CN107792406A - A kind of open space two dimension eccentric rotary joint - Google Patents
A kind of open space two dimension eccentric rotary joint Download PDFInfo
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- CN107792406A CN107792406A CN201710814183.4A CN201710814183A CN107792406A CN 107792406 A CN107792406 A CN 107792406A CN 201710814183 A CN201710814183 A CN 201710814183A CN 107792406 A CN107792406 A CN 107792406A
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- Prior art keywords
- eccentric rotary
- axle
- joint
- arc
- open space
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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
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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- Aviation & Aerospace Engineering (AREA)
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Abstract
A kind of open space two dimension eccentric rotary joint, is related to satellite and space technology field；Including outside eccentric rotary matrix, axle Neva, axle watts, joint seating and clamp ring；Eccentric rotary matrix is the inside vertical connection mechanism of two circular arc arcs；Axle Neva is fixedly connected to form complete round shape structure with two circular arcs of eccentric rotary matrix respectively；Outer watt of outer wall for being separately mounted to axle Neva of axle；The cyclic structure of outer watt of axle and joint seating forms complete round shape structure；Clamp ring is two parallel circular rings, and two circular rings are respectively fitted over outer watt of axial both ends that cyclic structure outer wall is formed with joint seating of axle, and realization is locked；Movable joint structure form of the present invention is succinct, environmental suitability is strong, reliability is high, resources occupation rate is low, can be widely applied on the movable joint mechanism unit of space development mechanism on all kinds of spacecrafts.
Description
Technical field
The present invention relates to a kind of satellite and space technology field, particularly a kind of open space two dimension eccentric rotary
Joint.
Background technology
With the increase of the in-orbit species of task during one's term of military service of spacecraft and the lifting of functional requirement, increasing spacecraft
Need to complete defined task using the assistance of spatial movement mechanism, some spatial movement mechanisms turn into spacecraft (such as state
Border space station manipulator, mars exploration robot etc.) in-orbit period performs the core and Main Means of task, a large amount of spatial movements
The use of mechanism improves the flexibility of the in-orbit execution task of spacecraft, independence and ageing.
Space development mechanism is a kind of most commonly seen spatial movement mechanism, and its operation principle is under the driving of power source
The functions such as expansion, gathering and the rotation to structural member are completed, and are coordinated by the motion between multiple structural members to realize the whole series
The predetermined function of space development mechanism.Typical space development mechanism is all employed in simulation of human body to be set to " arm " simulation
Count thinking, main structure be mostly by two or plurality of rods structure composition, it is more between bar structure to be attached using movable joint, pass through
Power source drive movable joint realizes the relative motion between bar structure, is coordinated by the motion between bar structure group and realizes the whole series
The system motion of space development mechanism, and then the execution of space development mechanism entirety compulsory exercise is completed, realize specific function.
Therefore, movable joint determines the kinetic characteristic of space development mechanism, is the key of whole system.
Due to the particularity of spacecraft task, emphasis is needed consideration is that how to carry in design in spatial movement joint
High reliability, how to reduce resources occupation rate and how to improve the efficiency of tasks carrying.According to being used at present on spacecraft
All kinds of movable joints application effect from the point of view of, the following shortcoming of generally existing：
(1) system complex：The function of movable joint is more to be realized by servomotor, and servomotor is installed on two structural members
Between, servomotor and required mounting structure are complicated, while servomotor needs to power, controlled and signal acquisition etc.
Circuit system, further increase the complexity of system.
(2) use environment is limited：Will necessarily be produced due to the presence of motor, in motor rotation process vibration, noise and
Electromagnetic field, some are installed on the equipment sensitive on development mechanism and to vibration, noise and electromagnetic environment and can not adapted to.It is another
Aspect, installation environment (installation accuracy, mechanical environment, the thermal environment that motor typically can be all provided spacecraft or development mechanism
Deng) claim, require very high, it is necessary to design strict guarantee in some cases.These features will all make making for movable joint
It is restricted with environment.
(3) reliability is low：System design is complicated, the strict reduction that will all cause system reliability of use environment requirement, special
It is not the dependence to use environment, improves influence degree of the outside environmental elements to system reliability, reduce system
Reliability.
(4) resources occupation rate is high：The complexity of system necessarily brings the increase of weight, volume and electrical power consumed, these resources
All it is very valuable for any spacecraft；On the other hand, to the high sensitive of use environment can only by increase configuration come
Overcome, such as increase system redundancy, structural strengthening means, further increase the occupancy of system resource.
The content of the invention
It is an object of the invention to overcome the above-mentioned deficiency of prior art, there is provided a kind of open space two dimension eccentric rotary
Joint, movable joint structure form is succinct, environmental suitability is strong, reliability is high, resources occupation rate is low, can be widely applied to all kinds of
On spacecraft on the movable joint mechanism unit of space development mechanism.
The above-mentioned purpose of the present invention is achieved by following technical solution：
Outside a kind of open space two dimension eccentric rotary joint, including eccentric rotary matrix, 2 axle Nevas, 2 axles watt, 2
Individual joint seating and clamp ring；Wherein, eccentric rotary matrix is the inside vertical connection mechanism of two circular arc arcs；2 axle Nevas
Radian is identical with the circular arc radian of eccentric rotary matrix；2 axle Nevas are fixed with two circular arcs of eccentric rotary matrix respectively to be connected
Connect, realize that the circular arc of axle Neva and eccentric rotary matrix forms complete circle shape structure；2 joint seating distributing installations turn in bias
The outer wall of two circular arcs of kinetoplast；The top of joint seating is cyclic structure, and the inwall of joint seating cyclic structure is fixedly mounted
In the outer wall of eccentric rotary matrix circular arc；Outer watt of outer wall for being separately mounted to 2 axle Nevas of 2 axles；Outer watt of axle and joint seating
Cyclic structure form complete round shape structure；Clamp ring is two parallel circular rings, and two circular rings cover respectively
It is locked with the axial both ends of joint seating composition cyclic structure outer wall, realization outside axle watt.
In a kind of above-mentioned open space two dimension eccentric rotary joint, described eccentric rotary joint also includes action rope
And assembly pulley；Assembly pulley is fixedly mounted on the inside of joint seating；Action becket bridle is wound on the outer watt of ring-type knot with joint seating of axle
Complete round shape structural outer is configured to, and gos deep into the inside of joint seating, is looped around the outer wall of assembly pulley.
In a kind of above-mentioned open space two dimension eccentric rotary joint, the assembly pulley includes movable pulley and two fixed sliding
Wheel；Wherein, a diameter of 28-32mm of movable pulley and two fixed pulleys；Movable pulley is located at center；Two fixed pulleys are symmetrically solid
It is scheduled on the both ends of movable pulley；Action rope is looped around the bottom of two fixed pulley outer walls and the top of movable pulley outer wall respectively.
In a kind of above-mentioned open space two dimension eccentric rotary joint, the axle center of the movable pulley and two fixed pulleys connects
The circular arc that line is formed is concentric circles with the arc structure of corresponding eccentric rotary matrix.
In a kind of above-mentioned open space two dimension eccentric rotary joint, the movable pulley turns under the driving of external motor
Dynamic, the fixed pulley that both sides are moved by acting rope band rotates, and realizes and drives joint seating to carry out axial rotation around eccentric rotary matrix.
In a kind of above-mentioned open space two dimension eccentric rotary joint, the eccentric rotary matrix includes two identicals
Arc-like motion pair and carrier bar；The arc-like motion pair is semi arch corresponding to diameter 160-220mm；Carrier bar is fixedly mounted on
Between the secondary inner arc of two identical arc-like motions；The length of carrier bar isThe secondary diameter length of arc-like motion.
In a kind of above-mentioned open space two dimension eccentric rotary joint, arc-like motion pair is divided into size by the carrier bar
Two parts, the arc length of fraction is arc-like motion pair arc length
In a kind of above-mentioned open space two dimension eccentric rotary joint, the joint seating is circle along eccentric rotary matrix
The rotating range of arc is 0-330 °.
The present invention has the following advantages that compared with prior art：
(1) present invention sets two-dimensional rotary matrix, and rotating matrix by one realizes double-axle rotation function, two rotary shafts it
Between transition need not be set to support, realize that two-dimensional rotary matrix matches with the rotation of joint seating by ball set, it is not necessary to axle
Bearing structure, and two-dimensional rotary matrix profile almost spherical structure, reduce volume and weight, have saved installing space；By fixed
Assembly pulley drive actions rope system, so as to drive two-dimensional rotary matrix, it is not necessary to which built-in motor is driven, and reduces volume and again
Measure, saved installing space；
(2) present invention using a two-dimensional rotary matrix realizes double-axle rotation function, eliminate due to process, assemble etc. because
Transmission error is rotated caused by plain, improves the matching precision between double-axle rotation；
(3) two-dimensional rotary matrix profile almost spherical structure of the present invention, makes what is born in two-dimensional rotary matrix rotation process
Load is coordinated by geometric center (barycenter) between two-dimensional rotary matrix and joint seating by spherical ball, uniform force,
Rotate smoothly, improve system bearing ability；
(4) in light weight, small volume of the invention, internal unpowered demand part, the concentric cradle head of space two-dimensional is made in weight
Amount, volume and electrical power consumed demand side have obvious advantage；
(5) present invention improves environmental suitability：A kind of open space two dimension eccentric rotary intra articular is without electrical property
Product, the high-precision matching requirements without similar bearing fit, reduces requirement of the system to use environment, has product fine
Environmental suitability；
(6) single joint bearing of the present invention can realize the single shaft rotation along some direction, complete using two structure types
Exactly the same joint seating can realize the double-axle rotation along certain both direction, improve the versatility and maintenanceability of product；
The design of joint seating external interface is simple, improves the applicability of system, can be widely applied to the space development of all kinds of spacecrafts
In mechanism；
(7) present system design is succinct, environmental suitability is strong, product versatility and maintenanceability are high, improves system
Reliability.
Brief description of the drawings
Fig. 1 is a kind of open space two dimension eccentric rotary joint of the invention schematic diagram；
Fig. 2 is joint seating diagrammatic cross-section of the present invention；
Fig. 3 is eccentric rotary matrix schematic diagram of the present invention.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings：
It is a kind of open space two dimension eccentric rotary joint schematic diagram, as seen from the figure, a kind of open sky as shown in Figure 1
Between watt 3,2 joint seatings 4 and locking outside two-dimentional eccentric rotary joint, including the axle of axle Neva 2,2 of eccentric rotary matrix 1,2
Circle 5；Wherein, eccentric rotary matrix 1 is the inside vertical connection mechanism of two circular arc arcs；2 radians of axle Neva 2 and eccentric rotary
The circular arc radian of matrix 1 is identical；2 axle Nevas 2 are fixedly connected with two circular arcs of eccentric rotary matrix 1 respectively, are realized in axle
Watts 2 form complete circle shape structure with the circular arc of eccentric rotary matrix 1；2 distributing installations of joint seating 4 are in eccentric rotary matrix 1
The outer wall of two circular arcs；The top of joint seating 4 is cyclic structure, and the inwall of the cyclic structure of joint seating 4 is fixedly mounted on partially
The heart rotates the outer wall of the circular arc of matrix 1；Outer watt 3 outer wall for being separately mounted to 2 axle Nevas 2 of 2 axles；Outer watt 3 of axle and joint seating 4
Cyclic structure form complete round shape structure；Clamp ring 5 is two parallel circular rings, and two circular rings cover respectively
Watts 3 axial both ends for forming cyclic structure outer wall with joint seating 4, realization are locked outside axle.
Joint seating diagrammatic cross-section is illustrated in figure 2, as seen from the figure, eccentric rotary joint also includes action rope 6 and slided
Wheel group 7；Assembly pulley 7 is fixedly mounted on the inside of joint seating 4；Action rope 6 is looped around the ring-type of outer watt 3 of axle and joint seating 4
Structure forms complete round shape structural outer, and gos deep into the inside of joint seating 4, is looped around the outer wall of assembly pulley 7.
Wherein, assembly pulley 7 includes movable pulley 7-1 and two fixed pulley 7-2；Wherein, movable pulley 7-1 and two fixed pulley 7-
2 a diameter of 28-32mm；Movable pulley 7-1 is located at center；Two fixed pulley 7-2 are symmetrically fixed on the two of movable pulley 7-1
End；Action rope 6 is looped around the bottom of two fixed pulley 7-2 outer walls and the top of movable pulley 7-1 outer walls respectively.Movable pulley 7-1 and
The circular arc that two fixed pulley 7-2 axial connecting line is formed is concentric circles with the arc structure of corresponding eccentric rotary matrix 1.Movable pulley
7-1 is rotated by external motor, is driven the fixed pulley 7-2 of both sides to rotate by acting rope 6, is realized and drive joint seating
4 carry out axial rotation around eccentric rotary matrix 1, and joint seating 4 is 0- along the rotating range that eccentric rotary matrix 1 is circular arc
330°。
Eccentric rotary matrix schematic diagram is illustrated in figure 3, as seen from the figure, eccentric rotary matrix 1 includes two identical arcs
Shape kinematic pair 1-1 and carrier bar 1-2；The arc-like motion secondary 1-1 is semi arch corresponding to diameter 160-220mm；Carrier bar 1-2
It is fixedly mounted between two identical arc-like motion secondary 1-1 inner arc；Carrier bar 1-2 length isArc-like motion pair
1-1 diameter length.Secondary 1-1 points by arc-like motion of carrier bar 1-2 is size two parts, and the arc length of fraction is arc-like motion pair
1-1 arc length
Operation principle：
A kind of mechanical motion principle in open space two dimension eccentric rotary joint comes from the pull effect of action rope system.It is logical
Cross to coordinate between joint seating 4 and eccentric rotary matrix 1 and realize rotating function；By rotating two of eccentric rotary matrix 1 just
Rotary shaft can realize two-dimensional rotary function.
During initial position, one of joint seating 4 is in fixed constraint state, and another joint seating 4 is in certainly
By state, when external motor driving pulley group 7 rotates, pulling action rope 6, the drive joint seating 4 of action rope 6 surrounds rotary shaft
Turned clockwise, make a kind of mechanism kinematic in open space two dimension eccentric rotary joint have normal axis single shaft clockwise
The function of rotation；Similarly, when external motor driving pulley group 7 rotates, pulling action rope 6, action rope 6 drives joint seating 4
Rotate counterclockwise is carried out around rotary shaft, so that the joint seating 4 being connected with rotating matrix together carries out the inverse time around rotary shaft
Pin rotates, and a kind of mechanism kinematic in open space two dimension eccentric rotary joint is had the work(of normal axis single shaft rotate counterclockwise
Energy.
Equally, during initial position, former free state joint seating 4 is in fixed constraint state, and former fixed constraint state is closed
Section bearing 4 is in free state, and when external motor driving pulley group 7 rotates, pulling action rope 6, action rope 6 drives articular branches
Seat 4 is turned clockwise around rotary shaft, so that the joint seating 4 being connected with rotating matrix together carries out up time around rotary shaft
Pin rotates, the work(for making a kind of mechanism kinematic in open space two dimension eccentric rotary joint that there is normal axis single shaft to turn clockwise
Energy；Similarly, when external motor driving pulley group 7 rotates, pulling action rope 6, action rope 6 drives joint seating 4 around rotation
Axle carries out rotate counterclockwise, so that the joint seating 4 being connected with rotating matrix together carries out rotate counterclockwise around rotary shaft, makes
A kind of mechanism kinematic in open space two dimension eccentric rotary joint has the function of normal axis single shaft rotate counterclockwise.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (8)
- A kind of 1. open space two dimension eccentric rotary joint, it is characterised in that：Including eccentric rotary matrix (1), 2 axle Nevas (2), 2 axles outer watt (3), 2 joint seatings (4) and clamp ring (5)；Wherein, eccentric rotary matrix (1) is two circular arc arcs Inside vertical connection mechanism；2 axle Neva (2) radians are identical with the circular arc radian of eccentric rotary matrix (1)；2 axle Nevas (2) It is fixedly connected respectively with two circular arcs of eccentric rotary matrix (1), realizes the circular arc of axle Neva (2) and eccentric rotary matrix (1) Form complete round shape structure；Outer wall of 2 joint seating (4) distributing installations in (1) two circular arc of eccentric rotary matrix；Articular branches The top of seat (4) is cyclic structure, and the inwall of joint seating (4) cyclic structure is fixedly mounted on eccentric rotary matrix (1) circular arc Outer wall；2 axles outer watt (3) are separately mounted to the outer wall of 2 axle Nevas (2)；The ring-type of axle outer watt (3) and joint seating (4) Structure forms complete round shape structure；Clamp ring (5) is two parallel circular rings, and two circular rings are respectively fitted over axle Outer watt (3) and the axial both ends of joint seating (4) composition cyclic structure outer wall, realization are locked.
- A kind of 2. open space two dimension eccentric rotary joint according to claim 1, it is characterised in that：Described bias Cradle head also includes action rope (6) and assembly pulley (7)；Assembly pulley (7) is fixedly mounted on the inside of joint seating (4)；Action The cyclic structure that rope (6) is looped around axle outer watt (3) and joint seating (4) forms complete round shape structural outer, and gos deep into articular branches The inside of seat (4), it is looped around the outer wall of assembly pulley (7).
- A kind of 3. open space two dimension eccentric rotary joint according to claim 2, it is characterised in that：The assembly pulley (7) movable pulley (7-1) and two fixed pulleys (7-2) are included；Wherein, movable pulley (7-1) and two fixed pulleys (7-2) is a diameter of 28-32mm；Movable pulley (7-1) is located at center；Two fixed pulleys (7-2) are symmetrically fixed on movable pulley (7-1) both ends；It is dynamic Restrict (6) be looped around the bottom of two fixed pulley (7-2) outer walls and the top of movable pulley (7-1) outer wall respectively.
- A kind of 4. open space two dimension eccentric rotary joint according to claim 3, it is characterised in that：The movable pulley The circular arc that (7-1) and the axial connecting line of two fixed pulleys (7-2) are formed is same with the arc structure of corresponding eccentric rotary matrix (1) The heart is justified.
- A kind of 5. open space two dimension eccentric rotary joint according to claim 4, it is characterised in that：The movable pulley (7-1) is rotated by external motor, drives the fixed pulley (7-2) of both sides to rotate by acting rope (6), is realized to drive and is closed Save bearing (4) and carry out axial rotation around eccentric rotary matrix (1).
- A kind of 6. open space two dimension eccentric rotary joint according to claim 1, it is characterised in that：Described eccentric turn Kinetoplast (1) includes two identical arc-like motions secondary (1-1) and carrier bar (1-2)；The arc-like motion secondary (1-1) is diameter Semi arch corresponding to 160-220mm；Carrier bar (1-2) be fixedly mounted on two identical arc-like motions secondary (1-1) inner arc it Between；The length of carrier bar (1-2) isThe diameter length of arc-like motion pair (1-1).
- A kind of 7. open space two dimension eccentric rotary joint according to claim 1, it is characterised in that：The carrier bar Arc-like motion secondary (1-1) is divided into size two parts by (1-2), and the arc length of fraction is secondary (1-1) arc length of arc-like motion
- A kind of 8. open space two dimension eccentric rotary joint according to one of claim 1-7, it is characterised in that：It is described Joint seating (4) is 0-330 ° along the rotating range that eccentric rotary matrix (1) is circular arc.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710814183.4A CN107792406A (en) | 2017-09-11 | 2017-09-11 | A kind of open space two dimension eccentric rotary joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710814183.4A CN107792406A (en) | 2017-09-11 | 2017-09-11 | A kind of open space two dimension eccentric rotary joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107792406A true CN107792406A (en) | 2018-03-13 |
Family
ID=61531754
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710814183.4A Pending CN107792406A (en) | 2017-09-11 | 2017-09-11 | A kind of open space two dimension eccentric rotary joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN107792406A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2207948C2 (en) * | 2001-06-14 | 2003-07-10 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П.Королева" | Fixable wrench |
| CN103817705A (en) * | 2014-03-18 | 2014-05-28 | 王培明 | Two-dimensional rotation-freedom-degree concentric rotational joint |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
-
2017
- 2017-09-11 CN CN201710814183.4A patent/CN107792406A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2207948C2 (en) * | 2001-06-14 | 2003-07-10 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П.Королева" | Fixable wrench |
| CN103817705A (en) * | 2014-03-18 | 2014-05-28 | 王培明 | Two-dimensional rotation-freedom-degree concentric rotational joint |
| CN103846927A (en) * | 2014-03-18 | 2014-06-11 | 王培明 | Open type space two-dimensional eccentric rotational joint |
| CN106184829A (en) * | 2015-06-01 | 2016-12-07 | 北京空间飞行器总体设计部 | Multiple degrees of freedom regulation directing mechanism and method |
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Application publication date: 20180313 |