4, where the connection end of the two clamping jaws i 1 is located between the two support plates 2-1 and hinged by the pin 2-2, the torsion spring positioning mandrel 2-4 is inserted on the two support plates 2-1, the torsion spring 2-3 is sleeved on the torsion spring positioning mandrel 2-4, one leg of the torsion spring 2-3 is inserted on the guide block 1-1 of one of the clamping jaws i 1, the other leg of the torsion spring 2-3 is inserted on the guide block 1-1 of the other clamping jaw i 1, and the driving mechanism B is in an unfolded state under the action of the torsion spring 2-3 under the condition that the two clamping jaws i 1 are not braked.
Referring to fig. 3, the driving mechanism B in the present embodiment is configured to drive the two clamping jaws i 1 to open and close, and includes two push rods 4, a trapezoidal screw shaft 5, a screw nut 6, and two connecting blocks 11; the trapezoid screw shaft 5 is axially arranged in the inner support shell 8 through the support mechanism C and can rotate relative to the inner support shell 8, and the screw nut 6 is in threaded connection with the trapezoid screw shaft 5 and can linearly move along the length direction of the trapezoid screw shaft 5; the two push rods 4 are oppositely arranged at two sides of the annular cavity structure 10, one end of each push rod 4 is fixedly connected with the outer wall of the screw nut 6 through a connecting block 11, and the connecting block 11 is positioned in the sliding groove 8-1 and can linearly move along the length direction of the sliding groove 8-1; the other end of the push rod 4 extends out of the opening in the end cover 9 and is abutted against the guide slope of the guide block 1-1 of the clamping jaw I1, and the connection mode of the push rod 4 and the guide block 1-1 of the clamping jaw I1 ensures that the load of the push rod 4 is not increased in the opening process of the two clamping jaws I1, so that the output load of the space manipulator is reduced; the driving mechanism B realizes the passive closing and active opening of the two clamping jaws I1 through the extension and retraction of the two push rods 4.
In this embodiment, the push rod 4 and the guide block 1-1 at the connecting end of the clamping jaw i 1 may also be connected in the form of a cam protruding rod, that is, the lower surface of the front end of the push rod 4 is set to be in the form of straight teeth, the guide block 1-1 at the tail end of the clamping jaw i 1 is set to be in the form of teeth, and the hinge point of the two clamping jaws i 1 can be used as the center of a circle for rotation.
Referring to fig. 3, the supporting mechanism C in this embodiment is used to ensure the position of the trapezoidal screw shaft 5 in the inner supporting shell 8 and ensure the relative rotation of the trapezoidal screw shaft 5 and the inner supporting shell 8; the supporting mechanism C comprises two groups of supporting components I which are respectively sleeved at two ends of the trapezoidal screw shaft 5 and are abutted against the shaft seat in the inner supporting shell 8; each group of supporting components I comprises a deep groove ball bearing 12, an outer bearing lock nut 13 and an inner bearing lock nut 14; the deep groove ball bearing 12 is sleeved on the trapezoidal screw shaft 5, one end of the inner ring of the deep groove ball bearing 12 is abutted on the shaft shoulder of the trapezoidal screw shaft 5, and one end of the outer ring of the deep groove ball bearing 12 is abutted on the shaft seat in the inner supporting shell 8; the bearing outer lock nut 13 is sleeved on the bearing inner lock nut 14, the bearing inner lock nut 14 is in threaded connection with the end part of the trapezoidal screw shaft 5 and is abutted against the other end of the inner ring of the deep groove ball bearing 12, and the bearing outer lock nut 13 is in threaded connection with the inner wall of the inner support shell 8 and is abutted against the other end of the outer ring of the deep groove ball bearing 12.
In the embodiment, the trapezoidal screw shaft 5, the screw nut 6 and the deep groove ball bearing 12 all adopt a mode of sputtering molybdenum disulfide to realize solid lubrication.
In this embodiment, in order to ensure the certainty of the movement range of the clamping jaw i 1, the shaft seats at the two ends in the inner support shell 8 form a mechanical limit for the screw nut 6.
Referring to fig. 3, the modular interface mechanism D according to the present embodiment is used as a connection interface between the driving mechanism B and the external power source, so as to ensure that the external power source can accurately output torque; the modularized interface mechanism D comprises an interface supporting shell 26, an interface flange 15, two positioning pins 16, a power input shaft 17, a flat key 18 and a supporting component II, wherein the interface supporting shell 26 and the interface flange 15 are of cylindrical structures, and a shaft seat is formed in the interface supporting shell 26; the interface support shell 26 and the interface flange 15 are coaxially and sequentially arranged on the outer support shell 7, namely one end of the interface support shell 26 is connected with the tail end of the outer support shell 7 through bolts, and the other end of the interface support shell 26 is connected with the interface flange 15 through bolts; the two positioning pins 16 are respectively arranged at the two end parts of the interface supporting shell 26 to play a role in positioning and guiding.
In this embodiment, the support assembly ii includes two angular contact ball bearings 19, an outer spacer 20, an inner spacer 21, an outer lock nut 22 and an inner lock nut 23; the power input shaft 17 is arranged in the interface support shell 26 through two angular contact ball bearings 19 and can rotate relative to the interface support shell 26; namely, the two angular contact ball bearings 19 are coaxially and sequentially sleeved on the power input shaft 17, a shaft shoulder is arranged on the power input shaft 17, an inner ring of the angular contact ball bearing 19 close to one side of the interface flange 15 is abutted on the shaft shoulder of the power input shaft 17, and an outer ring of the angular contact ball bearing 19 close to one side of the interface flange 15 is abutted on the shaft seat in the interface support shell 26. The bearing outer spacer ring 20 and the bearing inner spacer ring 21 are coaxially sleeved on the power input shaft 17 and are positioned between the two angular contact ball bearings 19, the two angular contact ball bearings 19 are subjected to pretightening force adjustment, namely, the bearing outer spacer ring 20 is sleeved outside the bearing inner spacer ring 21, the end faces of the two ends of the bearing outer spacer ring 20 are respectively abutted to the outer rings of the two angular contact ball bearings 19, and the end faces of the two ends of the bearing inner spacer ring 21 are respectively abutted to the inner rings of the two angular contact ball bearings 19. The outer lock nut 22 of the angular contact ball bearing and the inner lock nut 23 of the angular contact ball bearing are coaxially sleeved on the power input shaft 17 and are locked at the outer sides of the two angular contact ball bearings 19, so that the two angular contact ball bearings 19 are axially fixed; the inner lock nut 23 of the angular contact ball bearing is in threaded connection with the power input shaft 17, the inner lock nut 23 of the angular contact ball bearing is in butt joint with the inner ring of the angular contact ball bearing 19 close to one side of the driving mechanism B, the outer lock nut 22 of the angular contact ball bearing is sleeved outside the inner lock nut 23 of the angular contact ball bearing, and the outer lock nut 22 of the angular contact ball bearing is in threaded connection with the inner wall of the interface supporting shell 26 and is in butt joint with the outer ring of the angular contact ball bearing 19 close to one side of the driving mechanism B.
In this embodiment, one end of the power input shaft 17 is connected with the power input end of the trapezoidal screw shaft 5 through the flat key 18 in a key manner, so that torque transmission is realized, the other end of the power input shaft 17 is of an external hexagonal structure, rapid butt joint of an external power source and the power input shaft 17 and accurate transmission of torque are facilitated, and under the action of external driving torque, the power input shaft 17 drives the trapezoidal screw shaft 5 to perform rotary motion through the flat key 18.
In this embodiment, the interface supporting housing 26 is further provided with two target markers i 26-1 and two target markers ii 26-2, wherein one target marker i 26-1 and one target marker ii 26-2 are located at one side of the interface flange 15, the other target marker i 26-1 and the other target marker ii 26-2 are located at the other side of the interface flange 15, the two target markers i 26-1 and the two target markers ii 26-2 are arranged in a rectangular shape, the two target markers i 26-1 are located at one pair of diagonal corners thereof, and the two target markers ii 26-2 are located at the other pair of diagonal corners thereof; the target marker 26-1 consists of an annular white paint blind hole 26-1-1 and a black anodic oxidation small circle 26-1-2; the target marker II 26-2 is a round white paint blind hole. The pose information of the clamping device relative to the space robot can be obtained through measurement of the target marker by the space robot hand-eye camera system.
In the embodiment, the depth of the annular white paint blind hole 26-1-1 is 0.3mm, the white paint adopts a KS-ZA thermal control coating, the solar absorption ratio of the coating is αs=0.15+/-0.02, and the hemispherical emissivity epsilon H=0.92+/-0.02; the hemispherical emissivity epsilon H of the black anodic oxidation small circle 26-1-2 is more than or equal to 0.85.
The working procedure of this embodiment 1 is further described below to further demonstrate the working principle and advantages of the present invention: before the steel wire rope of the solar sailboard is sheared by the space robot, the solar sailboard is in a folded state; at this time, the two clamping jaws I1 are unfolded under the action of the torsion spring, and the space manipulator drives the clamping device of the embodiment to move towards the solar sailboard, so that the solar sailboard is positioned between the two clamping jaws I1; the power output end on the space mechanical arm is in butt joint connection with the outer hexagonal structure end of the power input shaft 17 in the modularized interface mechanism D, the rotation of the power input shaft 17 is realized, the power input shaft 17 drives the trapezoid screw shaft 5 connected with the power input shaft in a key manner to perform rotary motion, torque transmission is realized, the screw nut 6 moves linearly towards the clamping jaw mechanism A along the length direction of the trapezoid screw shaft 5 under the restriction of the two connecting blocks 11 and the sliding groove 8-1, the screw nut 6 drives the push rod 4 connected with the screw nut to extend out of the notch on the end cover 9, the end part of the push rod 4 generates thrust to the guide block 1-1 on the clamping jaw I1, the guide blocks 1-1 on the two clamping jaws I1 reversely turn around the pin shaft 2-2, and the two guide blocks 1-1 drive the two clamping jaws I1 to move relatively and clamp the solar sailboard; the wire rope of solar sailboard is cut off by space robot, because solar sailboard receives the restriction of embodiment clamping device, so solar sailboard still is in the amalgamation state, when space robot withdraws solar sailboard department, space arm drive power input shaft 17 is reversed, power input shaft 17 drives trapezoidal lead screw axle 5 and carries out reverse gyration motion, lead screw nut 6 is along the length direction back centre gripping jaw mechanism A department of trapezoidal lead screw axle 5 under the restriction of two connecting blocks 11 and spout 8-1, thereby lead screw nut 6 drives the push rod 4 that is connected with it and withdraws back in annular cavity structure 10, the tip of push rod 4 no longer produces thrust to the guide block 1-1 on the centre gripping jaw I1, two centre gripping jaws I1 are expanded gradually under the effect of torsional spring, solar sailboard also is automatic to be expanded gradually, then space arm drives the clamping device of this embodiment and withdraws from solar sailboard, the work is expanded completely to solar sailboard, collision between the solar sailboard when expanding has been avoided to this embodiment's clamping device.
Example 2: referring to fig. 8 to 12, the embodiment of the present application provides a passive modular interface clamping device for implementing satellite fault sailboard auxiliary deployment, which is different from embodiment 1 in that:
referring to fig. 8 and 10, the clamping jaw mechanism a includes two clamping jaws ii 25, a pivoting support assembly ii 27, and two elastic cushions 3; the rotary support assembly II 27 is arranged on the end cover 9, and the connecting ends of the two clamping jaws II 25 are hinged through the rotary support assembly II 27 to form a rotary pair; an elastic cushion 3 is respectively arranged on the opposite surfaces of the opening and closing ends of the two clamping jaws II 25, and the elastic cushion 3 is fixedly connected with the clamping jaws II 25 in a cementing mode.
Referring to fig. 9, the rotary support assembly ii 27 includes two support plates ii 27-1 and a pin ii 27-2; the connecting ends of the two clamping jaws II 25 are positioned between the two supporting plates II 27-1 and are hinged through a pin shaft II 27-2.
The drive mechanism B described with reference to fig. 10 includes two link assemblies 24, a trapezoidal screw shaft 5, a screw nut 6, and two connection blocks 11; the trapezoid screw shaft 5 is axially arranged in the inner support shell 8 through the support mechanism C and can rotate relative to the inner support shell 8, and the screw nut 6 is in threaded connection with the trapezoid screw shaft 5 and can linearly move along the length direction of the trapezoid screw shaft 5; the two connecting rod assemblies 24 are oppositely arranged at two sides of the annular cavity structure 10, one end of each connecting rod assembly 24 is hinged with the outer wall of the screw nut 6 through a connecting block 11, and the connecting block 11 is positioned in the sliding groove 8-1 and can linearly move along the length direction of the sliding groove 8-1; the other end of the connecting rod assembly 24 extends out of the notch on the end cover 9 and is fixedly connected with the connecting end of the clamping jaw II 25.
In this embodiment, the connecting rod assembly 24 includes a connecting rod I24-1 and a connecting rod II 24-2, one end of the connecting rod I24-1 is integrally connected with the connecting end of the clamping jaw II 25, the other end of the connecting rod I24-1 is hinged with one end of the connecting rod II 24-2, the other end of the connecting rod II 24-2 is hinged with one end of the connecting block 11, and the other end of the connecting block 11 is fixedly connected with the screw nut 6.
In this embodiment, the connecting rod I24-1 is an L-shaped bending rod.
The working procedure of this embodiment 2 is further described below to further demonstrate the working principle and advantages of the present invention: before the steel wire rope of the solar sailboard is sheared by the space robot, the solar sailboard is in a combined state; at this time, the power output end on the space mechanical arm is in butt joint connection with the outer hexagonal structure end of the power input shaft 17 in the modularized interface mechanism D, the rotation of the power input shaft 17 is realized, the power input shaft 17 drives the trapezoid screw shaft 5 connected with the power input shaft to perform rotary motion, the torque transmission is realized, the screw nut 6 moves linearly towards the direction of the modularized interface mechanism D along the length direction of the trapezoid screw shaft 5 under the restriction of the two connecting blocks 11 and the sliding groove 8-1, the screw nut 6 drives the connecting rod II 24-2 connected with the screw nut 6 to move linearly towards the direction of the modularized interface mechanism D, the connecting rod II 24-2 in the group of connecting rod assemblies 24 drives the connecting rod I24-1 to rotate clockwise by taking the hinge point of the connecting rod I24-1 and the connecting rod II 24-2 as axes, the connecting rod I24-1 drives the clamping jaw II 25 to rotate clockwise by taking the hinge point of the connecting rod II as axes, and the clamping jaw II 25 swings upwards; the connecting rod II 24-2 in the other group of connecting rod assemblies 24 drives the connecting rod I24-1 to rotate anticlockwise by taking the hinge point of the connecting rod I24-1 as an axis, the included angle between the connecting rod I24-1 and the connecting rod II 24-2 is increased, the connecting rod I24-1 drives the clamping jaw II 25 connected with the connecting rod I1 to rotate anticlockwise by taking the hinge point of the connecting rod I and the connecting rod II as an axis, and the clamping jaw II 25 swings downwards; the open and close ends of the two clamping jaws II 25 are unfolded; the space mechanical arm drives the clamping device of the embodiment to move towards the solar sailboard, so that the solar sailboard is positioned between the two clamping jaws I1; the external power source drives the trapezoidal screw shaft 5 to perform reverse rotation through the power input shaft 17, the screw nut 6 moves linearly towards the clamping jaw mechanism A along the length direction of the trapezoidal screw shaft 5 under the restriction of the two connecting blocks 11 and the sliding grooves 8-1, the connecting rod II 24-2 in one group of connecting rod assemblies 24 drives the connecting rod I24-1 to rotate anticlockwise by taking the hinge point of the two connecting rod assemblies as an axis, the included angle between the connecting rod I24-1 and the connecting rod II 24-2 is reduced, the connecting rod I24-1 drives the clamping jaw II 25 to rotate anticlockwise by taking the hinge point of the two connecting rod assemblies as an axis, and the clamping jaw II 25 swings downwards; the connecting rod II 24-2 in the other group of connecting rod assemblies 24 drives the connecting rod I24-1 to rotate clockwise by taking the hinge point of the connecting rod I24-1 and the connecting rod II 24-2 as an axis, the included angle between the connecting rod I24-1 and the connecting rod II 24-2 is reduced, the connecting rod I24-1 drives the clamping jaw II 25 connected with the connecting rod I and the connecting rod II as an axis to rotate clockwise, and the clamping jaw II 25 swings upwards; the open and close ends of the two clamping jaws II 25 are closed, and the solar sailboard is clamped; the wire rope of solar sailboard is cut off by space robot, because solar sailboard receives this embodiment clamping device's restriction, so solar sailboard still is in the amalgamation state, when space robot withdraws solar sailboard department, two centre gripping jaws II 25 expand gradually under actuating mechanism B's drive, solar sailboard also automatic expansion gradually, then space arm drives the clamping device of this embodiment and withdraws from solar sailboard, solar sailboard expansion work completely, the clamping device of this embodiment has avoided the collision between solar sailboard expansion time and the space robot.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (5)
1. Realize satellite trouble sailboard auxiliary unfolding's passive form modularization interface clamping device, its characterized in that: the device comprises a clamping jaw mechanism (A), a driving mechanism (B), a supporting mechanism (C), a modularized interface mechanism (D) and a supporting shell (E); the clamping jaw mechanism (A) is arranged at one end of the supporting shell (E), the driving mechanism (B) is arranged in the supporting shell (E) through the supporting mechanism (C), one end of the driving mechanism (B) extends out of the supporting shell (E) and drives the clamping jaw mechanism (A) to open and close, and the modularized interface mechanism (D) is arranged at the other end of the supporting shell (E) and can realize power output of the driving mechanism (B);
the clamping jaw mechanism (A) comprises two clamping jaws I (1) and a rotary support assembly I (2); a guide block (1-1) is arranged at the connecting end of the clamping jaw I (1), and the side end surface of the guide block (1-1) is provided with an inwards inclined guide slope; the rotary support assembly I (2) is arranged at one end of the support shell (E), and the connecting ends of the two clamping jaws I (1) are hinged through the rotary support assembly I (2) to form a rotary pair;
the rotary support assembly I (2) comprises two support plates I (2-1), a pin shaft I (2-2), a torsion spring (2-3) and a torsion spring positioning mandrel (2-4), wherein the connecting end of the two clamping jaws I (1) is positioned between the two support plates (2-1) and hinged through the pin shaft (2-2), the torsion spring positioning mandrel (2-4) is inserted on the two support plates (2-1), the torsion spring (2-3) is sleeved on the torsion spring positioning mandrel (2-4), one support leg of the torsion spring (2-3) is inserted on the guide block (1-1) of one clamping jaw I (1), and the other support leg of the torsion spring (2-3) is inserted on the guide block (1-1) of the other clamping jaw I (1);
the driving mechanism (B) comprises two push rods (4), a trapezoid screw shaft (5) and a screw nut (6); the trapezoid screw shaft (5) is axially arranged in the support shell (E) through the support mechanism (C) and can rotate relative to the support shell (E), and the screw nut (6) is in threaded connection with the trapezoid screw shaft (5) and can linearly move along the length direction of the trapezoid screw shaft (5); two push rods (4) are oppositely arranged on two sides in the supporting shell (E), one end of each push rod (4) is fixedly connected with the outer wall of the screw nut (6), and the other end of each push rod (4) extends out of the supporting shell (E) and is abutted to the guide slope of the guide block (1-1) of the clamping jaw I (1).
2. The passive modular interface clip for implementing satellite fault windsurfing assistance as claimed in claim 1 wherein: the clamping jaw mechanism (A) further comprises two elastic cushions (3), and the opposite surfaces of the opening and closing ends of the two clamping jaws I (1) are respectively provided with the elastic cushions (3).
3. The passive modular interface clip for implementing satellite fault windsurfing assistance as claimed in claim 2 wherein: the supporting mechanism (C) comprises two groups of supporting components I which are respectively sleeved at two ends of the trapezoidal screw shaft (5); each group of supporting components I comprises a deep groove ball bearing (12), a bearing outer locking nut (13) and a bearing inner locking nut (14); the deep groove ball bearing (12) is sleeved on the trapezoidal screw shaft (5), one end of the inner ring of the deep groove ball bearing (12) is abutted on the shaft shoulder of the trapezoidal screw shaft (5), and one end of the outer ring of the deep groove ball bearing (12) is abutted on the shaft seat in the supporting shell (E); the bearing outer lock nut (13) is sleeved outside the bearing inner lock nut (14), the bearing inner lock nut (14) is in threaded connection with the end part of the trapezoid screw shaft (5) and is abutted against the other end of the inner ring of the deep groove ball bearing (12), and the bearing outer lock nut (13) is in threaded connection with the inner wall of the supporting shell (E) and is abutted against the other end of the outer ring of the deep groove ball bearing (12).
4. The passive modular interface clip for implementing satellite fault windsurfing assistance as claimed in claim 3 wherein: the modularized interface mechanism (D) comprises an interface supporting shell (26), an interface flange (15), two positioning pins (16), a power input shaft (17) and a group of supporting components II; the interface supporting shell (26) and the interface flange (15) are coaxially and sequentially arranged at the tail part of the supporting shell (E), and the two positioning pins (16) are respectively arranged at the two end parts of the interface supporting shell (26);
the power input shaft (17) is arranged in the interface support shell (26) through the support component II and can rotate relative to the interface support shell (26); one end of the power input shaft (17) is connected with the power input end of the trapezoid screw shaft (5) in a key way, and the other end of the power input shaft (17) is of an external hexagonal structure.
5. The passive modular interface clip for implementing satellite fault sailboard assisted deployment of claim 4, wherein: the support assembly II comprises two angular contact ball bearings (19), a bearing outer spacer ring (20), a bearing inner spacer ring (21), an angular contact ball bearing outer lock nut (22) and an angular contact ball bearing inner lock nut (23); the two angular contact ball bearings (19) are coaxially and sequentially sleeved on the power input shaft (17), a shaft shoulder is arranged on the power input shaft (17), an inner ring of the angular contact ball bearing (19) close to one side of the interface flange (15) is abutted on the shaft shoulder of the power input shaft (17), and an outer ring of the angular contact ball bearing (19) close to one side of the interface flange (15) is abutted on a shaft seat in the interface support shell (26);
the bearing outer spacer ring (20) and the bearing inner spacer ring (21) are coaxially sleeved on the power input shaft (17) and are positioned between the two angular contact ball bearings (19), the bearing outer spacer ring (20) is sleeved outside the bearing inner spacer ring (21), the end faces of the two ends of the bearing outer spacer ring (20) are respectively abutted against the outer rings of the two angular contact ball bearings (19), and the end faces of the two ends of the bearing inner spacer ring (21) are respectively abutted against the inner rings of the two angular contact ball bearings (19);
the outer lock nut (22) and the inner lock nut (23) of the angular contact ball bearing are coaxially sleeved on the power input shaft (17) and are positioned at one side of the two angular contact ball bearings (19); the inner locking nut (23) of the angular contact ball bearing is in threaded connection with the power input shaft (17), the inner locking nut (23) of the angular contact ball bearing is in butt connection with the inner ring of the angular contact ball bearing (19) close to one side of the driving mechanism (B), the outer locking nut (22) of the angular contact ball bearing is sleeved outside the inner locking nut (23) of the angular contact ball bearing, and the outer locking nut (22) of the angular contact ball bearing is in threaded connection with the inner wall of the interface supporting shell (26) and is in butt connection with the outer ring of the angular contact ball bearing (19) close to one side of the driving mechanism (B).
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| CN202211366123.8A CN115477025B (en) | 2022-10-31 | 2022-10-31 | Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard |
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| CN202211366123.8A CN115477025B (en) | 2022-10-31 | 2022-10-31 | Passive modularized interface clamping device for realizing auxiliary unfolding of satellite fault sailboard |
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| US4900078A (en) * | 1986-12-23 | 1990-02-13 | The Boeing Company | Gripping device utilizing a shape memory alloy |
| US9399295B2 (en) * | 2012-03-19 | 2016-07-26 | Macdonald, Dettwiler And Associates Inc. | Spacecraft capture mechanism |
| CN207858823U (en) * | 2018-01-08 | 2018-09-14 | 烟台德迈生物科技有限公司 | A kind of ratchet-type rotation pick-and-place manipulator |
| CN109131955B (en) * | 2018-10-18 | 2021-07-06 | 哈尔滨工业大学 | Three-finger non-cooperative target capturing mechanism and capturing method thereof |
| CN110104228B (en) * | 2019-05-14 | 2023-07-07 | 西北工业大学 | Under-actuated space capturing device with self-adaptability |
| CN210998790U (en) * | 2019-07-09 | 2020-07-14 | 南方电网科学研究院有限责任公司 | Self-clamping clamp holder |
| CN112171684B (en) * | 2020-09-10 | 2024-04-09 | 广东工业大学 | Rod piece holder |
| CN213471240U (en) * | 2020-11-09 | 2021-06-18 | 贵州时代铁建工程材料有限公司 | Bale grabbing and breaking mechanical gripper |
| CN112545612B (en) * | 2020-12-04 | 2022-11-01 | 哈尔滨工业大学 | Binding clip mechanism of single-hole operation arm |
| CN113401375B (en) * | 2021-06-17 | 2022-08-16 | 哈尔滨工业大学 | Self-adaptive space manipulator suitable for capturing various non-cooperative satellites |
| CN215149031U (en) * | 2021-06-29 | 2021-12-14 | 邵东市锦成耐磨新材料有限责任公司 | Clamping and grabbing device for wear-resistant balls |
| CN217244872U (en) * | 2022-05-06 | 2022-08-23 | 温州市康莱方医用塑料有限公司 | Disposable tooth fixer |
| CN114802761A (en) * | 2022-05-13 | 2022-07-29 | 中交二公局第三工程有限公司 | A snatch mechanism for unmanned aerial vehicle |
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| CN115092426A (en) * | 2022-07-18 | 2022-09-23 | 哈尔滨工业大学 | Capturing and cleaning system and capturing and cleaning method for non-cooperative rolling targets |
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