CN110450988B - Foldable target adapter suitable for large-tolerance capture - Google Patents
Foldable target adapter suitable for large-tolerance capture Download PDFInfo
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- CN110450988B CN110450988B CN201910653256.5A CN201910653256A CN110450988B CN 110450988 B CN110450988 B CN 110450988B CN 201910653256 A CN201910653256 A CN 201910653256A CN 110450988 B CN110450988 B CN 110450988B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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Abstract
The invention provides a foldable target adapter suitable for large-tolerance capture, which can realize capture and butt joint of a space manipulator with low impact, large tolerance and high rigidity; and the catch bar is foldable, reducing product envelope. The target adapter includes: the device comprises a supporting structure, and a capturing module, a positioning module, a locking and butting module and a capturing rod unfolding mechanism which are arranged on the supporting structure; the capturing module is used for being matched with a rope type capturing mechanism on the end effector to capture the target adapter; the positioning module is used for guiding and positioning the end effector in the butt joint process with the target adapter; the locking and butting module is used for mechanical locking and electrical butting after the end effector is butted with the target adapter; the capturing rod unfolding mechanism is used for locking, unlocking and unfolding the capturing rod in the capturing module; when the capturing rod is in a folded state, the capturing rod is horizontally arranged on the surface of the supporting structure; the capture bar is disposed vertically on the support structure surface when the capture bar is in the deployed state.
Description
Technical Field
The invention relates to an adapter, in particular to a folding target adapter, and belongs to the technical field of aerospace equipment.
Background
The target adapter is arranged on a target object and is matched with the end effector of the space manipulator for use, so that the manipulator can grab and release the target object. The method specifically comprises the following steps: the target adapter is installed on a target object to be captured by the mechanical arm, the capture of the target object is achieved by the mechanical arm, and the target object is moved to a specified position under the control of the mechanical arm.
Currently, european arm ERA target adapters in international space stations, and target adapters in international space station robot arm systems (SSRMS) have been successfully launched to apply target adapters to robots. The end effector has different structural forms and different target adapters matched with the end effector. At present, a target adapter is mostly in butt joint with an end effector after being directly guided and positioned, the impact is large, and large-tolerance capture cannot be realized.
Disclosure of Invention
In view of the above, the invention provides a foldable target adapter suitable for large-tolerance capture, which can realize capture and docking of a space manipulator with low impact, large tolerance and high rigidity; and the catch bar is foldable, reducing product envelope.
The foldable target adapter suitable for large tolerance capture comprises: the device comprises a supporting structure, and a capturing module, a positioning module, a locking and butting module and a capturing rod unfolding mechanism which are arranged on the supporting structure;
the capturing module is used for being matched with a rope type capturing mechanism on the end effector to capture the target adapter; the capture module includes: the device comprises a capturing rod and a ball head, wherein one end of the capturing rod is arranged on a supporting structure through a capturing rod unfolding mechanism, and the other end of the capturing rod is connected with the ball head; a steel wire rope groove is formed in the ball head, and when a steel wire rope is wound in the steel wire rope groove by a rope type capturing mechanism on the end effector, capturing of the capturing rod is completed;
the positioning module is used for guiding and positioning an end effector in a docking process with the target adapter;
the locking and butting module is used for mechanical locking and electrical butting after the end effector is butted with the target adapter;
the catching rod unfolding mechanism is used for folding, locking, unlocking and unfolding the catching rod; when the capturing rod is in a folded state, the capturing rod is horizontally arranged on the surface of a supporting structure; the capture bar is disposed vertically on a support structure surface when the capture bar is in the deployed state.
The positioning module includes: the positioning surface of the guide seat is an outward-protruding arc-shaped surface, and the arc-shaped surface is matched with more than two arc-shaped grooves distributed on the butt joint end of the end effector along the circumferential direction in a one-to-one correspondence manner and is used for guiding and roughly positioning the end effector after capturing the target adapter;
more than two sections of trapezoidal teeth distributed in an arc shape are arranged on the butt joint surface of the supporting structure, the more than two sections of trapezoidal teeth are positioned on the same circumference, and the more than two sections of trapezoidal teeth are used for being correspondingly meshed with the more than two sections of trapezoidal teeth on the butt joint end of the end effector one by one.
The locking docking module includes: the locking structure comprises locking heads and a floating electric connector socket, wherein more than two locking heads are distributed on the butt joint surface of the supporting structure along the circumferential direction, and each locking head comprises two locking clamping jaws which are oppositely arranged; the locking head is used for being in butt joint with a locking seat on the end effector to be locked so as to realize rigid butt joint of the end effector and the target adapter;
the floating electric connector socket is fixed on the supporting structure through the angle box, and after the locking head is in butt joint with the locking seat on the end effector and is locked, the electric connector plug on the end effector is plugged with the floating electric connector socket.
The catch bar deployment mechanism comprises: a folding locking mechanism and an unlocking deployment mechanism;
the fold lock mechanism includes: the pressing rod, the pressing rod cutting device and the spring B are arranged on the base; the unlocking deployment mechanism includes: the device comprises a capturing rod fixing base, a capturing rod supporting seat, a sleeve and a rotating shaft;
the end part of the capturing rod is arranged on the top of the capturing rod supporting seat through a rotating shaft, the axis of the rotating shaft is parallel to the abutting surface of the supporting structure, and the capturing rod can rotate around the axis of the rotating shaft; a radial through hole for installing the pressing rod is processed on the capturing rod, the bottom of the pressing rod penetrates through the radial through hole and then is fixedly connected with the supporting structure, the top of the pressing rod penetrates through the radial through hole and is in threaded connection with a nut A, and the nut A presses the capturing rod; a spring B is sleeved on the part, extending out of the radial through hole, of the top of the compression rod, one end of the spring B is abutted against the capture rod, and the other end of the spring B is abutted against a shaft shoulder at the end part of the compression rod; when the catch lever is in a folded state, the spring B is in a compressed state; the pressing rod cutting device is used for cutting off the pressing rod, and after the pressing rod is cut off, the folding locking of the capturing rod is released;
the capturing rod fixing base is fixed in the supporting structure and is of a hollow cylindrical structure, a capturing rod supporting seat is coaxially sleeved in the capturing rod fixing base, and the capturing rod supporting seat is fixedly connected with the capturing rod fixing base through a bottom shaft shoulder of the capturing rod supporting seat; a sleeve is coaxially sleeved between the capturing rod fixing base and the capturing rod supporting seat, a spring A is sleeved outside the sleeve, one end of the spring A is abutted against a shaft shoulder at the bottom of the capturing rod supporting seat, and the other end of the spring A is abutted against a shaft shoulder at the upper end of the sleeve; one side of the top of the sleeve is in contact with the capturing rod, when the capturing rod is in a folded state, the spring A is in a compressed state, and after the folding locking mechanism releases the folding locking of the capturing rod, the spring A pushes the sleeve to move upwards along the axis of the sleeve, and the capturing rod is pushed to rotate around the axis of the rotating shaft through the sleeve;
the position between the rotating shaft and the folding locking mechanism on the capturing rod is provided with a shaft shoulder, the position between the shaft shoulder and the end part of the rotating shaft is the root of the capturing rod, when the capturing rod rotates in place, the root of the capturing rod is positioned in the capturing rod supporting seat, and the shaft shoulder of the capturing rod is abutted against the upper end face of the sleeve.
Has the advantages that:
(1) according to the invention, a matching mode of winding the capturing rod and the steel wire rope is adopted, so that low impact and large tolerance capturing of the space mechanical arm on a target object can be realized;
(2) the mode of locking the clamping jaw and floating butt joint of the electric connector is adopted, so that high-rigidity locking and electric butt joint of the mechanical arm and a target object can be realized;
(3) the guiding and positioning of the mechanical arm and the target object are realized by adopting a coarse positioning and accurate positioning step-by-step positioning mode;
(4) a capture rod unfolding mechanism is designed, when the capture rod is not used, the capture rod is folded to be in a horizontal state, and product envelope is reduced;
(5) the leakage circuit is designed, and static electricity can be slowly leaked when the mechanical arm is in contact with a target object during rail working.
Drawings
FIGS. 1 and 2 are schematic diagrams of the overall structure of the target adapter of the present invention;
FIG. 3 is a schematic diagram of the operation of the capture module;
FIG. 4 is a schematic diagram of the working principle of the locking butt-joint module;
FIG. 5 is a cross-sectional view of the adapter;
fig. 6 is an enlarged view of the catch lever deployment mechanism.
Wherein: 1-capture bar, 2-ball head, 3-guide seat, 4-trapezoidal tooth, 5-visual mark, 6-cover plate, 7-support ring, 8-mounting ring, 9-expansion bolt, 10-locking claw, 11-floating electric connector socket, 12-corner box, 13-capture bar unfolding mechanism, 14-capture bar fixing base, 15-capture bar support seat, 16-sleeve, 17-spring A, 18-volute spring, 19-rotating shaft, 20-escape-proof cap, 21-honeycomb damping piece, 22-pressing bar, 23-spring B, 24-nut A, 25-spherical pad, 26-initiating explosive, 27-nut B, 28-transition pad, 29-cushion pad, 30-reed, spring, etc, 31-conducting reed, 32-insulating contact, 33-short switch arm, 34-long switch arm, 35-rotating ring, 36-fixing ring, 37-steel wire rope A, 38-steel wire rope B, 39-steel wire rope C, 40-locking seat and 41-floating electric connector plug
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The embodiment provides a target adapter, which not only can realize high-tolerance and high-rigidity capture, but also can fold a capture rod, so that the product envelope is reduced, and meanwhile, the rigidity of a product is improved; and the problem of instantaneous electrostatic discharge when the mechanical arm is in contact with the target adapter in an on-orbit state can be solved.
As shown in fig. 1 and 2, the target adapter includes: support structure, capture module, orientation module, locking butt joint module, capture pole deployment mechanism 13.
The mounting platform of each part on the bearing structure is the target adapter includes: the support ring 7 is of a hollow annular structure, and the bottom surface of the support ring 7 protrudes upwards to form a frustum at the middle part; the upper surface of the frustum is lower than the upper surface of the outer circumference of the support ring 7; the cover plate 6 is a circular plate with the middle part concave and in the shape of an inverted frustum, namely the center of the cover plate 6 is an inverted conical surface; the cover plate 6 is arranged on the upper surface of the outer circumference of the support ring 7, so that the small end of the inverted frustum in the middle of the cover plate 6 is abutted against the small end of the inverted frustum in the middle of the support ring 7. The cover plate 6 and the support ring 7 are structurally designed to be in a positive and negative frustum form, so that the overall rigidity of the adapter can be improved. The support ring 7 is connected with the mounting ring 8 through the expansion bolts 9, the mounting ring 8 is used for mounting the target adapter on a target object, and the support ring 7 and the mounting ring 8 can be quickly assembled and disassembled through the connection of the expansion bolts 9.
The capturing module is used for being matched with a rope type capturing mechanism on an end effector (the end effector of the mechanical arm) to realize low-impact and large-tolerance capturing of the mechanical arm on a target object. The capture module includes: the capturing rod 1 and the ball head 2, one end of the capturing rod 1 is installed in the center of the supporting structure through the capturing rod unfolding mechanism 13, the other end of the capturing rod is connected with the ball head 2, a steel wire rope groove is formed in the ball head 2, and when the capturing rod 1 is used, a steel wire rope is wound on the capturing rod 1 through the rope type capturing mechanism on the end actuator, so that the capturing of the capturing rod 1 is achieved; then the steel wire rope moves axially along the capturing rod 1 and is clamped into a steel wire rope groove on a ball head 2 at the end part of the capturing rod 1; the end effector can thus be dragged to the catch lever 1 via the wire rope, thereby realizing the dragging of the target adapter.
As shown in fig. 3, the rope catch mechanism includes: the rotating ring 35 is coaxially sleeved outside the fixed ring 36, and the rotating ring 35 can rotate around the axis of the rotating ring 35 under the driving of external power. The three steel wire ropes are circumferentially distributed between the rotating ring 35 and the fixing ring 36, one ends of the three steel wire ropes are fixedly connected with the rotating ring 35, the other ends of the three steel wire ropes are fixedly connected with the fixing ring 36, three arc-shaped steel wire rope grooves are circumferentially and uniformly distributed on the connecting ball head 2, when the capturing rod 1 enters the envelope range of the fixing ring 36, the rotating ring 36 is driven to rotate, in the process, the steel wire ropes in contact with the capturing rod 1 push the capturing rod 1 to move towards the circle center of the fixing ring 36 until the capturing rod 1 is located at the circle center of the fixing ring 36, and at the moment, the three steel wire ropes wind the capturing rod 1 to; then the steel wire rope moves along the axial direction of the catching rod 1, so that the three steel wire ropes are completely matched with the three steel wire rope grooves on the ball head 2 in an interference mode. The three steel wire rope grooves distributed along the circumferential direction are arranged, so that stress concentration caused by linear contact between the steel wire rope and the ball head in the capturing process can be avoided. The capture module can be adopted to adapt to large capture tolerance of +/-100 mm in the radial direction and +/-80 mm in the axial direction.
The positioning module is used for guiding and positioning the target adapter and the end effector in the process of approaching after capturing, and comprises: three guide holder 3 and trapezoidal tooth 4, three guide holder 3 along circumference equipartition on the inverted cone face at apron 6 center, the locating surface of guide holder 3 is the arcwall face of evagination, this arcwall face cooperates along the three arc wall of circumference equipartition with end effector butt joint end, realizes direction and the coarse positioning after end effector catches the target adapter. Two sections of arc-shaped trapezoidal teeth 4 are arranged on the periphery of the circumferential surface of the cover plate 6 where the three guide seats 3 are located, the two sections of arc-shaped trapezoidal teeth 4 are arranged on the same circumference in a relative mode, the trapezoidal teeth 4 are matched with the trapezoidal teeth on the butt joint end of the end effector, accurate positioning of the end effector and a target adapter is achieved, and rotation errors can be completely eliminated after the trapezoidal teeth 4 in the positioning module are matched with the trapezoidal teeth on the butt joint end of the end effector in place.
The locking and docking module is used for mechanical locking and electrical docking after the target adapter is docked with the end effector, and comprises: locking jaws 10 and floating electrical connector sockets 11; the locking claws 10 are arranged in pairs, four pairs of locking claws 10 are distributed on the upper surface of the outer circumference of the support ring 7 along the circumferential direction, and the locking claws 10 are matched with a locking mechanism on the end effector to realize the rigid butt joint of the end effector and the adapter. The floating electric connector socket 11 is matched with the electric connector plug 41 on the end effector to realize the electric butt joint of the end effector and the target adapter, the floating electric connector socket 11 is fixed on the support ring 7 through the angle box 12, the floating electric connector socket 11 is in one-to-one correspondence with each pair of locking claws 10 in position, and therefore the electric butt joint of the electric connector plug 41 and the floating electric connector socket 11 can be realized while the butt joint and the locking are realized. The floating electrical connector receptacle 11 can meet the requirement of reliable use for no less than 6000 service lives and can adapt to the temperature difference of plug-in mating when the in-orbit end effector is butted with the target adapter.
The principle is as shown in fig. 4, each pair of locking claws 10 are oppositely arranged to form a locking head, the locking mechanism 40 on the end effector comprises two locking seats which are oppositely arranged and can be opened and closed, the electric connector plug 41 is positioned between the two locking seats, initially, the opening and closing ends of the two locking seats are closed, so that the locking mechanism can enter between the two locking claws 10 in pair, then the electric connector plug 41 is pushed to extend out from the opening and closing ends of the two locking seats to be in electrical butt joint with the floating electric connector socket 11, at the moment, the opening and closing ends of the two locking seats are opened, and the two locking seats are respectively limited by the two locking claws 10, so that the two locking seats cannot fall off from the two locking claws 10.
The catch lever unfolding mechanism 13 is used for folding, locking, unlocking and unfolding the catch lever 1; during transportation or storage, the capturing rod 1 is in a folded state under the action of the capturing rod unfolding mechanism 13, namely, the capturing rod 1 is horizontally arranged on the surface of the cover plate 6 (the axis of the capturing rod 1 is parallel to the surface of the cover plate 6); in the working state, the capture rod unfolding mechanism 13 is unlocked, the capture rod 1 is unfolded in place and is in a vertical state, and the axis of the capture rod 1 is vertical to the surface of the cover plate 6.
As shown in fig. 5 and 6, the catch lever deployment mechanism 13 includes: folding locking mechanical system and unblock deployment mechanism, wherein folding locking mechanical system includes: the hold down bar 22, the initiating explosive device 26 and the spring B23; the unlocking deployment mechanism comprises: a catch bar fixing base 14, a catch bar supporting base 15, a sleeve 16, and a rotating shaft 19.
The connection relationship of the folding locking mechanism is as follows: the end of the catch lever 1 is mounted on the catch lever support seat 15 by a rotation shaft 19, the axis of the rotation shaft 19 being parallel to the surface of the cover 6, the catch lever 1 being able to rotate about the axis of the rotation shaft 19. A radial through hole is formed in the catch lever 1 near the end of the rotation shaft 19, and a hold-down lever 22 is installed in the radial through hole, and the hold-down lever 22 is used to lock the folded state of the catch lever 1. The bottom of the pressing rod 22 penetrates through the radial through hole and then is fixed on the support ring 7 through a nut B, and a transition pad 28 and a buffer pad 29 are arranged between the pressing rod 22 and the support ring 7. The top of the pressing rod 22 penetrates through the radial through hole to be in threaded connection with the nut A24, and the nut A24 presses the capturing rod 1 through the spherical pad 25 to prevent the capturing rod 1 from shaking. The part of the top of the pressing rod 22 extending out of the radial through hole is sleeved with a spring B23, one end of the spring B23 is abutted against the capturing rod 1, the other end of the spring B23 is abutted against a shaft shoulder at the end of the pressing rod 22, initially, the spring B23 is in a compressed state, and after the pressing rod 22 is cut off, the cut part (upper half part) of the pressing rod 22 is ejected out of the radial through hole under the restoring force of the spring B23, so that the folding and locking of the capturing rod 1 are released, and the capturing rod can rotate around the rotating shaft 19. The outside that stretches out radial through-hole part at the top of compressing tightly pole 22 is equipped with prevents escaping cap 20, prevents escaping cap 20 and fixes on catching pole 1, prevents escaping cap 20 and is used for holding the part that pops out from radial through-hole after compressing tightly pole 22 cuts off, prevents being provided with honeycomb damping piece 21 on the interior bottom surface of escaping cap 2. An initiating explosive device 26 for cutting off the pressing bar 22 is mounted on the cover plate 6.
The connection relation of the unlocking and unfolding mechanism is as follows: a capturing rod fixing base 14 coaxial with the support ring 7 and the cover plate 6 is arranged in the central hole, the capturing rod fixing base 14 is of a hollow cylindrical structure, a capturing rod supporting seat 15 is coaxially sleeved in the capturing rod fixing base 14, the capturing rod supporting seat 15 is of a hollow cylindrical structure and fixedly connected with the capturing rod fixing base 14 through a bottom shaft shoulder of the capturing rod supporting seat, and the end part of the capturing rod 1 is installed at the top of the capturing rod supporting seat 15 through a rotating shaft 19. A sleeve 16 is coaxially sleeved between the capturing rod fixing base 14 and the capturing rod supporting seat 15, a spring A17 is sleeved outside the sleeve 16, one end of the spring A17 is abutted against a shaft shoulder at the bottom of the capturing rod supporting seat 15, and the other end of the spring A17 is abutted against a shaft shoulder at the upper end of the sleeve 16. The top side of the sleeve 16 contacts the catch lever 1, the spring a17 is under compression when the catch lever 1 is in the folded state, and after the fold lock mechanism releases the fold lock on the catch lever 1, the spring a17 pushes the sleeve 16 to move upward along its axis, and further, the catch lever 1 is pushed by the sleeve 16 to rotate around the axis of the rotating shaft 19. Meanwhile, scroll springs 18 are sleeved at two ends of the rotating shaft 19, one end of each scroll spring 18 is fixed to the top of the capturing rod supporting seat 15, the other end of each scroll spring 18 is connected with the capturing rod 1, when the capturing rod 1 is in a folded state, the scroll springs 18 are compressed, so that the capturing rod 1 tends to rotate around the rotating shaft 19, after the folding locking of the capturing rod 1 is released, the scroll springs 18 drive the capturing rod 1 to rotate around the axis of the rotating shaft 19, and the scroll springs 18 are used for assisting the springs A17 to push the capturing rod 1 to rotate around the axis of the rotating shaft 19.
Catch position between the pole 1 last axis of rotation 19 and the folding locking mechanical system and be provided with the shaft shoulder, make this shaft shoulder and the root of pole 1 of catching between the end portion of axis of rotation 19 place, when catching pole 1 rotatory when targetting in place (catch the pole and be vertical state), the root of catching pole 1 is located catches pole supporting seat 15, and catches the shaft shoulder of pole 1 and contradict with sleeve 16 up end, and the realization catches the rotation of pole 1 to the position spacing. The end face of the end of the rotating shaft 19 of the capturing rod 1 is provided with a reed 30, when the capturing rod 1 is unfolded in place, the reed 30 is clamped in a groove corresponding to the inner circumferential surface of the top of the sleeve 16, so that the sleeve 16 cannot be loosened after being bounced up in place, and the capturing rod 1 is locked after being rotated in place. Catch pole supporting seat 15 top and be provided with conduction reed 31, catch when pole 1 rotates to target in place, catch the shaft shoulder on the pole 1 and catch pole supporting seat 15 and pass through the contact of conduction reed 31, can realize catching the electric conduction between pole 1 and catch pole supporting seat 15 and catch pole unable adjustment base 14.
A long switch arm 34 and a short switch arm 33 are arranged in the capturing rod supporting seat 15, an insulating contact 32 is installed on the end face of the capturing rod 1 where the rotating shaft 19 is located, when the capturing rod 1 is in a folded state, the long switch arm 34 is not in contact with the short switch arm 33, when the capturing rod 1 is unfolded in place, the insulating contact 32 presses down the long switch arm 34 to be in contact with and conducted with the short switch arm 33, and a switch signal in place is output.
The operating principle of the catch lever deployment mechanism 13 is: the initiating explosive device 26 initiates to cut off the pressing rod 22, and the folding locking of the capture rod 1 is released; the catch lever 1 rotates around the rotating shaft 19 under the combined action of the spring a17 and the spiral spring 18, and after the rotating shaft 19 rotates in place, the sleeve 16 hoops the catch lever 1 and the catch lever support seat 15, so that the in-place limit of the catch lever 1 is realized. After the sleeve 16 is bounced to the proper position, the spring leaf 30 assembled on the catch lever 1 is clamped into the groove in the sleeve 16, and the sleeve 16 is locked so as not to be loosened; meanwhile, when the capturing rod 1 is unfolded to the proper position, the insulating contact 32 at the end of the capturing rod 1 presses down the long switch arm 34 to be in contact with the short switch arm 33 for conduction, and a proper switch signal is output.
The capturing rod 1 is conducted with the capturing rod supporting seat 15 and the capturing rod fixing base 14 through the conducting reed 31, and the capturing rod fixing base 14 is insulated from the supporting ring 7 through the insulating pad 35, so that the capturing rod fixing base 14 is isolated from the target adapter supporting structure, a discharging resistor is connected between the capturing rod fixing base 14 and the supporting ring 7 in series, a slow electrostatic discharging channel is formed, and product damage caused by instantaneous discharging of static electricity is avoided.
The overall working principle of the target adapter is as follows: the target adapter is arranged on a target object, and a capture rod 1 in the target adapter is in a spread-out in-place state; when a target object needs to be grabbed through the mechanical arm, firstly, a visual mark 5 arranged on a cover plate 6 is identified through a visual system on the end effector so as to identify the target adapter and obtain the position and the posture of the target adapter relative to the end effector; then the end effector moves towards the position of the target adapter, and a capturing rod 1 on the target adapter is captured and dragged through a rope type capturing mechanism; then, the positioning module is used for guiding and positioning the end effector and the target adapter so that the end effector and the target adapter are accurately butted; and after the butt joint is finished, the target adapter and the end effector are mechanically locked and electrically butted through the locking butt joint module.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A foldable target adapter adapted for high tolerance capture, comprising: a support structure and a catch module, a positioning module, a locking docking module and a catch bar deployment mechanism (13) mounted on the support structure;
the capturing module is used for being matched with a rope type capturing mechanism on the end effector to capture the target adapter; the capture module includes: the device comprises a capturing rod (1) and a ball head (2), wherein one end of the capturing rod (1) is installed on a supporting structure through a capturing rod unfolding mechanism (13), and the other end of the capturing rod (1) is connected with the ball head (2); a steel wire rope groove is formed in the ball head (2), and when a rope type capturing mechanism on the end effector winds a steel wire rope in the steel wire rope groove, capturing of the capturing rod (1) is completed;
the positioning module is used for guiding and positioning an end effector in a docking process with the target adapter;
the locking and butting module is used for mechanical locking and electrical butting after the end effector is butted with the target adapter;
the catch rod unfolding mechanism (13) is used for folding, locking and unlocking and unfolding the catch rod (1); when the capturing rod (1) is in a folded state, the capturing rod (1) is horizontally arranged on the surface of a supporting structure; when the catch bar (1) is in the deployed state, the catch bar (1) is vertically disposed on a support structure surface;
the catch lever deployment mechanism (13) comprises: a folding locking mechanism and an unlocking deployment mechanism;
the fold lock mechanism includes: a pressing rod (22), a pressing rod cutting device and a spring B (23); the unlocking deployment mechanism includes: a catch lever fixing base (14), a catch lever support base (15), a sleeve (16) and a rotating shaft (19);
the end of the catch lever (1) is mounted on top of a catch lever support seat (15) by a rotation shaft (19), the axis of the rotation shaft (19) being parallel to the abutment surface of the support structure, the catch lever (1) being rotatable about the axis of the rotation shaft (19); a radial through hole for installing the pressing rod (22) is processed on the capturing rod (1), the bottom of the pressing rod (22) penetrates through the radial through hole and then is fixedly connected with the supporting structure, the top of the pressing rod penetrates through the radial through hole and is in threaded connection with a nut A (24), and the nut A (24) presses the capturing rod (1); a spring B (23) is sleeved on a part, extending out of the radial through hole, of the top of the pressing rod (22), one end of the spring B (23) is abutted against the capturing rod (1), and the other end of the spring B (23) is abutted against a shaft shoulder at the end part of the pressing rod (22); when the catch lever (1) is in a folded state, the spring B (23) is in a compressed state; the pressing rod cutting device is used for cutting off the pressing rod (22), and after the pressing rod (22) is cut off, the folding locking of the capturing rod (1) is released;
the capturing rod fixing base (14) is fixed in the supporting structure, the capturing rod fixing base (14) is of a hollow cylindrical structure, a capturing rod supporting seat (15) is coaxially sleeved in the capturing rod fixing base, and the capturing rod supporting seat (15) is fixedly connected with the capturing rod fixing base (14) through a bottom shaft shoulder of the capturing rod supporting seat; a sleeve (16) is coaxially sleeved between the capturing rod fixing base (14) and the capturing rod supporting seat (15), a spring A (17) is sleeved outside the sleeve (16), one end of the spring A (17) is abutted against a shaft shoulder at the bottom of the capturing rod supporting seat (15), and the other end of the spring A (17) is abutted against a shaft shoulder at the upper end of the sleeve (16); one side of the top of the sleeve (16) is in contact with the capturing rod (1), when the capturing rod (1) is in a folded state, the spring A (17) is in a compressed state, after the folding locking mechanism releases the folding locking of the capturing rod (1), the spring A (17) pushes the sleeve (16) to move upwards along the axis of the sleeve, and the capturing rod (1) is pushed to rotate around the axis of the rotating shaft (19) through the sleeve (16);
the position between the rotating shaft (19) and the folding locking mechanism on the capturing rod (1) is provided with a shaft shoulder, the position between the shaft shoulder and the end part of the rotating shaft (19) is the root of the capturing rod (1), when the capturing rod (1) rotates in place, the root of the capturing rod (1) is positioned in the capturing rod supporting seat (15), and the shaft shoulder of the capturing rod (1) is abutted against the upper end face of the sleeve (16).
2. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: the positioning module includes: the positioning structure comprises a trapezoidal tooth (4) and more than two guide seats (3), wherein the more than two guide seats (3) are circumferentially distributed on the butt joint surface of the supporting structure, the positioning surface of each guide seat (3) is an outward-protruding arc-shaped surface, and the arc-shaped surfaces are in one-to-one corresponding fit with more than two arc-shaped grooves circumferentially distributed at the butt joint end of the end effector and are used for guiding and roughly positioning the end effector after capturing a target adapter;
more than two sections of trapezoidal teeth (4) distributed in an arc shape are arranged on the butt joint surface of the supporting structure, more than two sections of trapezoidal teeth (4) are positioned on the same circumference, and more than two sections of trapezoidal teeth (4) are used for being meshed with more than two sections of trapezoidal teeth on the butt joint end of the end effector in a one-to-one correspondence mode.
3. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: the locking docking module includes: the locking device comprises locking heads and a floating electric connector socket (11), wherein more than two locking heads are distributed on the butt joint surface of the supporting structure along the circumferential direction, and each locking head comprises two locking clamping jaws (10) which are oppositely arranged; the locking head is used for being in butt joint with a locking seat on the end effector to be locked so as to realize rigid butt joint of the end effector and the target adapter;
the floating electric connector socket (11) is fixed on the supporting structure through the corner box (12), and when the locking head is in butt joint with the locking seat on the end effector and locked, the electric connector plug (41) on the end effector is plugged with the floating electric connector socket (11).
4. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: scroll spring (18) are equipped with to the axial both ends cover of axis of rotation (19), the one end of scroll spring (18) is fixed and is caught pole supporting seat (15) top, the other end with catch pole (1) and link to each other, when catching pole (1) and being in folded state, scroll spring (18) are compressed, and after removing the folding locking to catching pole (1), scroll spring (18) drive catch pole (1) and wind the axis of rotation (19) rotates.
5. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: a reed (30) is installed on the end face of the end of the capturing rod (1) where the rotating shaft (19) is located, when the capturing rod (1) is unfolded to the proper position, the reed (30) is clamped into a corresponding groove on the inner circumferential surface of the top of the sleeve (16) and used for unfolding, positioning and locking the capturing rod (1).
6. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: a long switch arm (34) and a short switch arm (33) are arranged in the sleeve (16), and an insulating contact (32) is arranged at the end part of the capturing rod (1) where the rotating shaft (19) is located; when the capturing rod (1) is in a folded state, the long switch arm (34) is not in contact with the short switch arm (33), when the capturing rod (1) is unfolded in place, the insulating contact (32) presses down the long switch arm (34), so that the long switch arm (34) is in contact with the short switch arm (33) to be conducted, and a switch signal in place is output.
7. The foldable target adapter adapted for large tolerance capture of claim 1, wherein: an anti-escape cap (20) is sleeved on the outer portion of the portion, extending out of the radial through hole, of the top of the pressing rod (22), the anti-escape cap (20) is fixed to the capturing rod (1), and the anti-escape cap (20) is used for containing the portion, ejected out of the radial through hole, of the pressing rod (22) after being cut off.
8. A foldable target adapter suitable for large tolerance capture according to any one of claims 1-3, wherein: the support structure includes: the device comprises a support ring (7), a cover plate (6) and a mounting ring (8), wherein the support ring (7) is of a hollow annular structure, and the bottom surface of the support ring is upwards protruded to form a frustum at the middle part; the upper surface of the frustum is lower than the upper surface of the outer circumference of the support ring (7); the cover plate (6) is a circular plate with the middle part concave downwards and is in a shape of an inverted frustum; the cover plate (6) is arranged on the upper surface of the outer circumference of the support ring (7), and the small end of the inverted frustum in the middle of the cover plate (6) is abutted against the small end of the inverted frustum in the middle of the support ring (7); the centers of the support ring (7) and the cover plate (6) are provided with central holes for the capture rod unfolding mechanism (13) to pass through; the support ring (7) is connected with the mounting ring (8) through expansion bolts (9), and the mounting ring (8) is used for mounting the target adapter on a target.
9. The foldable target adapter adapted for large tolerance capture of claim 8, wherein: a conduction reed (31) is arranged at the top of the catch rod supporting seat (15), and the conduction reed (31) is used for conducting electricity between the catch rod (1) and the catch rod supporting seat (15) and the catch rod fixing base (14) after the catch rod (1) is rotated to the position; the capture rod fixing base (14) is insulated from the support ring (7) through an insulating pad (35); and a discharge resistor is connected in series between the capture rod fixing base (14) and the support ring (7) to form a static slow discharge channel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910653256.5A CN110450988B (en) | 2019-07-19 | 2019-07-19 | Foldable target adapter suitable for large-tolerance capture |
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| CN201910653256.5A CN110450988B (en) | 2019-07-19 | 2019-07-19 | Foldable target adapter suitable for large-tolerance capture |
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| CN110450988B true CN110450988B (en) | 2020-11-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113772123B (en) * | 2021-08-27 | 2023-03-28 | 哈尔滨工业大学 | Novel steering locking device |
| CN113911406A (en) * | 2021-10-11 | 2022-01-11 | 北京空间飞行器总体设计部 | Lasso formula space capture device |
| CN114030659B (en) * | 2021-11-18 | 2022-05-03 | 中国科学院空间应用工程与技术中心 | Multifunctional active capturing mechanism and docking device |
| CN114132528B (en) * | 2021-11-30 | 2023-12-19 | 北京卫星制造厂有限公司 | Flexible sail unfolding device |
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