CN106426145A - Soft capturing and locking device for space and corresponding capturing and locking method - Google Patents
Soft capturing and locking device for space and corresponding capturing and locking method Download PDFInfo
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- CN106426145A CN106426145A CN201611117711.2A CN201611117711A CN106426145A CN 106426145 A CN106426145 A CN 106426145A CN 201611117711 A CN201611117711 A CN 201611117711A CN 106426145 A CN106426145 A CN 106426145A
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- capture
- adapter
- steel wire
- gear
- capturing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
- B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a soft capturing and locking device for a space and a corresponding capturing and locking method and particularly relates to a tail end capturing and locking device for a space manipulator. The soft capturing and locking device is divided into two parts including an active capturing mechanism and an adapter; and the active capturing mechanism is composed of a capturing assembly and a tightening assembly. The capturing and locking method comprises three processes including capturing, locking as well as releasing and separating; during capturing, a rotating ring of the capturing assembly forwards rotates, and a steel wire rope is gradually closed up from a completely opened state until a pull rod of the adapter is completely clamped; during locking, the tightening assembly drives the capturing assembly to upwards move until the adapter completely presses against the end surface of the active capturing mechanism; and during releasing and separating, the rotating ring of the capturing assembly reversely rotates, the steel wire rope is restored to the completely opened state from a closed-up state, the space manipulator takes with the soft capturing and locking device and the adapter to realize separation. The soft capturing and locking device can be used for the space manipulator, can be used for soft capturing and locking a small load in a space and has the beneficial effects of little capturing impact, light weight, small size and large tolerance.
Description
Technical field
The present invention relates to space intelligent arrests technical field and in particular to a kind of soft capture locking device of space manipulator
And capturing locking method accordingly, this mechanism can achieve soft capture, locking and the release to the small-sized load in space.
Background technology
It is mechanical arm that space manipulator needs to complete a series of spatial operation task, the wherein capture to target and locking
One of basic task.At present, the mission planning of space manipulator includes in-orbit assembling, ORU module replacing, spacecraft
In-orbit maintenance etc., is required for space loading being captured and locking.With the construction at Chinese Space station, in-orbit operation experiments
Expand, the task of arresting of space loading also persistently increases, the demand capturing locking tool to space manipulator end is also increasingly
Strongly.But current in-orbit instrument mostly rigidity of arresting is arrested, and can fly to comprising space loading in mechanical arm acquisition procedure
Row device brings larger shock vibration, is unfavorable for the in-orbit automatic control of aircraft.It is therefore desirable to design is a kind of can achieve soft capture
End arresting agency, to reduce the in-orbit rigid shock arrested of mechanical arm, improve reliability and the peace of the in-orbit capture of mechanical arm
Quan Xing.
Content of the invention
To be solved by this invention is that rigidity in capture process for the current space manipulator end capture mechanism arrests punching
Hit the excessive problem of load, the invention provides a kind of space soft capture locking device and accordingly capture locking method.
The soft capture in a kind of space locking device that the present invention provides, by the adapter in the small-sized load in space and space mechanism
Arm end active capture mechanism composition it is characterised in that：Described adapter is by positioning base, pull bar and multiple guiding lobe group
Become；Described active capture mechanism is made up of capture component and pulling assembly；Wherein,
Described capture component is by mobile shell, internal gear, gear linkage, rotating ring, retainer ring, multiple steel wire rope group
Part, angular contact bearing, external gear, drive component support, planetary reduction gear, capture motor, capture brake and capture encoder
Composition, capture brake connects capture motor, and the outfan of capture motor connects planetary reduction gear, and planetary reduction gear connects external tooth
Wheel, external gear driving connects internal gear, and internal gear is connected by gear linkage with rotating ring；Retainer ring is fixedly connected on movement
Shell；Drive component support is used for supporting fixing planetary reduction gear and capture motor；Angular contact bearing is used for undertaking gear connection
Part, rotating ring load and ensure the rotation that internal gear, gear linkage, rotating ring are with respect to described mobile shell；Rotating ring
Each uniform three sets of steel wire rope component with retainer ring, and often set rotating ring on steel wire rope component with adjacent retainer ring
Steel wire rope component shares steel cable；Described steel wire rope component belongs to Hooke's hinge structure, has pitching and two degree of freedom of deflection,
In order to realize steel wire rope within the required range freely rotatable；
Described pulling assembly is by cover plate, drive component seat, shell, guide rail, ball-screw, slide block, docking end face, lead screw shaft
Terminal block block, floating connection assembly, tension encoder, tension brake, tension motor, decelerator, motor output gear, leading screw are defeated
Enter gear and leading screw bearing composition, wherein, described tension brake connects tension motor, and the outfan of described tension motor connects
Decelerator, described decelerator connects motor output gear, and motor output gear connects leading screw input gear, and leading screw input gear is even
Connect ball-screw, and the end of ball-screw is fixed on leading screw bearing through leading screw input gear, described ball-screw
Outfan connects floating connection assembly, and lead screw shaft terminal block block is arranged on the other end of ball-screw；Described slide block is fixedly connected
On floating connection assembly, and slide block is set on guide rail；Floating connection assembly is fixedly connected with mobile shell；Described docking
End face is for the positioning to adapter during locking；Described floating connection assembly is by feed screw nut, mobile support, floating cover
Plate, floating axle and butterfly spring composition, wherein, feed screw nut is set in the outside of ball-screw, and feed screw nut is by ball-screw
Convert rotational motion be floating connection assembly axial movement；Described floating axle is fixedly connected on feed screw nut, mobile
Frame is fixedly connected with floating cover, and butterfly spring is pressed between floating axle and floating cover by floating cover, and butterfly spring provides certain
Pretightning force, this pretightning force is delivered on slide block by mobile support.
Three sets of steel wire rope groups being respectively provided with a kind of retainer ring of the soft capture in described space locking device or rotating ring
Part is in 120 ° of circumference uniform distributions respectively in retainer ring or rotating ring.
A kind of described soft capture in space locking device, often covers described steel wire rope component by gripper shoe, deflection rollers seat, partially
Tumbler axle, pitching roller shaft seat, pitching roller bearing and steel wire rope composition, described gripper shoe is fixedly connected in rotating ring or retainer ring,
Described pitching roller shaft seat is pivotally connected with described gripper shoe by deflection rollers, and pitching roller bearing edge is vertical and does not intersect at described inclined
The direction of tumbler axle is pivotally connected described pitching roller shaft seat, and steel wire rope is fixedly installed on described pitching roller bearing；
Three groups of circular groove structures are arranged on described rotating ring, described retainer ring arranges three groups of annular groove knots
Structure, one group groove transition corresponding with the rotating ring docking of every group of groove in described retainer ring, for placing steel wire rope；Initially
Under state, steel wire rope opens completely, and due to being limited by deflection rollers seat and pitching roller shaft seat, steel wire rope draws in rotating ring
In the groove of retainer ring.
A kind of described soft capture in space locking device, described docking end face is provided with multiple positioning ball grooves and multiple end face
Tooth, described positioning ball groove is coordinated one by one with the guiding lobe of described adapter, carries out coarse positioning；The described positioning bottom of described adapter
Seat is provided with multiple teeth, and described end-tooth is coordinated one by one with the tooth on described positioning base, carries out fine positioning.
A kind of capture locking method of the soft capture in described space locking device, comprises the following steps：
The capture step to adapter for the active capture mechanism；
The sealed step of tension of active capture mechanism and adapter；
The release separating step to adapter for the active capture mechanism.
Described active capture mechanism is specially to the capture step of adapter：Space manipulator carry active capture mechanism by
Step is near adapter, until the pull bar on adapter enters the capture range of active capture mechanism；Driver receives capture and refers to
Order, drives capture motor to rotate forward, and transmits rotary movement on internal gear by planetary reduction gear and external gear, internal gear leads to
Cross gear linkage to transmit rotary movement on rotating ring；Rotating ring rotates forward, adjacent steel wire rope on rotating ring and retainer ring
Assembly rotates backward, and distance is increasingly far so that the steel wire rope opening completely under original state from rotating ring and is consolidated between the two
Spin off in the groove determining ring, progressively tighten up；In the process, capture motor maintains and rotates forward, until steel wire rope is close to straight line
State, now Drag link tightener is in the centre of three groups of steel wire ropes, thus realizing the capture to adapter.
Described active capture mechanism is specially to the sealed step of tension of adapter：Driver receives strains sealed instruction,
Drive described tension motor to rotate forward, and leading screw input gear is transmitted rotary movement to by decelerator and motor output gear
On；Leading screw input gear transmits rotary movement on ball-screw, and is floating by feed screw nut by convert rotational motion
The moving up of moving axis；There is the trend of axial relative slip between floating axle and mobile support；Described ball-screw transmission fortune
While dynamic, also moment of torsion be converted into axial force and exported by feed screw nut, feed screw nut compresses butterfly spring, butterfly spring by floating axle
Pressure be delivered on mobile support by floating cover simultaneously, realize moving in the axial direction of mobile support, mobile support and movement
Shell is fixedly connected, and drives capture component to move up, and realizes adapter is strained；When adapter is strained by active capture mechanism
When docking the guiding lobe of end face and adapter to it and coming into contact with, the bulb of guiding lobe is slowly slided to the positioning ball groove of docking end face
Enter, active capture mechanism realizes the coarse positioning to adapter；Continue in adapter cinching process in active capture mechanism, when thick
The docking range of tolerable variance of fine positioning is can reach, the end-tooth of docking end face is joined with the end-tooth on adapter after the completion of positioning
Close, realize the fine positioning to adapter.
Described active capture mechanism is specially to the release separating step of adapter：Driver receives and releases order, and drives
Described capture motor reversal, transmits rotary movement on rotating ring by planetary reduction gear, external gear, internal gear, rotating ring
Reversion, on rotating ring and retainer ring, adjacent steel wire rope component rotates in opposite directions, and distance is increasingly nearer between the two, three steel wire ropes
Slowly it is flared to arcuation from complete tightening state, and draw in the groove of rotating ring and retainer ring, in the process, three steel
Pull bar in cord release adapters, the release of the complete paired adapters of active capture mechanism and separation.
The present invention has following obvious beneficial effect：
1st, the rigid shock in acquisition procedure is little, and the present invention adopts steel wire rope capture adapter pull bar it is achieved that to space
The soft capture of load, capture impulsive force is little；
2nd, capture tolerance is big, and the capture tolerance of the present invention is the radial zone of active capture mechanism, in active capture mechanism
Under the conditions of same size, capture tolerance is larger；
3rd, small volume, lightweight, the volume and weight of the present invention is constrained by capture tolerance and coupling mechanism force, in identical
Under the conditions of capture tolerance and coupling mechanism force, small volume, lightweight beneficial effect are reached.
Brief description
Fig. 1 is active capture mechanism capture adapter schematic diagram of the present invention；
Fig. 2 is the structural representation of adapter of the present invention；
Fig. 3 is the structural representation of active capture mechanism of the present invention；
Fig. 4 is the structural representation of capture component in active capture mechanism；
Fig. 5 is the structural representation of steel wire rope component in capture component；
Fig. 6 is the structural representation of pulling assembly in active capture mechanism；
Fig. 7 is the structural representation of floating connection assembly in pulling assembly；
Fig. 8 is the structural representation docking end face in pulling assembly；
In figure labelling：
201. capture components, 202. pulling assemblies
1. adapter, 2. active capture mechanism, 3. positioning base, 4. pull bar, 5. guiding lobe, 6. mobile shell, 7. internal tooth
Wheel, 8. gear linkage, 9. rotating ring, 10. retainer ring, 11. steel wire rope component, 12. angular contact bearings, 13. external gears, 14.
Drive component support, 15. planetary reduction gears；16. capture motors, 17. capture brakes, 18. capture encoders, 19. gripper shoes,
20. deflection rollers seats, 21. deflection rollers, 22. pitching roller shaft seats, 23. pitching roller bearings, 24. steel wire ropes, 25. cover plates, 26. drivings
Assembly sea, 27. shells, 28. guide rails, 29. ball-screws, 30. slide blocks, 31. docking end faces, 32. lead screw shaft terminal block blocks, 33. float
Be dynamically connected assembly, 34. tension encoders, 35. tension brakes, 36. tension motors, 37. decelerators, 38. motor output gears,
39. leading screw input gears, 40. leading screw bearings, 41. feed screw nuts, 42. mobile supports, 43. floating covers, 44. floating axles, 45.
Butterfly spring.
Specific embodiment
The invention discloses a kind of space soft capture locking device and corresponding capture locking method are and in particular to space machine
The capture of tool arm end and locking device.The present invention is divided into active capture mechanism and adapter two parts, and active capture mechanism is installed
In space manipulator end, adapter is installed on space loading；Described adapter is by positioning base, multiple guiding lobe and pull bar
Composition；Described active capture mechanism is made up of capture component and pulling assembly.The present invention is divided into capture, locking, release to separate three
Individual operation；During capture, the rotating ring of capture component rotates forward, and steel wire rope is progressively drawn in by complete open configuration, until clamping completely
Adapter pull bar；During locking, pulling assembly drives and moves on capture component so that the pull bar that steel wire rope passes through to strain adapter drives
Adapter, progressively near active capture mechanism, is pressed on active capture mechanism end face completely up to adapter；When release separates,
The rotating ring reversion of capture component, steel wire rope returns to complete open configuration by rounding state, and space manipulator carries soft capture lock
Tight device is realized separating with adapter.The present invention can be used for space manipulator to the soft capture of the small-sized load in space and sealed, takes
Obtain capture and impact little, lightweight, small volume, the beneficial effect of big tolerance.
The present invention is described in further detail with reference to the accompanying drawings and examples.
Embodiment
Fig. 1 is active capture mechanism [2] capture adapter [1] schematic diagram of the present invention.As shown in figure 1, the present invention is by being adapted to
Device [1] is formed with active capture mechanism [2], and active capture mechanism [2] is installed on space manipulator (not shown) end.
Incorporated by reference to referring to Fig. 1 and Fig. 2, space manipulator carries active capture mechanism [2] progressively near adapter [1], directly
Pull bar [4] to adapter [1] enters the capture range of active capture mechanism [2], and active capture mechanism [2] is to adapter
[1] captured；After the completion of capture, active capture mechanism [2] pulls adapter [1] progressively close to active capture mechanism [2],
Until both end faces mutually fit, now active capture mechanism [2] brakes the coupling mechanism force it is ensured that certain, thus completing sealed
Action；When separating release, active capture mechanism [2] inverts, and gradually unclamps adapter [1], completes release movement, subsequently actively catch
Obtain mechanism [2] and recession is carried by space manipulator, realize separating with adapter [1].
Fig. 2 is the structural representation of adapter of the present invention [1].As shown in Fig. 2 adapter [1] by positioning base [3], draw
Bar [4] and three guiding lobe [5] compositions, and six end-tooths are evenly equipped with positioning base [3].
Fig. 3 is the structural representation of active capture mechanism [2] of the present invention.As shown in figure 3, active capture mechanism [2] is by catching
Obtain assembly [201] and pulling assembly [202] composition.Capture component [201] is used for adapter [1] being captured and discharging, and draws
Tight assembly [202] is used for adapter [1] being carried out strain and sealed.In acquisition procedure, when the pull bar [4] of adapter [1] enters
During the range of tolerable variance of active capture mechanism [2], the inner core of capture component [201] rotates forward, and realizes the capture to adapter [1]；Draw
During tight, pulling assembly [202] drags pull bar [4] so that adapter [1] is progressively close to active capture mechanism [2], works as master
When the guiding lobe [5] that adapter [1] is tensioned to its end face and adapter [1] is come into contact with by dynamic capture mechanism [2], guide lobe
[5] bulb slowly slips into the positioning ball groove (referring to Fig. 8) of active capture mechanism [2], and it is right that active capture mechanism [2] is realized
The coarse positioning of adapter [1]；Can reach the docking range of tolerable variance of fine positioning after the completion of coarse positioning, in active capture mechanism
[2] continue in adapter [1] cinching process, the end-tooth (referring to Fig. 8) of active capture mechanism [2] and adapter [1] bottom
End-tooth (referring to Fig. 2) cooperation on seat [3], realizes the fine positioning to adapter [1], thus realizing active capture mechanism
[2] sealed to adapter [1]；During release, the inner core reversion of capture component [201], the pull bar in release adapters [1]
[4], thus realizing release function.
Fig. 4 is the structural representation of capture component [201] in active capture mechanism [2].Capture component [201] is by mobile outer
Shell [6], internal gear [7], gear linkage [8], rotating ring [9], retainer ring [10], steel wire rope component [11], angular contact bearing
[12], external gear [13], drive component support [14], planetary reduction gear [15], capture motor [16], capture brake [17] and
Capture encoder [18] composition.Capture component [201] is used for realizing the capture to adapter [1] and release.Capture brake
[17] connect capture motor [16], the outfan of capture motor [16] connects planetary reduction gear [15], planetary reduction gear [15]
Outfan connects external gear [13], external gear [13] and internal gear [7] engaged transmission, and internal gear [7] passes through tooth with rotating ring [9]
Wheel connector [8] connects, and retainer ring [10] is fixedly connected with mobile shell [6], totally six sets of steel wire rope component [11], and in rotation
Three sets of the upper each setting of ring [9] and retainer ring [10], angular contact bearing [12] be arranged on gear linkage [8] and rotating ring [9] and
Between mobile shell [6], be used for undertaking load and ensure gear linkage [8] and rotating ring [9] with respect to mobile shell [6] have
Standby turning power, drive component support [14] is used for supporting planetary reduction gear [15] and capture motor [16].Capture encoder
[18] it is used for the information such as monitoring velocity, position.
Fig. 5 is a set of steel wire rope component [11] structural representation in capture component [201].As shown in figure 5, steel wire rope component
[11] by gripper shoe [19], deflection rollers seat [20], deflection rollers [21], pitching roller shaft seat [22], pitching roller bearing [23] and steel
Cord [24] forms, and described gripper shoe [19] is fixedly connected in rotating ring [9] or retainer ring [10], described pitching roller shaft seat
[22] it is pivotally connected with described gripper shoe [19] by deflection rollers [21], pitching roller bearing [23] edge is vertical and does not intersect at described
The direction of deflection rollers [21] is pivotally connected described pitching roller shaft seat [22], and steel wire rope [24] is fixedly installed on described pitching roller bearing
[23] on.Steel wire rope component [11] belongs to Hooke's hinge structure, has pitching and two degree of freedom of deflection, and achievable steel wire rope [24] exists
Freely rotatable in required scope.Rotating ring [9] upper each uniform three sets of steel wire rope component [11] with retainer ring [10], often set rotation
Steel wire rope component [11] on ring [9] shares steel cable with the steel wire rope component [11] in adjacent retainer ring [10].Please
Referring to Fig. 4, described rotating ring [9] arranges three groups of circular groove structures, every group of circular groove structure is used for placing every steel
One end of cord [24]；Three groups of circular groove structures are arranged on described retainer ring [10], the phase of every group of groove and rotating ring [9]
Groove transition is answered to dock, every group of circular groove structure is used for placing the other end of every steel wire rope [24].
Under original state, steel wire rope [24] opens completely, due to by deflection rollers seat [20] and pitching roller shaft seat [22]
Restriction, steel wire rope [24] draw in the groove of rotating ring [9] and retainer ring [10].In acquisition procedure, space manipulator is taken
Band active capture mechanism [2] is progressively near adapter [1], until pull bar [4] the entrance active capture mechanism on adapter [1]
[2] capture range；Driver receives capture instruction, drives capture motor [16] to rotate forward, and passes through planetary reduction gear [15]
And external gear [13] transmits rotary movement on internal gear [7], internal gear [7] transmits rotary movement on rotating ring [9]；
Rotating ring [9] rotates forward, and adjacent steel wire rope component [11] rotates backward, between the two distance more and more remote so that steel wire rope
[24] spin off from groove, progressively tighten up；In the process, capture motor [16] maintains and rotates forward, until steel wire rope [24]
Close to linear state, now pull bar [4] is tightened up in the centre of three groups of steel wire ropes [24], thus realizing the capture to adapter [1].
After the completion of capture, capture brake [17] starts, and makes pull bar [4] maintain trapped state.
Additionally, capture component [201] is also used for active capture mechanism adapter [1] is released in active capture mechanism [2]
Put and separate.During release, driver receives and releases order, and drives described capture motor [16] reversion, by planetary reduction gear
[15], external gear [13], internal gear [7] transmit rotary movement on rotating ring [9], and rotating ring [9] inverts, retainer ring [10]
The opposite rotation with the upper adjacent steel wire rope component [11] of rotating ring [9], distance is increasingly nearer between the two, and steel wire rope [24] is from complete
Full tightening state is slowly flared to arcuation, and draws in the groove of rotating ring [9] and retainer ring [10], in the process, steel
The pull bar [4] of cord [24] release adapters [1], the release of the complete paired adapters of active capture mechanism [2] [1] and separation.
Fig. 6 is the structural representation of pulling assembly [202] in active capture mechanism [2].As shown in fig. 6, pulling assembly
[202] by cover plate [25], drive component seat [26], shell [27], guide rail [28], ball-screw [29], slide block [30], butt end
Face [31], lead screw shaft terminal block block [32], floating connection assembly [33], tension encoder [34], tension brake [35], tension electricity
Machine [36], decelerator [37], motor output gear [38], leading screw input gear [39] and leading screw bearing [40] composition, wherein, institute
State and strain brake [35] connection tension motor [36], the outfan connection reducer [37] of described tension motor [36], described
Decelerator [37] connects motor output gear [38], and motor output gear [38] connects leading screw input gear [39], and leading screw inputs
Gear [39] connects ball-screw [29], and the end of ball-screw [29] is fixed on leading screw through leading screw input gear [39]
On bearing [40], the outfan of described ball-screw [29] connects floating connection assembly [33], and lead screw shaft terminal block block [32] is arranged
The other end in ball-screw [29]；Described slide block [30] is fixedly connected on floating connection assembly [33], and slide block
[30] it is set on guide rail [28]；Floating connection assembly [33] is fixedly connected with mobile shell [6]；Described docking end face [31] is used
The positioning to adapter [1] during locking.Pulling assembly [202] is realized to the tension of adapter [1] and sealed.Tension and
During sealed, driver receives strains sealed instruction, drives described tension motor [36] to rotate forward, by decelerator [37] and electricity
Machine output gear [38] transmits rotary movement on leading screw input gear [39]；Leading screw input gear [39] and ball-screw
[29] connected by pin, transmit rotary movement on ball-screw [29], and will be revolved by floating connection assembly [33]
Transhipment is dynamic to be converted into floating connection assembly [33] moving up vertically；While described ball-screw [29] transmitting movement,
Also moment of torsion is converted into axial force and passes through floating connection assembly [33] output, floating connection assembly [33] is led to mobile shell [6]
Cross bolt to be fixedly connected, drive capture component [201] to move up, realize the tension to adapter [1], until active catching machine
When the docking end face [31] of structure [2] and the end face of adapter [1] are adjacent to, realize sealed to adapter [1].
Fig. 7 is floating connection assembly [33] structural representation in pulling assembly [202].As shown in fig. 7, floating connection assembly
[33] it is made up of feed screw nut [41], mobile support [42], floating cover [43], floating axle [44] and butterfly spring [45], wherein, silk
Thick stick nut [41] is set in the outside of ball-screw [29], and the rotary motion of ball-screw [29] is turned by feed screw nut [41]
Turn to the axial movement of floating connection assembly [33]；Described floating axle [44] is fixedly connected on feed screw nut [41], mobile
Frame [42] is fixedly connected with floating cover [43], and butterfly spring [45] is pressed on floating axle [44] and floating cover by floating cover [43]
[43] between, butterfly spring [45] provides certain pretightning force, and this pretightning force is passed through mobile support [42] and is delivered on slide block [30].Floating
Be dynamically connected assembly [33] while the convert rotational motion of ball-screw [29] is linear motion, also by ball-screw [29]
The moment of torsion of transmission is converted into axial tension output.Detailed process is：Rotary motion on ball-screw [29], by feed screw nut
[41] the moving axially upwards for floating axle [44] by convert rotational motion；Floating axle [44] passes through to be bonded with mobile support [42]
Connect, have axial relative tendency toward sliding between the two；Floating cover [43] is bolted to connection with mobile support [42], and
And floating cover [43] is pressed on butterfly spring [45] above it is ensured that butterfly spring [45] has certain initial pretightning force；Described ball-screw
[29] while transmitting movement, also moment of torsion is converted into axial force and passes through feed screw nut [41] output, feed screw nut [41] leads to
Cross floating axle [44] compression butterfly spring [45], the pressure of butterfly spring [45] is delivered to mobile support [42] by floating cover [43] simultaneously
On, realize shifting in the axial direction of mobile support [42], mobile support [42] is bolted to connection with mobile shell [6], thus
Drive capture component [201] to move up, realize adapter [1] is strained.Meanwhile, slide block [30] is set on guide rail [28],
Meanwhile, slide block [30] is fixedly connected on the mobile support [42] of floatation element [33], such that it is able to limit mobile support [42]
The track being limited along guide rail [28] with mobile shell [6] is moved up.
Fig. 8 is the structural representation of the docking end face [31] of pulling assembly [202].As shown in figure 8, described docking end face
[31] it is provided with multiple positioning ball grooves and multiple end-tooth, the guiding lobe [5] of described positioning ball groove and described adapter [1] is joined one by one
Close, carry out coarse positioning；The described positioning base [3] of described adapter [1] is provided with multiple teeth, described end-tooth and described positioning
Tooth on base [3] coordinates one by one, carries out fine positioning.Docking end face [31] be on active capture mechanism [2] with adapter [1]
The face of docking, for the coarse positioning during both are sealed and fine positioning.In adapter [1] near active capture mechanism [2]
During, the bulb of the guiding lobe [5] on adapter [1] slowly slips into the positioning ball groove in docking end face [31], realizes thick
Positioning；The position error of coarse positioning is the initial tolerance of fine positioning, and after the completion of coarse positioning, adapter [1] continues to catch to active
Obtain that mechanism [2] is close, with the end-tooth on the positioning base [3] with adapter [1] for the end-tooth in docking end face [31],
Realize the fine positioning to adapter [1].
Further below to the capture of the present invention, sealed and release work process be described.
In acquisition procedure, space manipulator carries active capture mechanism [2] progressively near adapter [1], until adapter
[1] pull bar [4] on enters the capture range of active capture mechanism [2]；Driver receives capture instruction, drives capture motor
[16] rotate forward, and transmit rotary movement on internal gear [7] by planetary reduction gear [15] and external gear [13], internal gear
[7] transmitted rotary movement on rotating ring [9] by gear linkage [8]；Rotating ring [9] rotates forward, and retainer ring [10] keeps
Motionless, therefore adjacent steel wire rope component [11] rotates backward, and distance is increasingly far so that steel wire rope [24] is from recessed between the two
Spin off in groove, progressively tighten up；In the process, capture motor [16] maintains and rotates forward, until steel wire rope [24] is close to straight line
State, now pull bar [4] tighten up in the centre of three groups of steel wire ropes [24], thus realizing capture to adapter [1].Capture completes
Afterwards, capture brake [17] is braked, and makes pull bar [4] be maintained at captured state.
During tension is sealed, driver receives strains sealed instruction, drives described tension motor [36] to rotate forward, by subtracting
Fast device [37] and motor output gear [38] transmit rotary movement on leading screw input gear [39]；Leading screw input gear [39]
It is connected by pin with ball-screw [29], transmits rotary movement on ball-screw [29], and pass through feed screw nut
[41] the moving up for floating axle [44] by convert rotational motion；Floating axle [44] and mobile support [42] pass through bonded,
There is the trend of axial relative slip between the two；Floating cover [43] is bolted to connection with mobile support [42], and
And floating cover [43] is pressed on butterfly spring [45] above it is ensured that butterfly spring [45] has certain initial pretightning force；Described ball-screw
[29], while transmitting movement, also moment of torsion is converted into axial force and passes through feed screw nut [41] output, feed screw nut [41] passes through
Floating axle [44] compression butterfly spring [45], the pressure of butterfly spring [45] is delivered to mobile support [42] by floating cover [43] simultaneously
On, realize moving up of mobile support [42], mobile support [42] is bolted to connection with mobile shell [6], drives
Capture component [201] moves up, and slide block [30] and guide rail [28] limit the shifting moving support [42] and mobile shell [6] simultaneously
Dynamic rail mark, realizes the tension to adapter [1]；When adapter [1] is tensioned to its docking end face [31] by active capture mechanism [2]
When coming into contact with the guiding lobe [5] of adapter [1], the bulb of guiding lobe [5] is slowly to the positioning ball groove of docking end face [31]
Slip into, active capture mechanism [2] realizes the coarse positioning to adapter [1]；The right of fine positioning is can reach after the completion of coarse positioning
Connect range of tolerable variance, continue in adapter [1] cinching process in active capture mechanism [2], the end-tooth of docking end face [31] with
End-tooth cooperation on adapter [1], realizes the fine positioning to adapter [1].After the completion of fine positioning, strain brake [35] work
Make, make adapter [1] be maintained at the position of fine positioning.
In release separation process, driver receives and releases order, and drives described capture motor [16] reversion, is subtracted by planet
Fast device [15], external gear [13], internal gear [7], gear linkage [8] transmit rotary movement on rotating ring [9], rotating ring
[9] invert, adjacent steel wire rope component [11] is opposite to be rotated, and distance is increasingly nearer between the two, steel wire rope [24] is from receiving completely
Tight state is slowly flared to arcuation, and draws in the groove of rotating ring [9] and retainer ring [10], in the process, steel wire rope
[24] pull bar [4] of release adapters [1], the release of the complete paired adapters of active capture mechanism [2] [1] and separation.
Present invention disclosed above preferred embodiment is only intended to help illustrate the present invention.Preferred embodiment is not detailed
Describe all of details, also do not limit the specific embodiment that this invention is only described.Obviously, the content according to this specification,
Can make many modifications and variations.This specification is chosen and is specifically described these embodiments, is to preferably explain the present invention
Principle and practical application so that skilled artisan can be best understood by and utilize the present invention.The present invention is only
Limited by claims and its four corner and equivalent.
Claims (8)
1. the soft capture locking device in a kind of space, by the master of the adapter [1] in the small-sized load in space and space manipulator end
Dynamic capture mechanism [2] composition it is characterised in that：Described adapter [1] is by positioning base [3], pull bar [4] and multiple guiding lobe
[5] form；Described active capture mechanism [2] is made up of capture component [201] and pulling assembly [202]；Wherein,
Described capture component [201] is by mobile shell [6], internal gear [7], gear linkage [8], rotating ring [9], retainer ring
[10], multiple steel wire rope component [11], angular contact bearing [12], external gear [13], drive component support [14], planetary reduction gear
[15], capture motor [16], capture brake [17] and capture encoder [18] composition, capture brake [17] connects capture electricity
Machine [16], the outfan of capture motor [16] connects planetary reduction gear [15], and planetary reduction gear [15] connects external gear [13], outward
Gear [13] is in transmission connection internal gear [7], and internal gear [7] is connected by gear linkage [8] with rotating ring [9]；Retainer ring
[10] it is fixedly connected on mobile shell [6]；Drive component support [14] is used for supporting fixing planetary reduction gear [15] and capture electricity
Machine [16]；Angular contact bearing [12] is used for undertaking gear linkage [8], the loading and ensure internal gear [7], tooth of rotating ring [9]
Wheel connector [8], rotating ring [9] are with respect to the rotation of described mobile shell [6]；Rotating ring [9] and retainer ring [10] Shang Gejun
Three sets of steel wire rope component [11] of cloth, and often the steel wire rope component [11] on set rotating ring [9] with adjacent retainer ring [10]
Steel wire rope component [11] share steel cable；Described steel wire rope component [11] belongs to Hooke's hinge structure, has pitching and deflection
Two degree of freedom, in order to realize steel wire rope within the required range freely rotatable；
Described pulling assembly [202] is by cover plate [25], drive component seat [26], shell [27], guide rail [28], ball-screw
[29], slide block [30], docking end face [31], lead screw shaft terminal block block [32], floating connection assembly [33], tension encoder [34],
Tension brake [35], tension motor [36], decelerator [37], motor output gear [38], leading screw input gear [39] and silk
Thick stick bearing [40] forms, and wherein, described tension brake [35] connects tension motor [36], the output of described tension motor [36]
End connection reducer [37], described decelerator [37] connects motor output gear [38], and motor output gear [38] connects leading screw
Input gear [39], leading screw input gear [39] connects ball-screw [29], and the end of ball-screw [29] passes through leading screw
Input gear [39] is fixed on leading screw bearing [40], and the outfan of described ball-screw [29] connects floating connection assembly
[33], lead screw shaft terminal block block [32] is arranged on the other end of ball-screw [29]；Described slide block [30] is fixedly connected on floating
In coupling assembly [33], and slide block [30] is set on guide rail [28]；Floating connection assembly [33] is fixing with mobile shell [6]
Connect；Described docking end face [31] is for the positioning to adapter [1] during locking；Described floating connection assembly [33] is by silk
Thick stick nut [41], mobile support [42], floating cover [43], floating axle [44] and butterfly spring [45] composition, wherein, feed screw nut
[41] it is set in the outside of ball-screw [29], and the convert rotational motion of ball-screw [29] is floating by feed screw nut [41]
Be dynamically connected the axial movement of assembly [33]；Described floating axle [44] is fixedly connected on feed screw nut [41], mobile support [42]
Be fixedly connected with floating cover [43], butterfly spring [45] by floating cover [43] be pressed on floating axle [44] and floating cover [43] it
Between, butterfly spring [45] provides certain pretightning force, and this pretightning force is passed through mobile support [42] and is delivered on slide block [30].
2. a kind of space according to claim 1 soft capture locking device it is characterised in that：Retainer ring [10] or rotating ring
[9] three sets of steel wire rope component [11] being respectively provided with are upper in retainer ring [10] or rotating ring [9] respectively to be in 120 ° of circumference uniform distributions.
3. a kind of space according to claim 1 soft capture locking device it is characterised in that：
Often cover described steel wire rope component [11] by gripper shoe [19], deflection rollers seat [20], deflection rollers [21], pitching roller shaft seat
[22], pitching roller bearing [23] and steel wire rope [24] composition, described gripper shoe [19] is fixedly connected on rotating ring [9] or retainer ring
[10], on, described pitching roller shaft seat [22] is pivotally connected with described gripper shoe [19] by deflection rollers [21], pitching roller bearing
[23] it is pivotally connected described pitching roller shaft seat [22], steel wire rope along direction that is vertical and not intersecting at described deflection rollers [21]
[24] it is fixedly installed on described pitching roller bearing [23]；
Three groups of circular groove structures are arranged on described rotating ring [9], described retainer ring [10] arranges three groups of annular grooves
Structure, one group groove transition corresponding with rotating ring [9] docking of every group of groove on described retainer ring [10], for placing steel
Cord [24]；Under original state, steel wire rope [24] opens completely, due to by deflection rollers seat [20] and pitching roller shaft seat [22]
Restriction, steel wire rope [24] draw in the groove of rotating ring [9] and retainer ring [10].
4. a kind of space according to claim 1 soft capture locking device it is characterised in that：Described docking end face [31] sets
There are multiple positioning ball grooves and multiple end-tooth, described positioning ball groove is coordinated one by one with the guiding lobe [5] of described adapter [1], enters
Row coarse positioning；The described positioning base [3] of described adapter [1] is provided with multiple teeth, described end-tooth and described positioning base
[3] tooth on coordinates one by one, carries out fine positioning.
5. the capture locking method of the soft capture in the space any one of a kind of Claims 1-4 locking device, its feature exists
In comprising the following steps：
The capture step to adapter [1] for the active capture mechanism [2]；
The sealed step of tension of active capture mechanism [2] and adapter [1]；
The release separating step to adapter [1] for the active capture mechanism [2].
6. as claimed in claim 5 a kind of capture locking method of the soft capture in space locking device it is characterised in that described master
Dynamic capture mechanism [2] is specially to the capture step of adapter [1]：Space manipulator carries active capture mechanism [2] and progressively leans on
Nearly adapter [1], until the pull bar [4] on adapter [1] enters the capture range of active capture mechanism [2]；Driver receives
To capture instruction, drive capture motor [16] to rotate forward, and by planetary reduction gear [15] and external gear [13], rotary motion is passed
It is delivered on internal gear [7], internal gear [7] is transmitted rotary movement on rotating ring [9] by gear linkage [8]；Rotating ring
[9] rotate forward, rotating ring [9] and the upper adjacent steel wire rope component [11] of retainer ring [10] rotate backward, and distance is more next between the two
More remote so that the steel wire rope [24] opening completely under original state detaches from the groove of rotating ring [9] and retainer ring [10]
Come, progressively tighten up；In the process, capture motor [16] maintains and rotates forward, until steel wire rope [24], close to linear state, now draws
The centre in three groups of steel wire ropes [24] tightened up by bar [4], thus realizing the capture to adapter [1].
7. a kind of capture locking method of the soft capture in the space as described in claim 5 or 6 locking device is it is characterised in that institute
State active capture mechanism [2] the sealed step of tension of adapter [1] is specially：Driver receives strains sealed instruction, drives
Described tension motor [36] rotates forward, and it is defeated to transmit rotary movement to leading screw by decelerator [37] and motor output gear [38]
Enter on gear [39]；Leading screw input gear [39] transmits rotary movement on ball-screw [29], and passes through feed screw nut
[41] the moving up for floating axle [44] by convert rotational motion；Have axial between floating axle [44] and mobile support [42]
The trend relatively slided；While described ball-screw [29] transmitting movement, also moment of torsion is converted into axial force and passes through leading screw spiral shell
Female [41] output, feed screw nut [41] compresses butterfly spring [45] by floating axle [44], and the pressure of butterfly spring [45] passes through to float simultaneously
Cover plate [43] is delivered on mobile support [42], and the axial direction realizing mobile support [42] is moved, and mobile support [42] is outer with mobile
Shell [6] is fixedly connected, and drives capture component [201] to move up, and realizes adapter [1] is strained；When active capture mechanism [2]
When adapter [1] being tensioned to its docking end face [31] coming into contact with the guiding lobe [5] of adapter [1], the ball of guiding lobe [5]
Head slowly slips into the positioning ball groove of docking end face [31], and active capture mechanism [2] realizes the coarse positioning to adapter [1]；?
Active capture mechanism [2] continues to hold the docking that in adapter [1] cinching process, can reach fine positioning after the completion of coarse positioning
Difference scope, the end-tooth of docking end face [31] is coordinated with the end-tooth on adapter [1], realizes the fine positioning to adapter [1].
8. as claimed in claim 5 a kind of capture locking method of the soft capture in space locking device it is characterised in that described master
Dynamic capture mechanism [2] is specially to the release separating step of adapter [1]：Driver receives and releases order, and drives described capture
Motor [16] inverts, and transmits rotary movement to rotating ring [9] by planetary reduction gear [15], external gear [13], internal gear [7]
On, rotating ring [9] inverts, and rotating ring [9] and the upper adjacent steel wire rope component [11] of retainer ring [10] rotate, between the two in opposite directions
Distance is increasingly nearer, and three steel wire ropes [24] are slowly flared to arcuation from complete tightening state, and draws in rotating ring [9] and consolidate
Determine in the groove of ring [10], in the process, pull bar [4] on three steel wire ropes [24] release adapters [1], active catching machine
The release of the complete paired adapters of structure [2] [1] and separation.
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| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
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|---|---|---|---|
| CN201611117711.2A CN106426145B (en) | 2016-12-07 | 2016-12-07 | A kind of soft capture locking device in space and locking method is captured accordingly |
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| CN109129451A (en) * | 2018-09-14 | 2019-01-04 | 华中科技大学 | Shoulder locking and wrist capture device and its application of the self-positioning mechanical arm in space |
| CN109264034A (en) * | 2018-08-14 | 2019-01-25 | 北京航空航天大学 | A kind of spacecraft electromagnetism cross convolution butt-joint locking device |
| CN110216716A (en) * | 2019-07-25 | 2019-09-10 | 苏州安锐捷智能科技有限公司 | A kind of capture retaining mechanism docking experimental rig |
| CN110450988A (en) * | 2019-07-19 | 2019-11-15 | 北京空间飞行器总体设计部 | A kind of foldable destination adapter suitable for the capture of big tolerance |
| CN110549358A (en) * | 2019-09-26 | 2019-12-10 | 清华大学 | End effector |
| CN111086028A (en) * | 2019-12-14 | 2020-05-01 | 西安交通大学 | Industrial robot tail end motion sensing device and identification method |
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| CN113401371A (en) * | 2021-06-11 | 2021-09-17 | 上海宇航***工程研究所 | Ultra-light multifunctional space module connecting mechanism and application method |
| CN113842218A (en) * | 2021-10-13 | 2021-12-28 | 中南大学 | Primary adjustment mechanical arm braking system of surgical robot |
| CN114918973A (en) * | 2022-05-30 | 2022-08-19 | 天津航天机电设备研究所 | On-orbit service device applied to space manipulator end effector |
| CN114918973B (en) * | 2022-05-30 | 2023-11-10 | 天津航天机电设备研究所 | On-orbit service device applied to space manipulator end effector |
| CN115092364A (en) * | 2022-06-19 | 2022-09-23 | 西北工业大学 | Dynamic docking and recycling device for underwater vehicle with self-correction posture |
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