WO2020133544A1

WO2020133544A1 - Spatial micro-interference release mechanism and locking and micro-interference release method therefor

Info

Publication number: WO2020133544A1
Application number: PCT/CN2018/125930
Authority: WO
Inventors: 刘金国; 李娜托; 丁建; 张荣鹏; 刘玉旺
Original assignee: 中国科学院沈阳自动化研究所
Priority date: 2018-12-27
Filing date: 2018-12-30
Publication date: 2020-07-02
Also published as: CN109515771B; CN109515771A

Abstract

A spatial micro-interference release mechanism and a locking and micro-interference release method therefor. The release mechanism comprises a force sensor beam (1), an upper top surface (2), a single guide-rail slide table (3), an inner support post (4), a support plate (7), an inner driving finger (8), a low-voltage piezoelectric driving device (9), a spring, an outer driving finger (11), a tip (12), and a driving housing (13). The driving housing (13) is connected to a slide table of the single guide-rail slide table (3) by means of the support plate (7). The support plate (7) is engaged with the slide table of the single guide-rail slide table (3) and the driving housing (13) both by means of a bolt connection, and is provided with threaded holes (14) on top and bottom surfaces thereof.

Description

Space micro-interference release mechanism and its locking and micro-interference release method

Technical field

The invention relates to a release mechanism, in particular to a space micro-interference release mechanism and a locking and micro-interference release method thereof.

Background technique

The micro-interference release technology is widely used in the closed experimental process of a large amount of microgravity and the aerospace process. In space launches, it is often encountered that the target object needs to provide a large binding force during the launch process, resist strong vibration and The high pressure is required to release micro-interference to the target in space to achieve the minimum final velocity release, so as to ensure the safety and accuracy of the experiment.

At the same time, the existing release mechanism needs to clamp the experimental object during transportation, and there will be a large surface adhesion force when releasing the object, resulting in a large initial release speed after the experimental article is released. The accuracy of the experiment has a great impact, and it is difficult to apply to various scientific experiments under microgravity conditions.

Summary of the invention

In view of the above problems of the existing release mechanism, the object of the present invention is to provide a space micro-interference release mechanism and its locking and micro-interference release method.

The purpose of the present invention is achieved by the following technical solutions:

The mechanism of the present invention includes a force sensor beam, an upper top surface, a single rail slide table, an inner post, a drive inner finger, a low-voltage piezoelectric driver, a spring, a drive outer finger, a center and a drive housing, wherein the drive housing is connected to the single rail slide table Up, with the slide table reciprocating along the guide rail, one end of the drive housing is connected to the force sensor beam, and the other end is provided with a driving outer finger, the force sensor beam is equipped with an upper top surface; the driving inner finger is accommodated in the drive In the housing, the inner end of the driving inner finger is connected to the inner pillar, and the other end is connected to the end of the driving outer finger. The other end of the driving outer finger is provided with a through hole, and the top is accommodated inside. There is a spring between the other ends of the outer fingers; one end of the inner strut is extended by the driving inner finger and connected to the upper top surface, and a low-voltage piezoelectric driver is provided between the other end of the inner strut and one end of the top , The other end of the apex can be extended from the through hole under the drive of a low-voltage piezoelectric driver;

Wherein: the other end of the driving external finger is in the form of a truncated cone, and when the micro-interference release mechanism is docked with a target object, the truncated cone-shaped cone surface and the cone surface of the target object are smoothly butted and locked;

The axial section of the apex is a "T" shape, the bottom of the vertical side of the "T" shape is a tapered surface, and the bottom extends outwardly into a cylinder in the axial direction; one end of the through hole is the same as the tapered surface The corresponding tapered hole, the other end is a straight cylindrical hole corresponding to the cylinder;

An adjusting spacer for balancing the machining error of axial components is provided between the low-voltage piezoelectric driver and the inner pillar, and a wire groove is provided in the adjusting spacer;

One end of the driving inner finger is connected to the inner pillar through a pin to achieve axial fixation, and the other end of the driving inner finger is internally threaded to one end of the driving outer finger;

One end of the driving finger is provided with a square long slot for wiring, the upper part of the driving finger is a circular hole, and the lower part is a square hole for limiting the position of the low-voltage piezoelectric driver;

A gap for wiring is left between the part of the inner pillar located in the driving inner finger and the inner wall of the driving inner finger;

The beam of the force sensor has an arm structure with thick ends and a thin center, and the thin-walled part is used for pasting strain gauges;

One end of the drive housing is provided with a wiring hole, and the drive housing is connected to the sliding table of the single-rail sliding table through a support plate.

The locking and micro-interference release methods of the spatial micro-interference release mechanism of the present invention are:

First, the sliding table is driven by the motor to drive the drive housing to move toward the target object in the direction of the guide rail. During the process of docking and locking with the target object, the other end of the external finger of the drive contacts the cone surface on the target object , The locking and fixing of the position of the target object is achieved, the micro-interference release mechanism exerts a binding force on the target object to resist vibration and pressure or interference during movement; when the target object needs to be released, the low pressure The electric driver works to extend and push the center point outwards, the spring is compressed, so that the center point extends through the through hole on the driving outer finger, contacts the target object, and pushes the driving outer finger away from the target object, At this time, only the tip is in contact with the target object, which realizes the conversion of the large area of the external finger contacting the target object with the contact between the tip and the small area of the target object, eliminating surface adhesion; then, the low-voltage piezoelectric driver stops Working, the top is lifted away from the target object by the compressed spring, so as to achieve the release of micro interference; finally, the motor drives the single guide rail to reset.

The advantages and positive effects of the present invention are:

1. The present invention adopts a design combining macro-motion and micro-motion to achieve macro-motion locking and micro-low interference release, which greatly reduces the interference of the release mechanism on the target object.

2. The target object locked and released in the present invention only needs to process a 45° cone surface and a platform matched with the driving external finger, and can be matched with the micro-release structure, which is simple and easy to implement.

3. The axial parts of the invention are tightly connected, and the driving adopts two linear drives, which is simple to control and easy to operate.

4. The invention uses the force sensor beam to detect the driving force of the internal low-voltage piezoelectric driver to measure the displacement distance of the micro-actuator, and the working reliability is strong.

BRIEF DESCRIPTION

Figure 1 is a front view of the overall structure of the mechanism of the present invention;

2 is a left side view of the overall structure of the mechanism of the present invention;

3 is a plan view of the overall structure of the mechanism of the present invention;

4 is a cross-sectional view of the overall structure of the mechanism of the present invention;

5 is a schematic diagram of a three-dimensional structure of the mechanism of the present invention;

6 is a top cross-sectional view of the mechanism of the present invention after removing the single rail slide table;

7 is a left sectional view of the mechanism of the present invention after removing the single rail slide table;

8 is a cross-sectional view of the driving shell and the driving inner finger in the mechanism of the present invention;

9 is a cross-sectional view of the driving shell, driving inner fingers and inner pillars in the mechanism of the present invention;

10 is a cross-sectional view of driving the inner finger and the inner pillar in the mechanism of the present invention;

11A is a schematic diagram of the movement process of the mechanism of the present invention;

11B is a second schematic diagram of the movement process of the mechanism of the present invention;

11C is a third schematic diagram of the movement process of the mechanism of the present invention;

11D is a fourth schematic diagram of the movement process of the mechanism of the present invention;

11E is a fifth schematic diagram of the movement process of the mechanism of the present invention;

11F is the sixth schematic diagram of the movement process of the mechanism of the present invention;

11G is a seventh schematic diagram of the movement process of the mechanism of the present invention;

11H is a schematic diagram 8 of the movement process of the mechanism of the present invention;

Among them: 1 is the force sensor beam, 2 is the top surface, 3 is the single guide rail, 4 is the inner pillar, 5 is the pin, 6 is the adjusting spacer, 7 is the support plate, 8 is the driving inner finger, 9 is two Low-voltage piezoelectric actuators, 10 is a disc spring, 11 is to drive an external finger, 12 is a tip, 13 is a drive housing, 14 is a threaded hole, 15 is a through hole, 16 is a thin wall, 17 is a square groove, 18 is a walk Line hole, 19 is a square long slot, 20 is a round hole, 21 is a square hole, 22 is a straight cylindrical hole.

detailed description

The present invention will be further described in detail below with reference to the drawings.

As shown in FIGS. 1-10, the mechanism of the present invention includes a force sensor beam 1, an upper top surface 2, a single rail slide 3, an inner pillar 4, a support plate 7, a driving inner finger 8, a low-voltage piezoelectric driver 9, a spring, Drive the outer finger 11, the center 12 and the drive housing 13, wherein the drive housing 13 is connected to the slide of the single-rail slide 3 through the support plate 7, and between the support plate 7 and the slide of the single-rail slide 3 and the drive housing 13 They are all connected by bolts. The upper and lower bottom surfaces of the support plate 7 are provided with threaded holes 14, and four through holes 15 are additionally provided at the ribs of the lower bottom surface for the passage of tools when installing the top bolt. The single-rail slide table 3 of the present invention is driven by a motor, and the drive housing 13 is reciprocated along the guide rail by the motor driven by the slide table.

One end of the driving housing 13 is fixedly connected to the force sensor beam 1 by bolts, and the other end is provided with a driving outer finger 11. The upper top surface 2 is connected to the force sensor beam 1 by bolts. The force sensor beam 1 has an arm structure with thick ends and a thin center, and a part of the thin wall 16 can be deformed after being stressed. Therefore, a strain gauge is attached to the thin wall 16 to detect the transmission of the internal inner pillar 4 to the force sensor beam 1 force. The driving inner finger 8 is accommodated in the driving housing 13, the inner end of the driving inner finger 8 is connected to the inner pillar 4, the other end is internally screwed to the end of the driving outer finger 11, and the other end of the driving outer finger 11 has a through hole , And the top 12 is housed inside. A spring is provided between the center 12 and the other end of the driving outer finger 11, the spring of the present invention is a butterfly spring 10; the butterfly spring 10 only contacts the center 12 in the initial state, but is not stressed. One end of the inner strut 4 is extended by the driving inner finger 8 and is screwed to the upper top surface 2. A low-voltage piezoelectric driver 9 is provided between the other end of the inner strut 4 and one end of the center 12 and the other end of the center 12 is at Under the driving of the low-voltage piezoelectric driver 9, the through hole on the driving outer finger 11 can be extended. Considering the extension distance of the center 12 and the length of the finger 8 in the drive, there are two low-voltage piezoelectric drivers 9 in this embodiment.

One end of the inner pillar 4 is cylindrical, and is made with external threads, and is screwed to the upper top surface 2, and the end of the external thread of the inner pillar is provided with a relief groove. The inner pillar 4 is provided with a disc, which is located at the end of one end of the driving inner finger 8, and the diameter of the inner pillar 4 below the disc is smaller than the diameter of the circular disc, so that even if the inner pillar 4 is located on the driving inner finger 8 There is a gap for wiring between the inner part and the inner wall of the driving inner finger 8. One end of the driving inner finger 8 is connected to the inner strut 4 through the pin 5, penetrates the inner strut 4 and the driving inner finger 8, and is axially fixed.

One end of the driving inner finger 8 is provided with a square long slot 19 for routing. The square long slot 19 of this embodiment is two, symmetrically arranged; the upper part of the driving finger 8 is a circular hole 20, and the lower part is The square hole 21 is used to limit the position of the low-voltage piezoelectric driver 9 and reduce the axial rotation of the low-voltage piezoelectric driver 9. The outer end of the other end of the driving inner finger 8 is externally threaded, and the wall thickness at the thread is relatively increased to allow greater force to be received, and the end of the thread is provided with a relief groove. Both sides of one end of the drive housing 13 are provided with wiring holes 18, the wiring holes 18 are elongated, and through holes are used at the ends for the wiring of the low-voltage piezoelectric driver 9; the two wiring holes 18 are respectively Two square long slots 19 are connected.

The other end of the driving outer finger 11 has a truncated cone shape. Both sides of the axial cross section of the truncated cone in this embodiment are 45° conical surfaces, which are used to provide greater surface adhesion to resist movement when the mechanism is locked; When the micro-interference release mechanism is docked with the target object, the cone-shaped 45° cone surface is smoothly butted and locked with the cone surface of the target object. The axial section of the apex 12 is a "T" shape, and the bottom of the vertical side of the "T" shape is a tapered surface (the tapered surface in this embodiment is also 45°), and the bottom extends outwardly into a cylinder in the axial direction; One end of the hole is a tapered hole corresponding to the tapered surface (45° as well as the tapered surface), which limits the displacement of the apex 12, and the other end passing through is a straight cylindrical hole 22 corresponding to the cylinder. The internal thread at one end of the external finger 11 is driven to be thickened. The shape here is a square platform structure, which increases the wall thickness of the thread and allows the thread to withstand greater force.

Between the low-voltage piezoelectric driver 9 and the inner strut 4, an adjustment spacer 6 is provided to balance the machining error of the axial components. The adjustment spacer 6 is evenly provided with a plurality of square wiring grooves in the circumferential direction (in this embodiment The wire groove is a square groove 17). Considering that the machining error of the axial component will affect the coaxiality of the cylinder on the center 12 and the straight-through cylindrical hole 22, therefore, the adjusting spacer 6 is used to determine the thickening or thinning according to the error of the axial component Adjust the thickness of spacer 6.

The low-voltage piezoelectric driver 9 of the present invention is a commercially available product, which is purchased by Suzhou Maikerong Automation Technology Co., Ltd. and has a model number of PZT 150/3×3/18.

First, turn on the power supply of the motor that drives the single-rail slide table 3, so that the slide table drives the support plate 7 and the support plate 7 to drive the drive housing 13 and the drive housing 13 to drive the upper stage to realize the macro motion of the micro-interference release structure. As shown in Figures 11A and 11B; after the movement has set the distance, the micro-interference release mechanism approaches the target object, as shown in Figure 11C; at this time, the 45-degree cone surface of the target object plays a good guiding role, allowing the micro-interference to be released Even if there is a certain error in the position of the mechanism, it can still be smoothly docked with the target object. The cone surface of the outer finger 11 is driven to contact the cone surface of the target object to achieve the coordination of the micro interference release mechanism and the target object; when the cone surface of the outer finger 11 is driven to the target When the cone surface of the object is in full contact, the position of the target object is fixed, as shown in FIG. 11D; at this time, the micro-interference release mechanism can apply a large binding force to the target object to resist strong vibration and high pressure or movement Some interference in the process.

When the target object needs to be released, the power supply of the low-voltage piezoelectric driver 9 is turned on, the low-voltage piezoelectric driver 9 is driven to extend, and the disc spring 10 is compressed, so that the tip 12 is extended from the inside of the driving outer finger 11, as shown in FIG. 11E As the apex 12 continues to extend, the apex 12 contacts the target object, and the outer finger 11 is driven away from the target object. At this time, only the apex 12 is in contact with the target object, realizing the large driving of the outer finger 11 and the target object The conversion of the area contact to the tip 12 and the small area contact of the target object greatly reduces the surface adhesion, as shown in FIGS. 11F and 11G; at this time, the power supply to the low-voltage piezoelectric driver 9 is stopped, due to the disc spring 10. When it is in a compressed state, once the power supply to the low-voltage piezoelectric driver 9 is stopped, the disc spring 10 pushes the center 12 away from the target object, thereby achieving the release of micro interference, as shown in FIG. 11H; Finally, the motor drives the single-rail slide 3 Reset the movement backwards to complete the entire task process.

The invention adopts the combined form of macro-motion and micro-motion, and realizes the centimeter-level macro-motion through a single-rail linear motor, and the micro-level motion through a low-voltage piezoelectric driver, which can achieve the locking of macro-objects and low interference of micro-level Release; at the same time, the internal force is detected by the force sensor to measure the displacement of the micro motion, and the conical surface structure is used for the locking contact to greatly reduce the damage to the experimental object during clamping. Unique appearance, novel structure, simple control, and strong working reliability.

Claims

A spatial micro-disturbance release mechanism, which is characterized by including a force sensor beam (1), an upper top surface (2), a single guide rail slide (3), an inner pillar (4), a driving inner finger (8), and low pressure Electric drive (9), spring, drive outer finger (11), center point (12) and drive housing (13), where the drive housing (13) is connected to the single rail slide (3), and reciprocates along the slide along the rail , One end of the drive housing (13) is connected to the force sensor beam (1), and the other end is provided with a driving outer finger (11), the force sensor beam (1) is provided with an upper top surface (2); the drive The inner finger (8) is accommodated in the driving housing (13). The inner end of the driving inner finger (8) is connected to the inner pillar (4), and the other end is connected to one end of the driving outer finger (11). The other end of the outer finger (11) is provided with a through hole, and the center (12) is accommodated inside, and a spring is provided between the center (12) and the other end of the driving outer finger (11); the inner support (4) One end of the drive is extended by the inner finger (8) and is connected with the upper top surface (2), and the low end piezoelectric driver (9) is provided between the other end of the inner support (4) and the end of the apex (12) ), the other end of the apex (12) can be extended from the through hole under the drive of the low-voltage piezoelectric driver (9).
The spatial micro-interference release mechanism according to claim 1, characterized in that: the other end of the driving outer finger (11) is in the form of a truncated cone, and when the micro-disturbance release mechanism is docked with a target object, the truncated cone-shaped The conical surface of the target is smoothly butted and locked with the conical surface of the target object.
The spatial micro-disturbance release mechanism according to claim 1, characterized in that: the axial section of the apex (12) has a "T" shape, the bottom of the "T" shaped vertical edge is a tapered surface, and the bottom is along The cylinder extends axially outward; one end of the through hole is a tapered hole corresponding to the tapered surface, and the other end is a straight cylindrical hole (22) corresponding to the cylinder.
The space micro-disturbance release mechanism according to claim 1, characterized in that: an adjusting spacer (6) is provided between the low-voltage piezoelectric driver (9) and the inner pillar (4) to balance the machining error of axial components , The adjusting spacer (6) is provided with a wire groove.
The spatial micro-disturbance release mechanism according to claim 1, characterized in that: one end of the driving inner finger (8) is connected to the inner pillar (4) through a pin (5) to achieve axial fixation, and the driving inner finger (8) 8) The other end is internally screwed to one end of the driving external finger (11).
The spatial micro-disturbance release mechanism according to claim 5, characterized in that: one end of the driving inner finger (8) is provided with a square long slot (19) for wiring, and the driving inner finger (8) The upper part is a circular hole (20), and the lower part is a square hole (21) for restricting the position of the low-voltage piezoelectric driver (9).
The spatial micro-disturbance release mechanism according to claim 1, characterized in that: the portion of the inner pillar (4) located in the driving inner finger (8) and the inner wall of the driving inner finger (8) are provided for wiring Clearance.
The spatial micro-disturbance release mechanism according to claim 1, characterized in that the force sensor beam (1) has an arm structure with thick ends and thin centers, and the thin wall (16) is used for pasting strain gauges.
The space micro-disturbance release mechanism according to claim 1, characterized in that: one end of the drive housing (13) is provided with a wiring hole (18), and the drive housing (13) communicates with the support plate (7) through the support plate (7). The sliding table connection of the single rail sliding table (3).
A method for locking and releasing a micro-interference release mechanism of a spatial micro-disturbance release mechanism according to any one of claims 1 to 9, characterized in that: first, the slide table is driven by a motor to drive the drive housing (13) to approach along the guide rail The direction movement of the target object, in the process of docking and locking with the target object, the other end of the driving outer finger (11) comes into contact with the cone surface on the target object to achieve the locking and fixing of the position of the target object. The micro-interference release mechanism exerts a binding force on the target object to resist vibration and pressure or interference during movement; when the target object needs to be released, the low-voltage piezoelectric driver (9) works out and pushes the The center point (12), the spring is compressed, so that the center point (12) protrudes from the through hole on the driving outer finger (11), contacts the target object, and pushes the driving outer finger (11) away from the target At this time, only the tip (12) is in contact with the target object, so that the large area of the driving external finger (11) contacting the target object is converted to the contact between the tip (12) and the target object in a small area, eliminating surface adhesion Then, the low-voltage piezoelectric driver (9) stops working, and the tip (12) is pushed away from the target object by the compressed spring, so as to achieve the release of micro-interference; Finally, the motor drives the single rail slide (3) Reset.