CN109573114B - Conical rod expansion mechanism based on bidirectional spiral groove driving - Google Patents
Conical rod expansion mechanism based on bidirectional spiral groove driving Download PDFInfo
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- CN109573114B CN109573114B CN201811528431.XA CN201811528431A CN109573114B CN 109573114 B CN109573114 B CN 109573114B CN 201811528431 A CN201811528431 A CN 201811528431A CN 109573114 B CN109573114 B CN 109573114B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 77
- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 15
- 230000008093 supporting effect Effects 0.000 claims abstract description 15
- 238000007906 compression Methods 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 238000003032 molecular docking Methods 0.000 abstract description 6
- 238000013461 design Methods 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000012636 effector Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241000233805 Phoenix Species 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000021715 photosynthesis, light harvesting Effects 0.000 description 1
- 239000003380 propellant Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
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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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Abstract
A conical rod telescopic expansion mechanism based on bidirectional spiral groove driving comprises a guide cylinder (1), a telescopic expansion mechanism (001) and a supporting seat (20); the front end of the telescopic expansion mechanism (001) is arranged in the guide cylinder (1), the rear end is arranged in the supporting seat (20), and the front end realizes telescopic motion along the inner wall of the guide cylinder (1) under the driving action of power. The invention adopts a bidirectional spiral groove driving design, has simple driving and accurate and reliable action; the telescopic and expansion actions of the taper rod do not need to be driven reversely, and the taper rod can run at high speed and quickly capture a target; the mechanism is applied to a general capturing device of a high-orbit satellite, can realize multiple reliable capturing of the engine throat of a target satellite, and can also be used as a locking mechanism after the precise alignment of a precise alignment device of a space docking mechanism.
Description
Technical Field
The invention belongs to the technical field of on-orbit service and maintenance of spacecrafts, and relates to a telescopic expansion mechanism.
Background
Geostationary orbit (GEO) is an important earth orbit resource for human beings, and the on-orbit resource is limited by an orbit position and is extremely short. However, with the rapid development of space missions, the total number of the satellites in the GEO zone (GEO ± 200km) contains more than 40% of uncontrollable or obsolete satellites and their debris, and these space objects have long natural fall periods, which threatens the safety of the GEO satellite in normal operation and also causes serious waste of GEO orbital resources. Statistics also show that in a GEO satellite with an in-orbit failure, more than 50% of failures result from a certain loss of function of the service system, while the payload and the platform body occupying more than 70% of the cost of the satellite are in good function. Therefore, it is urgently needed to develop a service aircraft carrying a general capture mechanism to assist the abandoned satellites still staying in the GEO zone to complete the off-orbit operation and push the abandoned satellites to the GEO refuse orbit; or the fault satellite is rescued, so that the load task capacity of the fault satellite can be rapidly continued.
Aiming at an on-orbit failure satellite, in the aspect of attitude characteristics, due to energy dissipation effects such as the shaking of a star solar wing and a propellant, under the condition of certain angular momentum, the satellite finally rotates around a main shaft with the maximum inertia (generally in the east-west direction and the ground direction) according to an energy convergence concept, and has small nutation under the action of external moments such as sunlight pressure and the like; in terms of interface characteristics, currently on-orbit and on-ground GEO satellites are not designed for on-orbit service and maintenance and do not have a cooperative docking interface. Therefore, in combination with the rescue service and the off-orbit operation requirements of the satellite, a large-tolerance light small-sized rigid capturing mechanism suitable for a high-orbit satellite needs to be designed, and the universality, the reliability and the safety of capturing the on-orbit satellite are improved. By analyzing general equipment of a high-orbit satellite, an expanded solar cell array is arranged in the direction of the north and south of the satellite, an inter-satellite interface butt-joint ring and a far-place engine are arranged on a satellite and arrow butt-joint surface, and an antenna is arranged on the ground of the satellite. The engine at the far place is not used after the satellite enters the orbit, and is suitable for being selected as a capturing butt joint object of the satellite.
Based on the cone rod type mechanism, the capturing device is especially suitable for high-orbit abandoned satellites rotating around the axis of the earth, can fully utilize the weak impact speed between two aircrafts, and carries out isotropic guidance and capturing through the inner conical surface of the engine, thereby reducing the relative pose control precision of the two aircrafts.
Typical research schemes in foreign countries today include the arm + interchangeable end effector scheme in the us phoenix project, the german DEOS and the european SMART-OLEV cone-rod capture mechanism scheme. The cone rod type capturing mechanism is mainly used for capturing a remote engine universal for GEO satellites and comprises a telescopic mechanism and a cone rod mechanism which are connected in series, the telescopic mechanism realizes axial telescopic motion of the cone rod mechanism, the cone rod mechanism comprises a crown-shaped expansion locking mechanism, a tip in-place sensor and a combined laser sensor, and the crown-shaped expansion locking mechanism is also used for capturing an engine throat. Unfortunately, the mechanism is located outside the capturing mechanism, does not have the telescopic function, and during the capturing process of the satellite, the mechanism may be firstly impacted on the part of the mechanism instead of the external guide structure of the taper rod mechanism, so that the capturing failure is easily caused, and the damage to the crown expansion locking mechanism is easily caused.
Aiming at capturing and docking of satellites, domestic China space technology research institute, Shanghai aerospace office and the like mostly concentrate on the research of space docking mechanisms for cooperative satellites or manned space flight. A weak impact universal capturing mechanism suitable for high-orbit satellites and pawl tensioning devices (ZL 201410783968.6 and ZL201410785009.8) of the capturing and docking mechanism of the on-orbit satellites are designed, the mechanism is driven by a linear motor, based on the pawl tensioning devices, main core driving component assemblies are axially arranged, the overall structure size is overlarge, and the motor needs to rotate in the positive and negative directions in the stretching and tensioning processes, so that the capturing speed is limited.
Disclosure of Invention
The invention aims to provide a conical rod telescopic expansion mechanism based on bidirectional spiral groove driving, which adopts bidirectional spiral groove driving design, is simple to drive and accurate and reliable in action; the telescopic and expansion actions of the taper rod do not need to be driven reversely, and the taper rod can run at high speed and quickly capture a target; the mechanism is applied to a general capturing device of a high-orbit satellite, can realize multiple reliable capturing of the engine throat of a target satellite, and can also be used as a locking mechanism after the precise alignment of a precise alignment device of a space docking mechanism.
The technical solution of the invention is as follows: the cone rod telescopic expansion mechanism based on the bidirectional spiral groove driving comprises a guide cylinder, a telescopic expansion mechanism and a supporting seat.
The guide cylinder is of a cylindrical structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes are uniformly distributed on the annular mounting seat along the circumferential direction, rotary grooves are uniformly distributed on the outer wall of the other end of the guide cylinder along the circumferential direction, roller limiting grooves are arranged at positions of the inner wall corresponding to the rotary grooves along the circumferential direction, and the roller limiting grooves are communicated with the rotary grooves; the inner wall is provided with two expansion flap seat guide grooves and two roller guide grooves along the axial direction, the two expansion flap seat guide grooves are symmetrical about the central axis of the guide cylinder, the two roller guide grooves are symmetrical about the central axis of the guide cylinder, the side wall of one side of each roller guide groove is a step surface and is defined as a roller steering limiting surface, and the roller limiting grooves are intersected with the roller guide grooves; the inner wall section of one end of the guide cylinder, which is provided with the annular mounting seat, is defined as a first-stage sleeve rotary supporting surface;
the telescopic expansion mechanism comprises a primary sleeve, a secondary sleeve, a tertiary inner rod, a tension and compression sensor, a connecting rod, an expansion flap seat, a taper rod, an expansion flap, a roller, a baffle, primary sleeve teeth, a primary sleeve tooth key, an expansion flap shaft and a torsion spring;
the inner wall of the primary sleeve is provided with a right-handed rectangular spiral groove; the outer wall surface of one end of the secondary sleeve is provided with a right-handed rectangular spiral protruding structure matched with the right-handed rectangular spiral groove, the secondary sleeve is arranged in the primary sleeve, and the primary sleeve and the secondary sleeve are connected through the right-handed rectangular spiral groove and the right-handed rectangular spiral protruding structure; a left-handed spiral through groove is formed in the outer wall of the secondary sleeve, a left-handed rectangular boss is arranged at one end of the tertiary inner rod, one end of the tertiary inner rod is installed in the secondary sleeve in a matched mode through the left-handed rectangular boss and the left-handed spiral through groove of the secondary sleeve, the end portion of the tertiary inner rod is connected with one end of the tension-compression sensor, and the other end of the tertiary inner rod extends out of the secondary sleeve; a wire passing hole is formed in the three-stage inner rod along the central shaft, and the other end of the tension and compression sensor is connected with one end of the connecting rod; the connecting rod is arranged in the secondary sleeve, and the other end of the connecting rod extends out of the end part of the secondary sleeve and then is connected with the taper rod and fixed through a screw; one end of the expansion valve seat is connected with the secondary sleeve, and the other end of the expansion valve seat is connected with a plurality of expansion valves which are uniformly distributed along the circumferential direction; each expansion flap is connected to the expansion flap seat through an expansion flap shaft and a torsion spring, and the inner wall of each expansion flap is attached to the corresponding conical rod; a roller is arranged on one side of the outer wall of the expansion valve seat and is fixed through a screw; the baffle is positioned between the primary sleeve and the roller, the primary sleeve is fixed with the baffle through a screw, and the baffle limits the maximum stroke of the secondary sleeve; a primary sleeve tooth key is arranged in the middle of the outer wall of the primary sleeve, and primary sleeve teeth are arranged on the primary sleeve through the primary sleeve tooth key; the end part of the first-level sleeve is arranged in a central cylinder structure of the supporting seat, and the third-level inner rod extends out of a central hole of the supporting seat.
The conical rod end of the telescopic expansion mechanism extends into the guide cylinder from one end of the guide cylinder, which is provided with the annular mounting seat, and the baffle is limited at the step structure of the inner wall of the guide cylinder; in the telescopic expansion mechanism, the roller slides in the roller guide groove in the telescopic process, and rotates into the roller limiting groove when sliding to the end part of the guide cylinder; the sliding key on the expansion valve seat slides in the guide groove of the expansion valve seat.
Compared with the prior art, the invention has the advantages that:
(1) the conical rod capturing mechanism based on the bidirectional spiral groove drive adopts one-direction drive to complete the whole capturing action of expansion and tightening, simplifies a control system, improves the reliability of the system and realizes quick extension and capturing.
(2) The mechanism of the invention adopts multi-stage sleeve nested transmission, fully utilizes the structural surfaces of the inner wall and the outer wall of the sleeve to guide and position, has high space utilization rate and is suitable for miniaturized application occasions.
(3) The mechanism of the invention is driven by the gear and the spiral groove, realizes integral rigid transmission, has accurate transmission and is suitable for a precise positioning mechanism.
Drawings
Fig. 1 shows a guide cylinder structure of the present invention.
Fig. 2 is a telescopic expansion mechanism of the present invention.
Fig. 3 is a supporting seat structure of the present invention.
Fig. 4 illustrates the extending action of the telescopic mechanism of the present invention.
FIG. 5 is a view of the expansion flap expanding the throat of the expansion nozzle of the present invention.
FIG. 6 illustrates the closing of the expansion flap of the present invention to release the throat of the nozzle.
Fig. 7 illustrates the retracting action of the retracting mechanism of the present invention.
FIG. 8 is an end effector aligned against a nozzle sidewall for use with the present invention as a nozzle capture mechanism.
FIG. 9 illustrates the embodiment of the present invention as a nozzle capture mechanism with the tapered rod extending rapidly into the nozzle throat.
FIG. 10 is a schematic view of a tapered rod rapidly expanding expansion flaps to capture the throat of an engine nozzle during operation of the present invention as a nozzle capture mechanism.
Detailed Description
In order to more clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings.
The cone rod telescopic expansion mechanism based on the bidirectional spiral groove driving comprises a guide cylinder 1, a telescopic expansion mechanism 001 and a supporting seat 20.
As shown in fig. 1, the guide cylinder 1 is a cylinder structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes 27 are uniformly distributed on the annular mounting seat along the circumferential direction, rotary grooves 26 are uniformly distributed on the outer wall of the other end of the guide cylinder along the circumferential direction, roller limiting grooves 25 are arranged at the positions of the inner walls corresponding to the rotary grooves 26 along the circumferential direction, and the roller limiting grooves 25 are communicated with the rotary grooves 26; two expansion flap seat guide grooves 22 and two roller guide grooves 23 are axially arranged on the inner wall, the two expansion flap seat guide grooves 22 are symmetrical about the central axis of the guide cylinder 1, the two roller guide grooves 23 are symmetrical about the central axis of the guide cylinder 1, the side wall of one side of each roller guide groove 23 is a step surface and is defined as a roller steering limiting surface 24, and the roller limiting groove 25 is intersected with the roller guide grooves 23; the inner wall section of one end of the guide cylinder 1 provided with the annular mounting seat is defined as a first-stage sleeve rotary supporting surface 44;
as shown in fig. 2, the telescopic expansion mechanism 001 includes a primary sleeve 2, a secondary sleeve 3, a tertiary inner rod 4, a tension and compression sensor 5, a connecting rod 6, an expansion flap seat 10, a taper rod 11, an expansion flap 12, a roller 9, a baffle 14, a primary sleeve gear 15, a primary sleeve gear key 16, an expansion flap shaft 18 and a torsion spring 19;
the inner wall of the primary sleeve 2 is provided with a right-handed rectangular spiral groove 34; a right-handed rectangular spiral protruding structure 33 matched with the right-handed rectangular spiral groove 34 is arranged on the outer wall surface of one end of the secondary sleeve 3, the secondary sleeve 3 is installed in the primary sleeve 2, and the primary sleeve 2 and the secondary sleeve 3 are connected through the right-handed rectangular spiral groove 34 and the right-handed rectangular spiral protruding structure 33; a left-handed spiral through groove 31 is formed in the outer wall of the secondary sleeve 3, a left-handed rectangular boss 32 is arranged at one end of the tertiary inner rod 4, one end of the tertiary inner rod 4 is installed in the secondary sleeve 3 in a matched mode through the left-handed rectangular boss 32 and the left-handed spiral through groove 31 of the secondary sleeve 3, the end portion of the tertiary inner rod is connected with one end of the tension and compression sensor 5, and the other end of the tertiary inner rod extends out of the secondary sleeve 3; a wire passing hole 42 is formed in the three-stage inner rod 4 along the central shaft, and the other end of the tension and compression sensor 5 is connected with one end of the connecting rod 6; the connecting rod 6 is arranged in the secondary sleeve 3, and the other end of the connecting rod 6 extends out of the end part of the secondary sleeve 3 and then is connected with the taper rod 11 and is fixed through a screw 17; one end of the expansion valve seat 10 is connected with the secondary sleeve 3, and the other end is connected with a plurality of expansion valves 12 which are uniformly distributed along the circumferential direction; each expansion flap 12 is connected to the expansion flap seat 10 through an expansion flap shaft 18 and a torsion spring 19, and the inner wall of each expansion flap is attached to the taper rod 11; a roller 9 is arranged on one side of the outer wall of the expansion valve seat 10 and is fixed through a screw 8; the baffle 14 is positioned between the primary sleeve 2 and the roller 9, the primary sleeve 2 is fixed with the baffle 14 through a screw 7, and the baffle 14 limits the maximum stroke of the secondary sleeve 3; a primary sleeve tooth key 16 is arranged in the middle of the outer wall of the primary sleeve 2, and the primary sleeve tooth 15 is arranged on the primary sleeve 2 through the primary sleeve tooth key 16; the expansion petals 12 are evenly distributed along the circumferential direction of the taper rod 11 and are opened under the action of the torsion spring 19.
As shown in fig. 3, the end of the primary sleeve 2 is mounted in the central cylinder structure of the support base 20, and the tertiary inner rod 4 extends out of the central hole 40 of the support base 20.
The end of a taper rod 11 of the telescopic expansion mechanism 001 extends into the guide cylinder 1 from the end of the guide cylinder 1 provided with the annular mounting seat, and the baffle 14 is limited at the step structure of the inner wall of the guide cylinder 1; in the process of stretching, the roller 9 slides in the roller guide groove 23, and when the roller 9 slides to the end part of the guide cylinder 1, the roller rotates into the roller limiting groove 25; the sliding key on the expansion flap seat 10 slides in the expansion flap seat guide groove 22.
The telescopic capturing mechanism can realize telescopic capturing of the throat of the target satellite engine in the capturing process. As shown in fig. 4, it is the internal structure of the present invention, i.e., the basic form of the present invention.
As shown in fig. 4 to 10, the basic principle is that the guiding mechanism 1 is located at the front end of the mechanism to play a role in guiding and positioning, the telescopic mechanism 001 is driven by the first-stage sleeve gear 15 to drive the first-stage sleeve 2 to rotate under the positioning and supporting effects of the supporting seat 20 and the guiding cylinder 1, the first-stage sleeve 2 drives the second-stage sleeve 3 to extend forwards through the internal right-hand spiral groove 34, the second-stage sleeve 3 cannot rotate due to the action of the guiding cylinder guide groove 23 in the process, so that the third-stage inner rod 4 is driven to roll forwards and extend together, when the second-stage sleeve 3 extends to a proper position, the roller 9 on the second-stage sleeve is released from the action of the guiding cylinder head rotating groove 26, the right-hand boss limiting plane 29 at the tail end of the second-stage sleeve 3 is locked with the positioning block 14 on the first-stage sleeve 2, the first-stage, the second-stage rotation drives the left-handed rectangular boss 32 on the third-stage rod to move backwards through the inner left-handed spiral groove 31, and the expansion valve is opened to finish capturing the throat part of the engine spray pipe.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (6)
1. A conical rod telescopic expansion mechanism based on bidirectional spiral groove driving is characterized by comprising a guide cylinder (1), a telescopic expansion mechanism (001) and a supporting seat (20); the front end of the telescopic expansion mechanism (001) is arranged in the guide cylinder (1), the rear end is arranged in the supporting seat (20), and the front end realizes telescopic motion along the inner wall of the guide cylinder (1) under the driving action of power;
the telescopic expansion mechanism (001) comprises a primary sleeve (2), a secondary sleeve (3), a tertiary inner rod (4), a tension and compression sensor (5), a connecting rod (6), a taper rod (11), a baffle (14), a driving mechanism and an expansion mechanism;
a right-handed rectangular spiral groove (34) is formed in the inner wall of the primary sleeve (2); a right-handed rectangular spiral protruding structure (33) matched with the right-handed rectangular spiral groove (34) is arranged on the outer wall surface of one end of the secondary sleeve (3), the secondary sleeve (3) is installed in the primary sleeve (2), and the primary sleeve (2) is connected with the secondary sleeve (3) through the right-handed rectangular spiral groove (34) and the right-handed rectangular spiral protruding structure (33); a left-handed spiral through groove (31) is formed in the outer wall of the secondary sleeve (3), a left-handed rectangular boss (32) is arranged at one end of the tertiary inner rod (4), one end of the tertiary inner rod (4) is matched with the left-handed spiral through groove (31) of the secondary sleeve (3) through the left-handed rectangular boss (32) and is installed inside the secondary sleeve (3), the end part of the tertiary inner rod is connected with one end of the tension-compression sensor (5), and the other end of the tertiary inner rod extends out of the secondary sleeve (3); a wire passing hole (42) is formed in the three-stage inner rod (4) along the central shaft, and the other end of the tension and compression sensor (5) is connected with one end of the connecting rod (6); the connecting rod (6) is arranged in the secondary sleeve (3), and the other end of the connecting rod (6) extends out of the end part of the secondary sleeve (3) and then is connected with the conical rod (11); the expansion mechanism is arranged at one end of the conical rod (11) connected with the connecting rod (6); the driving mechanism is arranged on the primary sleeve (2) and provides telescopic power for the telescopic expansion mechanism (001); the baffle (14) is positioned between the primary sleeve (2) and the expansion mechanism, the primary sleeve (2) is fixed with the baffle (14), and the baffle (14) limits the maximum stroke of the secondary sleeve (3); the end part of the first-level sleeve (2) is arranged in a central cylinder structure of the supporting seat (20), and the third-level inner rod (4) extends out of a central hole (40) of the supporting seat (20).
2. The conical rod telescopic expansion mechanism based on the bidirectional spiral groove drive is characterized in that: the expansion mechanism comprises a roller (9), an expansion flap seat (10), an expansion flap (12), an expansion flap shaft (18) and a torsion spring (19); one side of the outer wall of the expansion valve seat (10) is provided with a roller (9), and the other side of the outer wall is provided with a sliding key; the baffle (14) is positioned between the primary sleeve (2) and the roller (9), one end of the expansion valve seat (10) is connected with the secondary sleeve (3), and the other end is connected with a plurality of expansion valves (12) which are uniformly distributed along the circumferential direction; each expansion flap (12) is connected to the expansion flap seat (10) through an expansion flap shaft (18) and a torsion spring (19), and the inner wall of each expansion flap is attached to the taper rod (11).
3. The conical rod telescopic expansion mechanism based on the bidirectional spiral groove drive is characterized in that: the driving mechanism comprises a primary set of teeth (15) and a primary set of tooth keys (16); the middle part of the outer wall of the first-level sleeve (2) is provided with a first-level sleeve tooth key (16), and the first-level sleeve tooth (15) is arranged on the first-level sleeve (2) through the first-level sleeve tooth key (16).
4. The conical rod telescopic expansion mechanism based on the bidirectional spiral groove drive is characterized in that: the guide cylinder (1) is of a cylindrical structure, one end of the guide cylinder is provided with an annular mounting seat, square-neck bolt holes (27) are uniformly distributed on the annular mounting seat along the circumferential direction, rotary grooves (26) are uniformly distributed on the outer wall of the other end of the guide cylinder along the circumferential direction, roller limiting grooves (25) are arranged at positions of the inner wall corresponding to the rotary grooves (26) along the circumferential direction, and the roller limiting grooves (25) are communicated with the rotary grooves (26); the inner wall sets up two tight petal seat guide way (22), two gyro wheel guide way (23) of expanding along the axial, and two tight petal seat guide way (22) of expanding are about the center pin symmetry of guide cylinder (1), and two gyro wheel guide way (23) are about the center pin symmetry of guide cylinder (1), and one side lateral wall of gyro wheel guide way (23) is the step face, and gyro wheel spacing groove (25) are crossing with gyro wheel guide way (23).
5. The conical rod telescopic expansion mechanism based on the bidirectional spiral groove drive is characterized in that: the end of a taper rod (11) of the telescopic expansion mechanism (001) extends into the guide cylinder (1) from one end of the guide cylinder (1) provided with the annular mounting seat, and the baffle (14) is limited at the step structure of the inner wall of the guide cylinder (1); in the telescopic process of the telescopic expansion mechanism (001), the roller (9) slides in the roller guide groove (23), and when the roller (9) slides to the end part of the guide cylinder (1), the roller rotates into the roller limiting groove (25); the sliding key on the expansion flap seat (10) slides in the expansion flap seat guide groove (22).
6. The conical rod telescopic expansion mechanism based on the bidirectional spiral groove drive is characterized in that: the expansion petals (12) are evenly distributed along the circumferential direction of the taper rod (11) and are opened under the action of the torsion spring (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201811528431.XA CN109573114B (en) | 2018-12-13 | 2018-12-13 | Conical rod expansion mechanism based on bidirectional spiral groove driving |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811528431.XA CN109573114B (en) | 2018-12-13 | 2018-12-13 | Conical rod expansion mechanism based on bidirectional spiral groove driving |
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| CN109573114A CN109573114A (en) | 2019-04-05 |
| CN109573114B true CN109573114B (en) | 2020-06-09 |
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| CN110228609A (en) * | 2019-06-14 | 2019-09-13 | 湖南国防工业职业技术学院 | A kind of telescopic locking mechanism of lead screw driving |
| CN113090110A (en) * | 2020-01-09 | 2021-07-09 | 河北奥润顺达窗业有限公司 | Telescopic handle |
| CN114291303B (en) * | 2021-12-28 | 2024-04-09 | 哈尔滨工业大学 | Light simplified butt joint locking and releasing device and working method thereof |
| CN114671054B (en) * | 2022-04-11 | 2023-03-10 | 哈尔滨工业大学 | Inclined strut type floating self-adaptive spray pipe capturing tool |
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| CN104648698B (en) * | 2014-12-16 | 2016-09-21 | 中国空间技术研究院 | A kind of ratchet swelling device for high rail Satellite General arresting agency |
| CN105691638B (en) * | 2015-12-29 | 2018-01-09 | 哈尔滨工业大学 | The buffer gear of docking facilities |
| CN105711859B (en) * | 2016-01-25 | 2017-10-27 | 上海宇航***工程研究所 | Homologous, buffer damping semi- active control docking system and method |
| CN107628277B (en) * | 2017-08-28 | 2023-12-05 | 浙江理工大学 | Space non-cooperative target capturing mechanism and capturing method thereof |
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