CN108945532B - Catching mechanism suitable for spacecraft universal structure surface - Google Patents
Catching mechanism suitable for spacecraft universal structure surface Download PDFInfo
- Publication number
- CN108945532B CN108945532B CN201810560975.8A CN201810560975A CN108945532B CN 108945532 B CN108945532 B CN 108945532B CN 201810560975 A CN201810560975 A CN 201810560975A CN 108945532 B CN108945532 B CN 108945532B
- Authority
- CN
- China
- Prior art keywords
- catching
- sliding plate
- plate
- claw
- rocker
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Vibration Dampers (AREA)
Abstract
The invention relates to a capturing mechanism suitable for a spacecraft universal structure surface, and belongs to the technical field of on-orbit service and robots. The catching mechanism comprises a supporting component, a transmission component, a push disc, a sliding plate, a catching component, a spring and a locking and releasing component, wherein the catching component comprises a connecting rod and claw spines, the sliding plate locked at the first position is unlocked from the first position when a preset condition is triggered, the sliding plate moves towards a catching target direction by using the elasticity of the spring, so that the connecting rod is driven to move, the claw spines are driven by the connecting rod to catch the target, whether a space cooperation target or a non-cooperation target is achieved, most surfaces of the spacecraft are covered by a universal structural surface, namely an aluminum honeycomb plate, and the claw spines can pierce through the surface of the catching target to realize catching; the catching mechanism does not need to provide cooperative catching characteristic parts, is suitable for various spacecrafts, and has strong universality and wide application range; repeated effective capture connection and release separation can be carried out.
Description
Technical Field
The invention relates to a capturing mechanism suitable for a spacecraft universal structure surface, and belongs to the technical field of on-orbit service and robots.
Background
The satellite on-orbit failure or invalidation can cause huge waste of space assets, capture the space assets and carry out maintenance or off-orbit and other on-orbit service operations, so that the loading task capacity of the failed satellite can be continued, or important orbit resources are released, and very important economic and social benefits can be obtained. The acquisition of the satellite is a precondition for implementing the on-orbit service operation on the satellite, and the design of the acquisition mechanism is a core component for the acquisition of the satellite and is one of important factors influencing whether the normal on-orbit service operation can be carried out on the satellite.
At present, an on-orbit service technology for a space cooperative target has a certain maturity, partial on-orbit verification is carried out, and a capturing mechanism can effectively capture the cooperative target. Cooperative targets are designed with capture features specifically adapted for the capture mechanism, whereas non-cooperative targets do not have capture features applicable.
Satellites currently in orbit and developed on the ground are not designed for receiving in-orbit services, and are both space non-cooperative targets. The method is characterized in that the on-orbit service operation is carried out on the satellite, and the core is to complete the capture docking operation on the satellite target. At present, foreign typical technical schemes comprise a scheme of a U.S. FREND mechanical arm + a replaceable end effector, a scheme of German DEOS and a scheme of a European SMART-OLEV tapered rod type catching mechanism, and the catching target is required to have a specific characteristic part for catching, so that the scheme is difficult to be suitable for catching a space non-cooperative target.
Therefore, a catching mechanism suitable for the general structural surface of the spacecraft is needed to meet the catching of the space non-cooperative target.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention overcomes the defects of the prior art and provides a capturing mechanism suitable for the general structure surface of a spacecraft so as to meet the capturing requirements of a spacecraft which is a cooperative target and a spacecraft which is not a cooperative target.
In order to achieve the above purpose, the invention provides the following technical scheme:
a catching mechanism suitable for the surface of a spacecraft general structure comprises a supporting component, a transmission component, a push disc, a sliding plate, a catching component, a spring and a locking and releasing component, wherein the supporting component comprises a first supporting plate, a second supporting plate and a guide part supported between the first supporting plate and the second supporting plate, the transmission component is used for driving the push disc to move towards the first supporting plate or the second supporting plate along the guide part, the catching component comprises a connecting rod and a claw thorn, the first end of the connecting rod is rotatably connected with the sliding plate, the second end of the connecting rod is rotatably connected with the claw thorn, the first end of the claw thorn is rotatably connected with the second supporting plate, the locking and releasing component is used for locking the sliding plate at a first position and unlocking the sliding plate from the first position under a preset condition, the sliding plate is positioned between the push disc and the first supporting plate, the spring is located between the first supporting plate and the sliding plate, when the sliding plate is located at the first position, the spring is in a compressed state, the transmission assembly drives the push disc to move towards the second supporting plate before the preset condition is triggered, when the preset condition is triggered, the sliding plate is unlocked from the first position, the sliding plate moves towards the second supporting plate along the guide portion under the action of the spring, and the connecting rod pushes the claw spikes to enable the second end of the claw spikes to be pierced into a catching target surface to achieve catching.
In an optional embodiment, the second end of the claw thorn is provided with a first blade and a second blade, the first blade is opposite to the second blade, and a sharp hook is formed at the intersection position of the first blade and the second blade.
In an alternative embodiment, the first blade is a single-sided sharp blade, and the second blade is a circular arc blade, and the second blade is used for bearing the break-away force of the catching target.
In an optional embodiment, the locking and releasing assembly comprises a fixed hook, a rocker, a switching rod and a buffer rod, the fixed hook is fixed on the sliding plate, the first end of the rocker is rotatably connected with the first supporting plate, the buffer rod penetrates through the first supporting plate and the second supporting plate and is in clearance fit with the first supporting plate and the second supporting plate, the first end of the switching rod is rotatably connected with the middle of the rocker, the second end of the switching rod is rotatably connected with the buffer rod, when the sliding plate is located at the first position, the fixed hook is hung and buckled with the second end of the rocker, when the buffer rod is impacted, the buffer rod moves upwards, the connecting rod drives the rocker to rotate, and the fixed hook is separated from the second end of the rocker.
In an optional embodiment, the fixed hook is provided with a guide surface, and the lock release assembly further comprises a roller arranged at the second end of the rocker, and when the sliding plate moves to the first position, the roller rolls along the guide surface, so that the fixed hook is hooked with the second end of the rocker.
In an optional embodiment, the locking and releasing assembly further includes a buffer portion, the first end of the buffer rod extends out of the second support plate and extends in a direction away from the first support plate and the second support plate, and the buffer portion is fixedly connected with the first end of the buffer rod.
In an optional embodiment, a buffer spring is arranged between the buffer part and the second support plate.
In an optional embodiment, the transmission assembly comprises a transmission motor and a lead screw, and the push disc is matched with the lead screw.
In an alternative embodiment, the capturing mechanism suitable for the spacecraft general structure surface comprises at least three groups of the capturing components which are symmetrically arranged.
In an optional embodiment, the catching mechanism for the spacecraft general structure surface further comprises an upper limit switch and a lower limit switch, the upper limit switch is arranged on the sliding plate, and the lower limit switch is arranged on the second supporting plate and used for limiting the moving position of the push disc.
Compared with the prior art, the invention has the advantages that:
(1) the embodiment of the invention provides a catching mechanism suitable for a universal structural surface of a spacecraft, which is characterized in that when a preset condition is triggered, a sliding plate locked at a first position is unlocked from the first position, the sliding plate is made to move towards a catching target direction by using the elastic force of a spring, so that a connecting rod is driven to move, the connecting rod drives claw spines to catch the target, whether a space cooperation target or a non-cooperation target is provided, most of the area of the surface of the spacecraft is covered by a universal structural surface, namely an aluminum honeycomb plate, and the claw spines can be pierced into the catching target surface to realize catching;
(2) the catching mechanism does not need to provide cooperative catching characteristic parts, is suitable for various spacecrafts, and has strong universality and wide application range;
(3) repeated effective catching connection and release separation can be carried out;
(4) the first cutting edge and the second cutting edge which are opposite are arranged, and a sharp hook is formed at the intersection position of the first cutting edge and the second cutting edge so as to penetrate into the surface of the spacecraft;
(5) the first knife edge is set to be a single-side sharp knife edge, the grabbing target surface layer is convenient to scratch, the second end of the stabbing claw penetrates into the aluminum honeycomb plate grabbing the target surface layer to ensure fastening force, the second knife edge is a circular arc knife edge and is used for bearing the breaking-off force of the grabbing target, the stabbing point penetrating into the aluminum honeycomb plate is prevented from cutting the honeycomb plate, and the claw stabs are prevented from falling off from the aluminum honeycomb plate. In the embodiment of the invention, the claw spines are processed and realized by elastic steel with higher strength and certain toughness;
(6) when the catching mechanism meets the catching target, collision can occur, the locking and releasing device with the structure can utilize the collision force of the catching mechanism and the catching target as an unlocking condition, the unlocking time is accurate, the reliability is high, the structure is simple, the weight is light, an independent control unit is not required to be configured, and the light weight development requirement is met.
Drawings
Fig. 1 is a front view of a capturing mechanism suitable for a general structural surface of a spacecraft, provided in an embodiment of the present invention;
fig. 2 is a side view of a catching mechanism suitable for a general structural surface of a spacecraft, provided by an embodiment of the invention;
FIG. 3 is a schematic view of a claw spine structure according to an embodiment of the present invention;
FIG. 4 is a schematic view of an operational state of a lock release assembly provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of a hook and a rocker hook according to an embodiment of the present invention;
fig. 6 is a schematic diagram of a pre-trigger state of a capture mechanism according to an embodiment of the present invention;
fig. 7 is a schematic view of the claw-and-thorn locking state of the catching mechanism provided by the embodiment of the invention.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings and specific examples.
Referring to fig. 1 and 2, an embodiment of the present invention provides a catching mechanism suitable for a general structural surface of a spacecraft, including a supporting assembly, a transmission assembly, a push disc 1, a sliding plate 2, a catching assembly, a spring 3 and a lock releasing assembly, wherein the supporting assembly includes a first supporting plate 4, a second supporting plate 5 and a guide portion 6 supported between the first supporting plate 4 and the second supporting plate 5, the transmission assembly is used for driving the push disc 1 to move along the guide portion 6 towards the first supporting plate 4 or the second supporting plate 5, the catching assembly includes a connecting rod 7 and a claw spike 8, a first end of the connecting rod 7 is rotatably connected with the sliding plate 2, a second end of the connecting rod 7 is rotatably connected with the claw spike 8, the connecting position is located between the first end and the second end of the claw spike 8, preferably, the first end of the claw spike 8 is rotatably connected with the second supporting plate 5, the locking and releasing assembly is used for locking the sliding plate 2 at a first position and unlocking the sliding plate 2 from the first position under a preset condition, the sliding plate 2 is positioned between the push disc 1 and the first supporting plate 4, the spring 3 is positioned between the first supporting plate 4 and the sliding plate 2, when the sliding plate 2 is positioned at the first position, the spring 3 is in a compressed state, the push disc 1 is in contact with the sliding plate 2, before the preset condition is triggered, the transmission assembly drives the push disc 1 to move towards the second supporting plate 5, when the preset condition is triggered, the sliding plate 2 is unlocked from the first position and moves towards the second supporting plate 5 along the guide part 6 under the action force of the spring 3, the connecting rod 7 drives the claw spine 8 to enable the second end of the claw spine 8 to penetrate into a target catching surface to realize catching, and similarly, when the catching is finished, the transmission assembly drives the push disc 1 to move towards the first supporting plate 4, the sliding plate 2 moves along the guide part 6 toward the first supporting plate 4 under the thrust of the push disk 1, the connecting rod 7 drives the claw 8 to make the second end of the claw 8 release the catching object, and when the sliding plate 2 moves to the first position under the thrust of the push disk 1, the locking release assembly locks the sliding plate 2 at the first position.
Specifically, in the embodiment of the present invention, the transmission assembly may include a transmission assembly in a belt transmission manner, a friction wheel transmission manner, a chain transmission manner, a screw transmission manner, and the like, which is not limited in the present invention; in order to save space and weight, the transmission assembly preferably comprises a transmission motor 9 and a lead screw 10, and the push disc 1 is matched with the lead screw 10 and can move towards the first end or the second end of the lead screw under the driving of the lead screw 10; the locking and releasing component can be a locking and releasing component with a mechanical structure such as a buckle, a hoop, a hook and the like, and can also be a locking and releasing component in an electromagnetic attraction and release mode, and the invention is not limited; the guide part 6 can be a guide rod, a guide cylinder, a guide block and other structural forms, and the invention is not limited; the first support plate and the second support plate can be circular plates, square plates, triangular plates and the like, and the invention is not limited; the preset condition may be an electrical signal such as a vibration signal, an impact force signal, an obstacle signal, or the like, or may be an impact force, and the present invention is not limited thereto.
The embodiment of the invention provides a catching mechanism suitable for a general structure surface of a spacecraft, which is characterized in that when a preset condition is triggered, a sliding plate locked at a first position is unlocked from the first position, the sliding plate is made to move towards a catching target direction by using the elastic force of a spring, so that a connecting rod is driven to move, the connecting rod pushes claw spines to catch the target, whether a space cooperation target or a non-cooperation target is achieved, most surfaces of the spacecraft are covered by general structure surfaces, namely aluminum honeycomb plates, and the claw spines can pierce the catching target surface to realize catching; the catching mechanism does not need to provide cooperative catching characteristic parts, is suitable for various spacecrafts, and has strong universality and wide application range; repeated effective capture connection and release separation can be carried out.
Referring to fig. 3, in an alternative embodiment, the second end of the claw spike 8 is provided with a first blade 81 and a second blade 82, the first blade 81 is opposite to the second blade 82, a sharp hook is formed at the intersection position of the first blade 81 and the second blade 82 so as to pierce through the surface of the spacecraft, the first blade 81 is a single-sided sharp blade so as to scratch the surface layer of the catching target, the second end of the claw spike 8 penetrates into the aluminum honeycomb plate of the surface layer of the catching target so as to ensure the fastening force, the second blade 82 is a circular-arc blade, and the second blade 82 is used for bearing the releasing force of the catching target so as to prevent the claw spike from being separated from the aluminum honeycomb plate due to the cutting of the honeycomb plate by the spike tip penetrating into the aluminum honeycomb plate. In the embodiment of the invention, the claw pricks are processed and realized by elastic steel with higher strength and certain toughness.
Referring to fig. 4, the locking and releasing assembly includes a fixed hook 11, a rocker 12, an adapter rod 13 and a buffer rod 14, the fixed hook 11 is fixed on the sliding plate 2, a first end of the rocker 12 is rotatably connected with the first support plate 4 through a pin, the buffer rod 14 is inserted into the first support plate and the second support plate and is in clearance fit with the first support plate and the second support plate, a first end of the adapter rod 13 is rotatably connected with the middle of the rocker 12, and a second end of the adapter rod 13 is rotatably connected with the buffer rod 14, as shown in fig. 4a, when the sliding plate 2 is located at the first position, the fixed hook 11 is hooked with the second end of the rocker 12 and is in a locked state, as shown in fig. 4b, when the buffer rod 14 receives an impact force, the buffer rod moves upward, the connecting rod 13 drives the rocker 12 to rotate, so that the fixed hook 11 is disengaged from the second end of the rocker 12, as shown in fig. 4, when the sliding plate 2 is about to reach the first position under the large push of the push plate 1, the second end of the rocker 12 is re-hooked with the fixed hook. When the catching mechanism meets the catching target, collision can occur, the locking and releasing device with the structure can utilize the collision force of the catching mechanism and the catching target as an unlocking condition, the unlocking time is accurate, the reliability is high, the structure is simple, the weight is light, an independent control unit is not required to be configured, and the light weight development requirement is met.
As shown in fig. 4 and 5, the fixing hook 11 is provided with a guide surface a, the lock releasing assembly further comprises a roller 15, the roller 15 is disposed at the second end of the rocking bar 12, and when the sliding plate 2 moves to the first position, the roller 15 can roll along the guide surface a in a self-adaptive manner, so that the fixing hook 11 is hooked with the second end of the rocking bar 12. Through setting up spigot surface and gyro wheel, the accurate hook of fixed hook and rocker avoids the catching inefficacy problem that the hook failure leads to.
Referring to fig. 1, the locking and releasing assembly further includes a buffering portion 16, a first end of the buffering rod 14 extends out of the second supporting plate 5 and extends in a direction away from the first supporting plate 4 and the second supporting plate 5, and the buffering portion 16 is fixedly connected with the first end of the buffering rod 14. Specifically, in the embodiment of the present invention, the buffer portion 16 is made of a plastic material (e.g., polyurethane) having a certain elasticity, and preferably, the surface contacting with the target is an arc-shaped surface protruding toward the target.
The following is a specific embodiment of the present invention:
as shown in fig. 1 and 2, the present embodiment provides a capturing mechanism suitable for a satellite general structure surface, which includes a supporting component, a transmission component, two sets of locking and releasing components, a pushing plate 1, a sliding plate 2, three sets of capturing components, a spring 3, an upper limit switch 17, a lower limit switch 18, and the like.
The supporting component comprises a circular upper plate (a first supporting plate 4), two guide rods (a guide part 6) and a circular lower plate (a second supporting plate 5), the upper plate and the lower plate are opposite, a central connecting line of the upper plate and the lower plate is used as a symmetry axis, the two guide rods are symmetrically supported between the upper plate and the lower plate, and the guide rods are in threaded connection with the upper plate and the lower plate respectively. The supporting component plays a role in fixing and supporting.
The transmission assembly comprises a transmission motor 9 and a screw rod 10, the transmission motor 9 provides power for claw thorn release and is installed on the upper plate, the upper end of the screw rod 10 is fixed at the central position of the upper plate through a rotating pair, and the lower end of the screw rod is fixed at the central position of the lower plate through a rotating pair. The center of the push disc 1 is provided with a threaded hole matched with the lead screw 10, the threaded hole penetrates through the lead screw 10 to form spiral transmission with the lead screw 10, meanwhile, the push disc 1 also penetrates through the two guide rods, and the lead screw 10 is driven by the transmission motor 9 to rotate to drive the push disc 1 to move to the upper plate or the lower plate along the guide rods; the two guide rods are symmetrically arranged, so that the push disc can be prevented from rotating around the screw rod.
The center position of the sliding plate 2 is arranged on the screw rod 10 in a penetrating way and is in clearance fit with the screw rod 10, and the sliding plate 2 is positioned between the upper plate and the push disc 1; the spring 3 is sleeved on the screw rod 10 and is in clearance fit with the screw rod 10, and the spring 3 is positioned between the sliding plate 2 and the upper plate; an upper limit switch 17 is provided on the slide plate 2, and a lower limit switch 18 is provided on the lower plate.
The catching assembly comprises a connecting rod 7 and sickle-shaped claw spines 8, the upper end of the connecting rod 7 is connected with the sliding plate 2 through a rotating pair, the upper end of the claw spines 8 is connected with the lower plate through a rotating pair, a bent part is connected with the lower end of the connecting rod 7 through a rotating pair, as shown in fig. 3, a first blade 81 and a second blade 82 are arranged at the lower end of the claw spines 8, the first blade 81 is located on the outer surface, the second blade is located on the inner surface, a sharp hook is formed at the intersection position of the first blade 81 and the second blade 82 so as to penetrate into the surface of the spacecraft, the first blade 81 is a single-side sharp blade so as to scratch the surface layer of a catching target, the second end of the claw 8 penetrates into an aluminum honeycomb plate for catching the surface layer to ensure fastening force, the second blade 82 is an arc blade, and the second blade 82 is used for bearing the breaking-out force of the catching target, so as. The point on the central connecting line of the upper plate and the lower plate is taken as a symmetrical center, and the three groups of catching assemblies are symmetrically arranged to ensure stable catching.
The locking and releasing component comprises a fixed hook 11, a rocker 12, an adapter rod 13, a buffer spring 19, a buffer part 16 and a buffer rod 14, the fixed hook 11 is fixed on the sliding plate 2, the upper end of the rocker 12 is rotatably connected with the upper plate through a pin shaft, the buffer rod 14 penetrates through the upper plate and the lower plate and is in clearance fit with the upper plate and the lower plate, the first end of the adapter rod 13 is rotatably connected with the middle part of the rocker 12, the second end of the adapter rod 13 is rotatably connected with the part, close to the upper end, of the buffer rod 14, as shown in fig. 4a, when the sliding plate 2 is located at the first position, the fixed hook 11 is hung and buckled with the second end of the rocker 12 and is in a locking state, as shown in fig. 4b, when the buffer rod 14 is impacted, the buffer rod moves upwards, the connecting rod 13 drives the rocker 12 to rotate, so that the fixed hook 11 is separated from the second end of the rocker 12, as shown in fig. 4c, when, the second end of the rocker 12 is re-hooked with the fixed hook. When the catching mechanism meets the catching target, collision can occur, the locking and releasing device with the structure can utilize the collision force of the catching mechanism and the catching target as an unlocking condition, the unlocking time is accurate, the reliability is high, the structure is simple, the weight is light, an independent control unit is not required to be configured, and the light weight development requirement is met. The lower end of the buffer rod 14 protrudes out of the lower plate and extends downward, and the buffer portion 16 is fixed to the lower end of the buffer rod 14. The buffer part 16 is made of polyurethane material, the lower surface is an arc-shaped surface protruding downwards, and the buffer spring 19 is sleeved at the lower end of the buffer rod and is positioned between the lower plate and the buffer part 16. The two groups of unlocking and releasing assemblies are symmetrically distributed and used for sensing the impact force between the catching mechanism and the surface of the aluminum honeycomb plate of the catching target and exciting the inward locking of the claw spines under the action of the impact force. The impact force between the catching mechanism and the catching target can be buffered by arranging the buffer part and the buffer spring, so that the damage of the mechanism or the target caused by overlarge acting force is avoided, and the smooth catching is ensured.
The invention relates to a catching mechanism suitable for the surface of a general structure of a satellite, which can realize catching connection and releasing separation of aluminum honeycomb plates occupying most of the surface area of the satellite.
1) Catching process
In order to achieve penetration-type catching of the aluminum honeycomb panel, the catching mechanism needs to be in a fastening state firstly. The slide plate 2 is in the uppermost position and presses the spring 3 to make it gather the maximum elastic force. Because the sliding plate 2 is positioned at the uppermost position and simultaneously drives the connecting rod 7 to be positioned at the uppermost position, the connecting rod 7 drives the claw thorn 8 to open. The fixed hook 11 and the rocker 12 are hung together, and at the moment, the upper plate, the buffer rod 14, the adapter rod 13, the rocker 12, the fixed hook 11 and the sliding plate 2 form a stable fixed connection relationship, and the connection force keeps balance with the elasticity of the spindle spring.
Before the buffer part 16 of the catching mechanism contacts with an aluminum honeycomb panel of a catching target, the catching mechanism enters a pre-triggering state, the transmission motor 9 moves the push disc 1 to move downwards through the screw rod 10, and after the push disc 1 contacts with the lower limit switch 18, the transmission motor 9 stops rotating, and the push disc 1 stops moving. At this time, the upper plate, the buffer rod 14, the adapter rod 13, the rocker 12, the fixed hook 11 and the sliding plate 2 maintain a stable fixed connection relationship, so the sliding plate 2 can still maintain the position. The catching mechanism is provided with 2 sets of locking and releasing assemblies, and can keep the two sides of the sliding plate 2 balanced. The spring 3 is tightened under the action of the locking and releasing assembly to keep maximum elastic force, and the claw thorn 8 is kept in an open state. The pre-trigger state is shown in figure 6.
When the buffer part 16 touches the surface of the aluminum honeycomb plate, the catching mechanism enters a claw-thorn locking state. Buffer 18 collides with the aluminum honeycomb panel surface, under the effect of collision reaction force, buffer 16 overcomes buffer spring's elasticity rebound, buffer bar 14 also rebound thereupon, thereby drive rocker 12 anticlockwise rotation, rocker 12 anticlockwise rotation is threaded off with fixed hook 11 after certain range, at this moment the upper plate, buffer bar 14, changeover lever 13, rocker 12, fixed hook 11, stable fixed connection relation disappears between six of sliding plate 2, under the spring action of spring 3 instantaneous release, sliding plate 2 slides down, drive connecting rod 7 and slide down, claw thorn 8 locks inwards thereupon, the penetration is pierced into the aluminum honeycomb panel, realize the arrest to the aluminum honeycomb panel. The claw-hook locking state is shown in figure 7.
2) Release Process
The releasing process is changed from a locking state of the claw spines 8 to a fastening state, the claw spines 8 are separated from the aluminum honeycomb plate, and the catching mechanism realizes the release of the aluminum honeycomb plate.
Under the action of the transmission motor 9, the screw rod 10 rotates in the opposite direction to drive the push disc 1 to move upwards, and in the process of moving the push disc 1 upwards, the sliding plate 2 is pushed to slide upwards, the connecting rod 7 slides upwards along with the sliding plate, and the claw spines 8 are driven to open outwards and separate from the aluminum honeycomb panel. And in the process of moving the sliding plate 2 upwards, the spring 3 is compressed to store energy for catching the aluminum honeycomb plate next time. Fixed hook 11 shifts up along with sliding plate 2, and fixed hook 11 top inclined plane (leading surface a) contacts rocker 12 lower extreme gyro wheel 15, and gyro wheel 15 can self-adaptation roll along fixed hook 11 top inclined plane, and until rolling to the top inclined plane end, it is lived to enter into fixed hook 11 inboard to hang, accomplishes and hangs the action of detaining, and stable fixed connection between upper plate, buffer beam 14, changeover lever 13, rocker 12, fixed hook 11, the six sliding plate 2 realizes resumeing this moment. When the sliding plate 2 moves upwards and the upper limit switch 17 touches the upper plate, the transmission motor 9 stops rotating, and the push disc 1 stops moving.
The above description is only for the best mode of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (1)
1. A catching mechanism suitable for the surface of a universal structure of a spacecraft is characterized by comprising a supporting component, a transmission component, a push disc, a sliding plate, a catching component, a spring and a locking and releasing component, wherein the supporting component comprises a first supporting plate, a second supporting plate and a guide part supported between the first supporting plate 4 and the second supporting plate, the transmission component is used for driving the push disc to move towards the first supporting plate or the second supporting plate along the guide part, the catching component comprises a connecting rod and claw spines, the first end of the connecting rod is rotatably connected with the sliding plate, the second end of the connecting rod is rotatably connected with the claw spines, the connecting part is positioned in the middle between the first end and the second end of the claw spines, the first end of the claw spines is rotatably connected with the second supporting plate, the locking and releasing component is used for locking the sliding plate at a first position and unlocking the sliding plate from the first position under a preset condition, the sliding plate is positioned between the push disc and the first supporting plate, the spring is positioned between the first supporting plate and the sliding plate, when the sliding plate is positioned at the first position, the spring is in a compressed state, the push disc is in contact with the sliding plate, the transmission assembly drives the push disc to move towards the second supporting plate before the preset condition is triggered, when the preset condition is triggered, the sliding plate is unlocked from the first position, the sliding plate moves towards the second supporting plate along the guide part under the action of the spring, the connecting rod drives the claw spines to enable the second ends of the claw spines to pierce the surface of the catching target to achieve catching, similarly, when the catching is completed, the transmission assembly drives the push disc to move towards the first supporting plate 4, the sliding plate moves towards the first supporting plate 4 along the guide part under the thrust action of the push disc, the connecting rod drives the claw spines to enable the second ends of the claw spines to release the catching target, and when the sliding plate moves to the first position under the thrust action of the push disc, the lock release assembly locks the slide plate in the first position;
the transmission assembly comprises a transmission motor and a lead screw, the push disc is matched with the lead screw and can move towards the first end or the second end of the lead screw under the driving of the lead screw; the locking and releasing component is a locking and releasing component in a buckle, a hoop, a hook or an electromagnetic attracting or releasing mode, the guide part is a guide rod, a guide cylinder or a guide block, and the first support plate and the second support plate are circular plates, square plates or triangular plates; the preset condition is a vibration signal, an impact force signal or an obstacle signal;
according to the catching mechanism, when a preset condition is triggered, the sliding plate locked at the first position is unlocked from the first position, the sliding plate moves towards a catching target direction by using the elastic force of a spring, so that the connecting rod is driven to move, the connecting rod pushes the claw spines to the catching target, whether a space cooperation target or a non-cooperation target is achieved, most surfaces of the spacecraft are covered by a general structure surface, namely an aluminum honeycomb panel, and the claw spines can be pierced into the catching target surface to achieve catching; the catching mechanism does not need to provide cooperative catching characteristic parts, is suitable for various spacecrafts, and can repeatedly and effectively catch, connect and release and separate;
the second end of the claw thorn is provided with a first cutting edge and a second cutting edge, the first cutting edge is opposite to the second cutting edge, a sharp hook is formed at the intersection position of the first cutting edge and the second cutting edge so as to pierce the surface of the spacecraft, the first cutting edge is a single-side sharp cutting edge so as to scratch the surface layer of the arrest target, the second end of the claw thorn penetrates into the aluminum honeycomb plate of the surface layer of the arrest target so as to ensure fastening force, the second cutting edge is an arc cutting edge, the second cutting edge is used for bearing the breaking-off force of the arrest target so as to prevent the honeycomb plate from being cut by the thorn tip pierced into the aluminum honeycomb plate, the claw thorn is caused to fall off from the aluminum honeycomb plate, and the claw thorn is processed by elastic steel;
the locking and releasing assembly comprises a fixed hook, a rocker, an adapter rod and a buffer rod, the fixed hook is fixed on the sliding plate, the first end of the rocker is rotatably connected with the first supporting plate through a pin shaft, the buffer rod penetrates through the first supporting plate and the second supporting plate and is in clearance fit with the first supporting plate and the second supporting plate, the first end of the adapter rod is rotatably connected with the middle part of the rocker, the second end of the adapter rod is rotatably connected with the buffer rod, when the sliding plate is positioned at the first position, the fixed hook is hung with the second end of the rocker and is in a locking state, when the buffer rod is impacted, the buffer rod moves upwards, the connecting rod drives the rocker to rotate, so that the fixed hook is separated from the second end of the rocker, when the sliding plate is pushed by a large amount to reach the first position, the second end of the rocker is hung with the fixed hook again, when the capturing mechanism meets a capturing target, the locking and releasing device of the structure takes the impact force between the catching mechanism and the catching target as an unlocking condition;
the fixed hook is provided with a guide surface a, the locking and releasing assembly further comprises a roller, the roller is arranged at the second end of the rocker, and when the sliding plate moves to the first position, the roller can roll along the guide surface a in a self-adaptive manner, so that the fixed hook is hung and buckled with the second end of the rocker; by arranging the guide surface and the roller, the fixed hook is accurately hooked with the rocker, so that the problem of catching failure caused by the failure of hooking is avoided;
the locking and releasing assembly further comprises a buffer part, the first end of the buffer rod extends out of the second support plate and extends in the direction far away from the first support plate and the second support plate, and the buffer part is fixedly connected with the first end of the buffer rod; the buffer part is made of polyurethane, and one surface of the buffer part, which is contacted with the catching target, is an arc surface protruding towards the catching target;
the catching mechanism is used for realizing catching connection and releasing separation of aluminum honeycomb plates occupying most of the area of the satellite surface;
1) catching process
In order to realize penetration type catching on the aluminum honeycomb panel, the catching mechanism is firstly required to be in a fastening state, the sliding plate is positioned at the uppermost position, the spring is compressed, the sliding plate is enabled to gather the maximum elastic force, the connecting rod is also driven to be positioned at the uppermost position at the same time, the connecting rod drives the claw thorn to be opened, the fixed hook is hung with the rocker, at the moment, the upper plate, the buffer rod, the adapter rod, the rocker, the fixed hook and the sliding plate form a stable fixed connection relationship, and the connection force of the fixed hook and the elastic force of the main shaft spring keep balance;
before a buffer part of the catching mechanism contacts an aluminum honeycomb panel of a catching target, the catching mechanism enters a pre-triggering state, a transmission motor moves a push disc to move downwards through a lead screw, the transmission motor stops rotating after the push disc contacts a lower limit switch, the push disc stops moving, at the moment, an upper plate, a buffer rod, a switching rod, a rocker, a fixed hook and a sliding plate keep stable fixed connection relation, so that the sliding plate can still keep the position still, the catching mechanism is provided with 2 sets of locking and releasing assemblies, the two sides of the sliding plate are kept balanced, a spring is tightened under the action of the locking and releasing assemblies to keep maximum elastic force, and a claw thorn keeps an opening state;
when the buffer part touches the surface of the aluminum honeycomb panel, the catching mechanism enters a claw-thorn locking state, the buffer part collides with the surface of the aluminum honeycomb panel, the buffer part overcomes the elasticity of the buffer spring to move upwards under the action of collision reaction force, the buffer rod also moves upwards along with the buffer spring, so that the rocker is driven to rotate anticlockwise, the rocker rotates anticlockwise and is tripped from the fixed hook after the rocker rotates anticlockwise by a set amplitude, at the moment, the stable fixed connection relation among the upper plate, the buffer rod, the adapter rod, the rocker, the fixed hook and the sliding plate disappears, the sliding plate slides downwards under the action of the elasticity instantaneously released by the spring to drive the connecting rod to slide downwards, the claw-thorn is locked inwards along with the rocker, penetrates into the aluminum honeycomb panel and catches the aluminum honeycomb panel;
2) release Process
The releasing process is changed from a claw thorn locking state to a fastening state, the claw thorn is separated from the aluminum honeycomb plate, and the catching mechanism realizes the release of the aluminum honeycomb plate;
under the action of the transmission motor, the screw rod rotates in the opposite direction to drive the push disc to move upwards, and in the process of moving the push disc upwards, the sliding plate is pushed to slide upwards, the connecting rod slides upwards along with the sliding plate, and the claw spines are driven to open outwards and separate from the aluminum honeycomb plate; in the process of moving the sliding plate upwards, a spring is compressed, energy is stored for capturing the aluminum honeycomb panel for the next time, the fixed hook moves upwards along the sliding plate, the top end inclined plane of the fixed hook, the guide surface a contacts with the roller at the lower end of the rocker, the roller can roll along the top end inclined plane of the fixed hook in a self-adaptive mode until the roller rolls to the tail end of the top end inclined plane, the roller enters the inner side of the fixed hook to be hung, and the hanging and buckling action is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560975.8A CN108945532B (en) | 2018-06-04 | 2018-06-04 | Catching mechanism suitable for spacecraft universal structure surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810560975.8A CN108945532B (en) | 2018-06-04 | 2018-06-04 | Catching mechanism suitable for spacecraft universal structure surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108945532A CN108945532A (en) | 2018-12-07 |
| CN108945532B true CN108945532B (en) | 2021-02-09 |
Family
ID=64493045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810560975.8A Expired - Fee Related CN108945532B (en) | 2018-06-04 | 2018-06-04 | Catching mechanism suitable for spacecraft universal structure surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108945532B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110040264B (en) * | 2019-05-14 | 2022-10-25 | 西北工业大学 | Despin and capture integrated device |
| CN111301726B (en) * | 2020-03-25 | 2022-09-02 | 燕山大学 | Hybrid robot for capturing space garbage |
| CN112124641B (en) * | 2020-09-28 | 2022-03-18 | 中国空间技术研究院 | Space landing capture robot |
| CN112518794B (en) * | 2020-11-04 | 2022-03-18 | 中国空间技术研究院 | Gripping device and control method thereof |
| CN112518795B (en) * | 2020-11-13 | 2022-03-04 | 中国空间技术研究院 | Space capture robot and capture mechanism thereof |
| CN113147946B (en) * | 2021-03-23 | 2022-10-14 | 北京空间飞行器总体设计部 | Foot end mechanism |
| CN117163328B (en) * | 2023-08-04 | 2024-03-15 | 苏州三垣航天科技有限公司 | Multi-target capturing mechanism and capturing method |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2676265B2 (en) * | 1990-04-27 | 1997-11-12 | 宇宙開発事業団 | Capture mechanism |
| CN201956212U (en) * | 2011-01-06 | 2011-08-31 | 浙江启门科技有限公司 | Travel switch mechanism of a translation-door opening machine |
| CN103659794B (en) * | 2012-08-30 | 2016-12-21 | 常州先进制造技术研究所 | One blocks locking release mechanical hand automatically |
| CN203095328U (en) * | 2013-02-20 | 2013-07-31 | 武陟县龙源冷冻食品厂 | Lifting device |
| CN105171768A (en) * | 2015-09-17 | 2015-12-23 | 苏州博众精工科技有限公司 | Gripping device |
| CN205225011U (en) * | 2015-12-22 | 2016-05-11 | 扬州捷迈锻压机械有限公司 | Emergency exit with full stroke safeguard function |
| CN206296925U (en) * | 2016-12-27 | 2017-07-04 | 苏州博众精工科技有限公司 | A kind of positioning and clamping mechanism |
| CN106826888B (en) * | 2017-03-07 | 2023-09-08 | 北京林业大学 | Linkage elastic mechanical gripper |
| CN107719703B (en) * | 2017-09-26 | 2020-05-26 | 北京航空航天大学 | Locking, interlocking and unlocking mechanism of cascade unfolding and folding device |
-
2018
- 2018-06-04 CN CN201810560975.8A patent/CN108945532B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN108945532A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108945532B (en) | Catching mechanism suitable for spacecraft universal structure surface | |
| CN110282162B (en) | Cubic satellite releasing device | |
| US4491446A (en) | Hold-down apparatus for unfoldable functional elements | |
| CN203793656U (en) | Releasing mechanism for unmanned aerial vehicle launcher | |
| CN204506915U (en) | A kind of track chassis catch gear | |
| CN103359292A (en) | Ram air turbine stow abort assembly | |
| CN112518795B (en) | Space capture robot and capture mechanism thereof | |
| CN205273836U (en) | Be applied to unmanned aerial vehicle's coupling mechanism | |
| CN112518794B (en) | Gripping device and control method thereof | |
| CN113310653A (en) | Computer hardware anti-falling performance detection platform and detection method thereof | |
| US7887092B1 (en) | Vehicle assisted harpoon breaching tool | |
| US5887924A (en) | Cargo hook | |
| CN210162264U (en) | Guided missile hanging frame and guided missile hanging structure | |
| US5104064A (en) | Pallet end stop | |
| US7219530B2 (en) | High g-force shock pulse generator systems and methods | |
| US3179461A (en) | Attach and release mechanism | |
| CN108918169A (en) | A kind of tripper and its application in spacecraft landing stability test | |
| CN203451098U (en) | Windproof cable device with limiting switch | |
| EP0352136A1 (en) | Cargo hook | |
| US3494248A (en) | Single hook bomb rack | |
| US4665755A (en) | Device for monitoring the spring force exerted by spring actuated bar coupled cable clamps for chair lifts and cable cars | |
| CN202345704U (en) | Mechanical automatic anti-running mine car | |
| CN102249097B (en) | Wagon dumper system | |
| US5364145A (en) | Single action rotary release hook | |
| US3071098A (en) | Cable cutter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210209 Termination date: 20210604 |