CN117508660A - Gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance - Google Patents
Gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance Download PDFInfo
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- CN117508660A CN117508660A CN202311381890.0A CN202311381890A CN117508660A CN 117508660 A CN117508660 A CN 117508660A CN 202311381890 A CN202311381890 A CN 202311381890A CN 117508660 A CN117508660 A CN 117508660A
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Abstract
The invention discloses a gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance, and relates to the field of repeatable connection and separation of aerospace equipment. The repetition lock release device includes: the back plate is arranged at the aircraft platform, one side edge of the back plate is hinged to one side edge of the cover plate, the transmission assembly comprises a plurality of gears and a spiral transmission piece, the gears are in transmission connection with the spiral transmission piece, the driver is connected with one gear, the gears are respectively arranged at the back plate and the cover plate, and the transmission assembly is driven by the driver to enable the cover plate to be opened and closed relatively to the back plate in a reciprocating mode. The repeated locking and releasing of the plate-shaped load are realized, and the requirements of low impact and repeatability are met.
Description
Technical Field
The invention relates to the field of repeatable connection and separation of aerospace equipment, in particular to a gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance.
Background
Plate-like loads are increasingly being used on space station off-board laboratory platforms to conduct various types of space science experiments or to carry some instruments and equipment. The plate-shaped load needs to be repeatedly plugged and unplugged under the action of the mechanical arm, the plate-shaped load and the locking and releasing device thereof are required to realize the functions of repeated locking and releasing, the impact of releasing the plate-shaped load to the load plate is low, the device can adapt to the deviation of the position and the gesture of the mechanical arm, the plate-shaped load with the reentry and the return requirement is required to be protected in a closed mode after the experiment of the load plate in the reentry and the return process, and the pollution to the cabin of the aircraft is avoided. The locking and releasing device in the prior art is designed aiming at the fact that the load is mostly a block load, has poor matching property with the plate load, has the defects of high impact, high energy consumption and disposability in the locking and releasing process, and has high cost, so that the device cannot meet the repeated locking and releasing requirements of the plate load.
Disclosure of Invention
Object of the invention
The invention aims to provide a gear drive type plate load repeated locking and releasing device based on mechanical arm assistance, which solves the technical problem that the locking and releasing device in the prior art cannot adapt to repeated locking and releasing requirements of plate loads.
(II) technical scheme
In order to solve the above problems, the present invention provides a gear driven plate load repeated locking and releasing device based on mechanical arm assistance, comprising: the backboard, the cover board, the transmission component and the driver,
the back plate is arranged at the aircraft platform, one side edge of the back plate is hinged with one side edge of the cover plate, the transmission assembly comprises a plurality of gears and a spiral transmission piece, the gears are in transmission connection with the spiral transmission piece, the driver is connected with one gear, the gears and the spiral transmission piece are respectively arranged at the back plate and the cover plate, and the transmission assembly is driven by the driver to enable the cover plate to open and close relatively to the back plate in a reciprocating manner.
Optionally, the gear is a bevel gear.
Optionally, the screw driving part includes screw and lead screw, the one end of lead screw with the backplate is articulated, the screw cover is in the other end department of lead screw, the screw with the apron is connected, the screw with one the gear coaxial fixed.
Optionally, the screw driving part includes two nuts and two lead screws, two the lead screws are in respectively the left and right sides of backplate, every the one end of lead screw with the backplate is articulated, every the other end of lead screw with the nut cooperation that corresponds, the apron with two nuts are connected respectively, every nut with corresponding one gear coaxial coupling.
Optionally, the transmission assembly further comprises a transmission shaft, the plurality of gears comprises two first bevel gears and two second bevel gears,
the transmission shaft is arranged at the cover plate, two first bevel gears are respectively arranged at two ends of the transmission shaft, each screw nut is coaxially connected with one second bevel gear, the first bevel gears are in one-to-one corresponding meshing arrangement with the second bevel gears, the rotation directions of the two screw nuts are opposite, and the driver is in transmission connection with the transmission shaft.
Optionally, the gears further include a third bevel gear and a fourth bevel gear, the driver is a motor and is disposed on the cover plate, the driver is connected with the third bevel gear, the fourth bevel gear is meshed with the third bevel gear, and the fourth bevel gear is coaxially connected with the transmission shaft.
Optionally, the surface of the screw rod is provided with self-locking threads.
Optionally, a first concave structure is formed on a side plate surface of the back plate, the first concave structure is recessed into the back plate, a first metal rubber ring is further arranged on the side plate surface of the back plate, the first metal rubber ring is arranged around the edge of the first concave structure, and the side plate surface of the back plate is a plate surface facing the plate-shaped load;
the second concave surface structure has been seted up to one side face of apron, the second concave surface structure to the apron is sunken in, one side face of apron still is provided with the second metal rubber ring, the second metal rubber ring centers on the edge setting of second concave surface structure, one side face of apron is for facing the face of platy load.
Optionally, the backplate is provided with the baffle, the baffle is close to the backplate with the articulated department setting of apron, the apron with the articulated department of backplate is located the bottom, the apron with the department of opening and shutting of backplate is located the top, the screw drive spare sets up the top of backplate, the screw drive spare is used for making the apron is relative the backplate opens and shuts.
Optionally, the back plate is provided with two vertical plates and two inclined plane locating pieces,
when the cover plate is opened relative to the back plate, the top of the cover plate is lower than the top of the back plate,
the two vertical plates are vertically arranged on one side plate surface of the back plate, the two vertical plates are arranged on the left side and the right side of the first metal rubber ring, when the cover plate is opened relative to the back plate, the top end of each vertical plate is higher than the top end of the cover plate,
the bottom of every riser is provided with one inclined plane setting element, the baffle sets up two between the inclined plane setting element, the apron is connected with two inclined plane setting elements through the pivot.
(III) beneficial effects
The technical scheme of the invention has the following beneficial technical effects:
in the invention, the back plate is hinged with the cover plate, and the cover plate is opened and closed back and forth relative to the back plate by the cooperation of the driving component and the transmission component, so that the plate-shaped load can be repeatedly locked and released between the cover plate and the back plate, and the repeated locking and releasing of the plate-shaped load are realized, thereby solving the problems in the prior artThe locking and releasing device of the device can not meet the repeated locking and releasing requirements of plate-shaped load 。
In addition, the invention utilizes the characteristic of accurate gear ratio of a plurality of gears, so that the repeated locking and releasing device has small energy loss in the running process. Meanwhile, the rotary motion of the driver is converted into the reciprocating opening and closing motion of the cover plate relative to the back plate by utilizing the spiral transmission piece, and the spiral transmission piece such as a screw rod and a screw nut and a turbine and a worm have the characteristic of small occupied space, so that the occupied volume of the repeated locking and releasing device in the aerospace equipment is greatly saved.
In addition, the hinge is arranged at the bottom, and the spiral transmission piece for driving the cover plate to open and close relative to the back plate is arranged at the top of the cover plate, so that the lever principle is utilized to enable the turning force arm to be long, the locking force to be small, and the required driving moment to be small, thereby achieving the labor-saving effect of greatly reducing the driving force.
In addition, the metal rubber is in an elastic loading process in the locking process and is suitable for locking the loading surface of the thin plate. Therefore, the impact is reduced in the releasing and locking processes by using the metal rubber respectively arranged on the cover plate and the back plate, and the buffer effect is achieved.
Drawings
FIG. 1 is a schematic side view of the geared plate load repeating lock release of an embodiment of the present invention;
FIG. 2 is a schematic front view of the cover plate of the geared plate-like load repeating lock release of an embodiment of the present invention;
FIG. 3 is a schematic cross-sectional view taken along the direction A-A in FIG. 2;
FIG. 4 is a schematic front view of the back plate of the geared plate-like load lock release device of the present invention;
fig. 5 is a schematic top cross-sectional view of the geared plate-like load repeating lock release of an embodiment of the invention in a closed state.
Detailed Description
The objects, technical solutions and advantages of the present invention will become more apparent by the following detailed description of the present invention with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
A layer structure schematic diagram according to an embodiment of the present invention is shown in the drawings. The figures are not drawn to scale, wherein certain details may be exaggerated and some details may be omitted for clarity. The shapes of the various regions, layers and relative sizes, positional relationships between them shown in the drawings are merely exemplary, may in practice deviate due to manufacturing tolerances or technical limitations, and one skilled in the art may additionally design regions/layers having different shapes, sizes, relative positions as actually required.
It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by one of ordinary skill in the art without undue burden on the person of ordinary skill in the art based on embodiments of the present invention, are intended to be within the scope of the present invention.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements are denoted by like reference numerals throughout the various figures. For clarity, the various features of the drawings are not drawn to scale.
The present invention will be described in detail with respect to the existing components which are not related to the point of improvement of the present invention, with or without a brief description, and with emphasis on the components which make improvements over the prior art.
Referring to fig. 1 to 4, the present embodiment provides a gear-driven plate-like load repeating lock release device based on mechanical arm assistance, including: back plate 1, cover plate 2, transmission component and driver 8,
the backboard 1 is arranged at the aircraft platform, one side edge of the backboard 1 is hinged with one side edge of the cover plate 2, the transmission assembly comprises a plurality of gears and a spiral transmission piece, the gears are in transmission connection with the spiral transmission piece, the driver 8 is connected with one gear, the gears and the spiral transmission piece are respectively arranged at the backboard 1 and the cover plate 2, and the transmission assembly is driven by the driver 8, so that the cover plate 2 is opened and closed in a reciprocating manner relative to the backboard 1.
In this embodiment, the back plate 1 is hinged to the cover plate 2, and the cover plate 2 is reciprocally opened and closed relative to the back plate 1 by matching the driving assembly and the transmission assembly, so as to realize that the plate-shaped load 7 can be repeatedly locked and released between the cover plate 2 and the back plate 1, and realize repeated locking and releasing of the plate-shaped load 7, thereby solving the technical problem that the locking and releasing device in the prior art cannot adapt to the repeated locking and releasing requirements of the plate-shaped load 。
In addition, the embodiment utilizes the characteristic of accurate transmission ratio of a plurality of gears, so that the repeated locking and releasing device has small energy loss in the running process. Meanwhile, the rotary motion of the driver 8 is converted into the reciprocating opening and closing motion of the cover plate 2 relative to the back plate 1 by utilizing a screw transmission part, and the screw transmission part such as a screw rod 52, a screw nut 51, a turbine and a worm has the characteristic of small occupied space, so that the occupied volume of the repeated locking and releasing device in the aerospace equipment is greatly saved.
Referring to fig. 2 and 3, further, the gears are bevel gears.
The bevel gear is utilized to realize transmission reversing, and the accuracy of the transmission ratio and the high transmission efficiency are ensured. At the same time, the volume of the transmission part is reduced.
Referring to fig. 2 and 3, further, the screw driving part includes a screw 51 and a screw 52, one end of the screw 52 is hinged with the back plate 1, the screw 51 is sleeved at the other end of the screw 52, the screw 51 is connected with the cover plate 2, and the screw 51 is coaxially fixed with a gear.
Preferably, the nut 51 is sleeved in the corresponding gear and is fixedly connected with the gear coaxially through the spigot structure.
The screw 51 is in transmission connection with the screw 52 through corresponding threads, so that the screw 51 and the screw 52 generate relative movement in the process of driving the screw 51 to rotate by the gear, and the screw 51 moves reciprocally along the screw 52 under the action of the threaded fit, so that the cover plate 2 opens and closes relative to the back plate 1.
In addition, one end of the screw rod 52 is hinged with the back plate 1, so that the degree of freedom of the screw nut 51 in the reciprocating movement process relative to the screw rod 52 is guaranteed to be the same as the number of the original gears, and the situation that the screw nut 51 is blocked in the reciprocating movement process is avoided.
Here, one end of the screw 52 is hinged to the back plate 1, so that the screw 52 can pivot in a vertical plane with respect to the hinged end thereof.
Referring to fig. 2 and 3, further, the screw driving part includes two nuts 51 and two screws 52, the two screws 52 are respectively disposed at the left and right sides of the back plate 1, one end of each screw 52 is hinged with the back plate 1, the other end of each screw 52 is matched with the corresponding nut 51, the cover plate 2 is respectively connected with the two nuts 51, and each nut 51 is coaxially connected with the corresponding one gear.
The two nuts 51 and the two lead screws 52 are respectively arranged at the left side and the right side of the back plate 1, so that the two nuts 51 and the two lead screws 52 can drive the cover plate 2 to open and close relative to the back plate 1 at the same time under the drive of the driver 8 and corresponding gears, and the transmission load of a transmission assembly is reduced.
Referring to fig. 2 and 3, further, the transmission assembly further includes a transmission shaft 45, the plurality of gears including two first bevel gears 41 and two second bevel gears 42,
the transmission shaft 45 is arranged at the cover plate 2, two first bevel gears 41 are respectively arranged at two ends of the transmission shaft 45, each screw 51 is coaxially connected with one second bevel gear 42, the first bevel gears 41 and the second bevel gears 42 are in one-to-one corresponding engagement, the rotation directions of the two screws 51 are opposite, for example, one screw 51 can be left-handed, the other screw 51 can be right-handed, and the driver 8 is in transmission connection with the transmission shaft 45.
Referring to fig. 2 and 3, further, the plurality of gears further includes a third bevel gear 43 and a fourth bevel gear 44, the driver 8 is a motor and is disposed on the cover plate 2, the driver 8 is connected with the third bevel gear 43, the fourth bevel gear 44 is engaged with the third bevel gear 43, and the fourth bevel gear 44 is coaxially connected with the transmission shaft 45.
By the mutual matching of the transmission shaft 45 and the first to fourth bevel gears 44, the whole transmission assembly is simple in structure, the complexity of the transmission assembly is reduced, the volume of the transmission assembly is greatly reduced, and the overall weight is reduced.
Referring to fig. 2 and 3, further, the surface of the lead screw 52 is provided with self-locking threads.
The self-locking screw thread is utilized to have the characteristic of self locking, so that the cover plate 2 can stay at any position relative to the back plate 1 under the drive of the driver 8, and the opening and closing angle of the cover plate 2 can be controlled according to the requirement. And the operability is improved.
Referring to fig. 4 and 5, further, a first concave structure 91 is formed on a side surface of the back plate 1, the first concave structure 91 is recessed into the back plate, a first metal rubber ring 92 is further disposed on a side surface of the back plate 1, the first metal rubber ring 92 is disposed around an edge of the first concave structure 91, and a side surface of the back plate 1 is a surface facing the plate-shaped load 7;
the second concave surface structure 93 has been seted up to a side face of apron 2, second concave surface structure 93 to apron 2 is inwards sunken, a side face of apron 2 still is provided with second metal rubber ring 94, second metal rubber ring 94 centers on the edge setting of second concave surface structure 93, a side face of apron 2 is for facing the face of platy load 7.
Referring to fig. 4 and 5, further, the back plate is provided with a baffle 63, the baffle 63 is disposed near the hinge of the back plate 1 and the cover plate 2, the hinge of the cover plate 2 and the back plate 1 is located at the bottom, the opening and closing positions of the cover plate and the back plate are located at the top, the screw driving member is disposed at the top of the back plate 1, and the screw driving member is used for opening and closing the cover plate 2 relative to the back plate.
The hinge is arranged at the bottom, and the spiral transmission piece for driving the cover plate to open and close relative to the back plate is arranged at the top of the cover plate, so that the lever principle is utilized to enable the rotary force arm to be long, the locking force is small, and the required driving moment is small, thereby playing a labor-saving effect of greatly reducing the driving force.
Referring to fig. 4, further, the back plate is provided with two risers and two bevel locators,
when the cover plate is opened relative to the back plate, the top of the cover plate is lower than the top of the back plate,
the two vertical plates are vertically arranged on one side plate surface of the back plate, the two vertical plates are arranged on the left side and the right side of the first metal rubber ring, when the cover plate is opened relative to the back plate, the top end of each vertical plate is higher than the top end of the cover plate,
the bottom of every riser is provided with one inclined plane setting element, the baffle sets up two between the inclined plane setting element, the apron is connected with two inclined plane setting elements through the pivot.
The plate-like load 7 is prevented from moving downward by the shutter 61 being caught under the plate-like load 7.
In summary, the plate-shaped load repeated locking and releasing device can realize repeated plugging operation of the plate-shaped load 7 under the action of the mechanical arm, has the repeated locking and releasing functions of the plate-shaped load 7, and ensures that the plate-shaped load 7 is reliably locked in the plate-shaped load repeated locking and releasing device;
in addition, the invention can realize low impact on the load plate during release; the invention can adapt to the deviation of certain position and posture of the mechanical arm.
When the cover plate and the backboard are in an unfolding state, namely, when the cover plate is opened relative to the backboard, the cover plate and the backboard form wedge-shaped flaring, the two vertical plates are respectively arranged on two sides, and the formed flaring can adapt to the position and the posture error of the platy load, namely, the position and the posture error of the mechanical arm.
In addition, the device can be used for carrying out on-orbit experiment on the plate-shaped load 7, then the experiment back plate is required to return, and the experiment plate surface can be sealed with a certain granularity, so that the experiment redundant object on the load plate surface is prevented from polluting the return cabin in the reentry and return process.
Specifically, in the closed state of the cover plate and the backboard, a platy load is clamped in a first concave structure and a second concave structure of the cover plate and the backboard, and annular metal rubber on the cover plate and the backboard is installed to be in close contact with the platy load, so that a sealing effect is formed; the first concave structures and the second concave structures inside the cover plate and the back plate respectively form spaces with the plate-shaped load, so that the first concave structures and the second concave structures can respectively accommodate structures of which the plate-shaped load surfaces possibly fall down. The combination of metal rubber can achieve a certain granularity seal. In this way, the middle part at the plate face of the plate-like load can be protected and sealed.
In addition, the invention can promote the on-orbit engineering application of the plate-shaped load 7;
in addition, the metal rubber can be in a spring loading process in the locking process and is suitable for locking the loading surface of the thin plate. Therefore, the impact is reduced in the releasing and locking processes by using the metal rubber respectively arranged on the cover plate and the back plate, and the buffer effect is achieved.
In addition, the vertical plate 62 and the inclined surface positioning member 63 are used for guiding during the process of inserting the plate-like load 7 into the middle parts of the cover plate 2 and the back plate 1 by the mechanical arm, so as to prevent the plate-like load 7 from moving in the flaring.
In addition, the slope fixing member 63 may be provided such that the top end thereof is higher than the top surface when the cover plate is opened.
In addition, the working process of the repeated locking and releasing device in this embodiment may be:
in rail operation, the plate-like load 7 is removed from the repetition lock release when it is desired. The motor starts, the first bevel gear 41 to the fourth bevel gear 44 are driven, the two nuts 51 rotate together through the spigot, the screw 52 moves along the nuts 51, the screw 52 rotates along with the hinge point of the end part of the screw 52 until the cover plate 2 is unfolded in place, the motor stops rotating, and the mechanical arm transfers the plate-shaped load 7.
When it is necessary to re-lock the plate-like load 7 during rail operation. The mechanical arm inserts the plate-like load 7 into the middle flares of the cover plate 2 and the back plate 1 until the plate-like load 7 contacts the baffle 61, the motor is started in reverse rotation, and the first bevel gear 41 to the fourth bevel gear 44 and the screw 51 are rotated. The nut 51 moves relative to the screw 52 and the cover plate 2 closes around the swivel axis towards the back plate 1.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explanation of the principles of the present invention and are in no way limiting of the invention. Accordingly, any modification, equivalent replacement, improvement, or the like, which does not depart from the spirit and scope of the present invention, should be included in the protection zone of the present invention. Furthermore, the appended claims are intended to cover all such changes and modifications that fall within the metes and bounds of the appended claims, or equivalents of such metes and bounds.
Claims (10)
1. The utility model provides a gear drive formula platy load repeated locking release based on arm is supplementary which characterized in that includes: the backboard, the cover board, the transmission component and the driver,
the back plate is arranged at the aircraft platform, one side edge of the back plate is hinged with one side edge of the cover plate, the transmission assembly comprises a plurality of gears and a spiral transmission piece, the gears are in transmission connection with the spiral transmission piece, the driver is connected with one gear, the gears and the spiral transmission piece are respectively arranged at the back plate and the cover plate, and the transmission assembly is driven by the driver to enable the cover plate to open and close relatively to the back plate in a reciprocating manner.
2. The geared plate load repeating lock release apparatus of claim 1, wherein the gears are bevel gears.
3. The gear-driven plate-like load repeating lock release device according to claim 1, wherein the screw driver includes a screw and a screw, one end of the screw is hinged to the back plate, the screw is sleeved at the other end of the screw, the screw is connected to the cover plate, and the screw is coaxially fixed to one of the gears.
4. The gear-driven plate-shaped load repeating locking and releasing device according to claim 1, wherein the screw driving member comprises two nuts and two screw rods, the two screw rods are respectively arranged on the left side and the right side of the back plate, one end of each screw rod is hinged with the back plate, the other end of each screw rod is matched with the corresponding nut, the cover plate is respectively connected with the two nuts, and each nut is coaxially connected with the corresponding gear.
5. The geared plate load repeating lock release apparatus of claim 4, wherein said drive assembly further comprises a drive shaft, a plurality of said gears comprising two first bevel gears and two second bevel gears,
the transmission shaft is arranged at the cover plate, two first bevel gears are respectively arranged at two ends of the transmission shaft, each screw nut is coaxially connected with one second bevel gear, the first bevel gears are in one-to-one corresponding meshing arrangement with the second bevel gears, the rotation directions of the two screw nuts are opposite, and the driver is in transmission connection with the transmission shaft.
6. The gear-driven plate-like load repeating lock release device according to claim 5, wherein the plurality of gears further comprises a third bevel gear and a fourth bevel gear, the driver is a motor and is provided on the cover plate, the driver is connected with the third bevel gear, the fourth bevel gear is meshed with the third bevel gear, and the fourth bevel gear is coaxially connected with the transmission shaft.
7. A geared plate-like load repeating lock release according to any one of claims 3 to 6, wherein the surface of the screw is provided with self-locking threads.
8. The gear-driven plate-like load repeating locking and releasing device according to any one of claims 1 to 6, wherein a first concave structure is provided on a side plate surface of the back plate, the first concave structure is recessed into the back plate, a first metal rubber ring is further provided on a side plate surface of the back plate, the first metal rubber ring is provided around an edge of the first concave structure, and a side plate surface of the back plate is a plate surface facing the plate-like load;
the second concave surface structure has been seted up to one side face of apron, the second concave surface structure to the apron is sunken in, one side face of apron still is provided with the second metal rubber ring, the second metal rubber ring centers on the edge setting of second concave surface structure, one side face of apron is for facing the face of platy load.
9. The gear-driven plate-like load repeating locking and releasing device according to claim 8, wherein the back plate is provided with a baffle plate, the baffle plate is arranged near a hinge joint of the back plate and the cover plate, the hinge joint of the cover plate and the back plate is positioned at the bottom, an opening and closing position of the cover plate and the back plate is positioned at the top, the screw transmission member is arranged at the top of the back plate, and the screw transmission member is used for opening and closing the cover plate relative to the back plate.
10. The geared plate-like load repeating lock release device of claim 9, wherein the back plate is provided with two risers and two bevel locators,
when the cover plate is opened relative to the back plate, the top of the cover plate is lower than the top of the back plate,
the two vertical plates are vertically arranged on one side plate surface of the back plate, the two vertical plates are arranged on the left side and the right side of the first metal rubber ring, when the cover plate is opened relative to the back plate, the top end of each vertical plate is higher than the top end of the cover plate,
the bottom of every riser is provided with one inclined plane setting element, the baffle sets up two between the inclined plane setting element, the apron is connected with two inclined plane setting elements through the pivot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311381890.0A CN117508660A (en) | 2023-10-24 | 2023-10-24 | Gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311381890.0A CN117508660A (en) | 2023-10-24 | 2023-10-24 | Gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance |
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| CN117508660A true CN117508660A (en) | 2024-02-06 |
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| CN202311381890.0A Pending CN117508660A (en) | 2023-10-24 | 2023-10-24 | Gear drive type plate-shaped load repeated locking and releasing device based on mechanical arm assistance |
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| CN111114848A (en) * | 2019-12-25 | 2020-05-08 | 兰州空间技术物理研究所 | Active-centering retractable capturing butt joint device |
| WO2021234246A1 (en) * | 2020-05-19 | 2021-11-25 | Airbus Defence And Space Sas | Device for deploying and pointing an item of equipment carried by a spacecraft |
| CN116534284A (en) * | 2023-06-05 | 2023-08-04 | 西北工业大学 | Centralized driving type space folding and unfolding mechanism for solar sail of spacecraft with multiple degrees of freedom |
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