CN217255963U - Modular unit assembled towards spatial structure and assembling tool - Google Patents

Abstract

The utility model discloses a modularization unit and assembly tool towards spatial structure equipment, include: the device comprises a hollow bearing body, a screw rod piece, a threaded cylinder piece and a transmission mechanism; the hollow bearing body is provided with a bearing surface and a connecting surface, a positioning groove and an assembling hole are arranged on the bearing surface, a positioning bulge and a penetrating hole are arranged on the connecting surface, and a through hole is formed in the bottom of the positioning groove; the threaded barrel part is fixedly assembled in the assembling hole and is used for being connected with a locking shaft of the robot and the screw rod part; the transmission mechanism is linked with the screw rod piece and is used for driving the screw rod piece to rotate and axially move so that the screw rod piece extends out of the hollow bearing body from the penetrating hole or retracts into the hollow bearing body; wherein the transmission mechanism is provided with a drive insertion hole for inserting a drive shaft of the robot, and the drive insertion hole is positioned right below the through hole; the modular unit assembled facing the space structure is simple in structure.

Description

Modular unit assembled towards spatial structure and assembling tool

Technical Field

The utility model relates to a robotechnology field, concretely relates to towards modularization unit and assembly tool of spatial structure equipment.

Background

Different from the traditional robot, the working base point of the robot can move relative to the traditional robot and is not fixed, so that the robot has the advantages of high flexibility, large working range and the like, can expand enough large working space in the range of a working platform, and has important application value in the fields of large-scale space structure construction, on-orbit equipment detection and maintenance and the like. The relative robot facing the discrete module structure is a robot which can be attached to the discrete module structure to perform moving and assembling operations and is connected with the discrete module through a standardized interface. Because the equal rigid connection of whole assembly process robot has the reliability height, expansibility is strong, easy operation's advantage, is one of the most potential at present at the orbit assembly solution.

Compared with a robot, the robot needs to work with a discrete module structure, but the existing discrete module structure has the defects that the modular structure utilizes parts such as metal parts, magnets and the like, the weight is large, the internal modular structure is complex, the structure is not simple enough, and the production and manufacturing efficiency is reduced.

SUMMERY OF THE UTILITY MODEL

The utility model provides a solve foretell technical problem and provide a modularization unit and assembly tool towards spatial structure equipment, this modularization unit structure towards spatial structure equipment is comparatively simple, and weight is lighter relatively.

In order to solve the above problem, the utility model adopts the following technical scheme:

a modular unit assembled for a space-facing structure, comprising: the device comprises a hollow supporting body, a screw rod piece, a threaded cylinder piece and a transmission mechanism; the hollow bearing body is provided with a bearing surface and a connecting surface, a positioning groove and an assembling hole are arranged on the bearing surface, a positioning bulge and a penetrating hole are arranged on the connecting surface, and a through hole is formed in the bottom of the positioning groove; the threaded barrel part is fixedly assembled in the assembling hole and is used for being connected with a locking shaft of the robot and the screw rod part; the transmission mechanism is arranged in the hollow bearing body and is linked with the screw rod piece, and the transmission mechanism is used for driving the screw rod piece to rotate and axially move so as to enable the screw rod piece to extend out of the hollow bearing body from the penetrating hole or retract into the hollow bearing body; wherein the transmission mechanism has a drive insertion hole for inserting a drive shaft of the robot, and the drive insertion hole is positioned right below the through hole.

In the modular unit assembled facing a space structure according to at least one embodiment of the present disclosure, the transmission mechanism includes: a driven member and a driving member; the driven part is provided with a driven gear and a driven shaft; the driving part is provided with a driving gear and a driving shaft; the driving shaft and the driven shaft are rotatably connected with the hollow bearing body, the driven gear is meshed with the driving gear, an insertion groove matched with the screw rod piece is formed in the tail end of the driven shaft, the screw rod piece is fixedly connected with the driven shaft through the insertion groove, and the driving insertion hole is formed in the top end of the driving shaft.

At least one embodiment of the present disclosure provides a modular unit assembled facing a space structure, further including: a pre-tightening force supply mechanism; the pretightening force supply mechanism is used for providing pretightening force for the screw rod piece, the pretightening force supply mechanism is arranged in the hollow bearing body, and the pretightening force supply mechanism is arranged on the transmission mechanism.

In the modular unit assembled to the space-oriented structure according to at least one embodiment of the present disclosure, the pretightening force supplying mechanism includes: the guide piece, the guide plate, the rotating shaft and the energy accumulator; the guide piece is provided with a guide groove and is fixedly connected with the hollow bearing body; the guide plate is provided with a guide block, the guide block is inserted into the guide groove, and the guide plate is axially and slidably connected with the guide piece through the guide block and the guide groove; the rotating shaft is configured to be fixedly connected with the guide plate and is rotationally connected with the driven shaft; the accumulator is disposed between the guide plate and an inner wall surface of the hollow carrier. Through disposing the deflector and keeping away, can avoid the energy storage ware along with the rotation of pivot, improve the life-span of energy storage ware.

At least one embodiment of the present disclosure provides a modular unit assembled facing a space structure, wherein a shaft hole matched with the rotating shaft is formed at the top end of the driven shaft. The tail end of the rotating shaft is inserted into the shaft hole, and the rotating shaft is rotatably connected with the driven shaft through the shaft hole.

In the modular unit assembled facing the space structure, the energy accumulator is a spring, and the rotating shaft passes through the spring.

In the modular unit assembled facing the space structure, the bottom surface of the positioning protrusion is arc-shaped, so that the positioning protrusion can be more easily inserted into the positioning groove.

The utility model also provides an assembly tool, including relative robot, still include foretell modular unit towards the space structure equipment.

The utility model has the advantages that: compared with the traditional structure, the whole module adopts a hollow design, is favorable for reducing the whole weight, and simultaneously adopts a gear linkage structure, has a simple structure and is convenient for assembly.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a perspective view of the modular unit assembled facing a space structure of the present disclosure.

Fig. 2 is a perspective view of the modular unit of the present disclosure assembled facing a space structure.

Fig. 3 is a perspective view of a housing in the present disclosure.

FIG. 4 is a schematic diagram of the distribution of the transmission mechanism and the pretension supply mechanism according to the present disclosure.

FIG. 5 is a schematic view of the distribution of components of the transmission mechanism of the present disclosure.

Fig. 6 is a perspective view of a drive gear of the present disclosure.

Fig. 7 is a perspective view of a driven gear in the present disclosure.

FIG. 8 is a schematic diagram of the distribution of components of the pretension supply mechanism according to the present disclosure.

Fig. 9 is an assembly schematic of a guide of the present disclosure.

Fig. 10 is a perspective view of a guide plate in the present disclosure.

Fig. 11 is a perspective view of an end tool of the assembly tool of the present disclosure.

Fig. 12 is a view of an end tool of the assembly tool of the present disclosure.

Fig. 13 is a view of a cage of an assembly tool of the present disclosure.

FIG. 14 is an operational schematic of an assembly tool of the present disclosure.

Fig. 15 is a schematic view of the hexagonal shaft inserted into the through hole in the present disclosure.

In the figure:

10. a hollow carrier; 11. a cover body; 12. a housing; 13. a bearing surface; 14. a connecting surface; 131. a positioning groove; 141. positioning a projection; 132. a through hole; 121. flanging;

20. a screw member;

30. a threaded barrel member;

40. a transmission mechanism; 41. a drive insertion hole; 42. a driven member; 43. a driving member; 421. A driven gear; 422. a driven shaft; 431. a driving gear; 423. inserting the groove; 432. a drive shaft;

50. a pre-tightening force supply mechanism; 51. a guide member; 52. a guide plate; 53. a rotating shaft; 54. An accumulator; 511. a guide groove; 521. a guide block;

60. a tip tool; 61. a holder; 62. a first steering engine; 63. a driven gear member; 611. A connecting screw hole; 621. a drive gear component; 631. connecting a screw rod; 64. a second steering engine; 65. a hexagonal shaft.

Detailed Description

The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments, and it is obvious that the described embodiments are only a part of the embodiments, and not all of the embodiments.

In the embodiments, it should be understood that the terms "middle", "upper", "lower", "top", "right side", "left end", "above", "back", "middle", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention.

In addition, in the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, terms such as installation, connection, and linking should be construed broadly, for example, as being fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The modular units assembled in a space-oriented configuration according to the embodiments of the present disclosure will be generally described with reference to the accompanying drawings.

As shown in fig. 1 to 10, a modular unit assembled facing a space structure includes: the device comprises a hollow supporting body 10, a screw rod piece 20, a threaded cylinder piece 30, a transmission mechanism 40 and a pretightening force supply mechanism 50; the hollow carrier 10 has a bearing surface 13 and a connecting surface 14, the bearing surface 13 is provided with four positioning grooves 131 and four assembling holes (not shown), the connecting surface 14 is provided with four positioning protrusions 141 and four penetrating holes (not shown), and the positioning protrusions 141 are provided; a through hole 132 is formed in the bottom of one of the positioning grooves 131; the hollow bearing body 10 is composed of a cover body 11 and a shell body 12, wherein a flange 121 is arranged on the shell body 12, the cover body 11 is connected with the flange 121 through bolts, a bearing surface 13 is positioned on the cover body 11, and a connecting surface 14 is positioned on the shell body 12. A screw cylinder 30 is fixedly fitted in the fitting hole, the screw cylinder 30 being used for connection with the locking shaft of the robot and the screw member 20; the transmission mechanism 40 is disposed in the hollow carrier 10, the transmission mechanism 40 is linked with the screw member 20, and the transmission mechanism 40 is used for driving the screw member 20 to rotate and axially move, so that the screw member 20 extends out of the hollow carrier 10 from the through hole or retracts into the hollow carrier 10. Wherein, drive mechanism 40 has the drive patchhole 41 that is used for supplying the drive shaft of robot to insert, and drive patchhole 41 is located the through-hole 132 under, can drive screw member 20 activity behind the drive patchhole 41 that the drive shaft of robot inserted, and then realizes being connected or breaking connection with another modularization unit, and the flexibility is good, and the assembly convenience is good between two modules, and assembly efficiency is high.

In the present embodiment, the transmission mechanism 40 includes: a driven member 42 and a driving member 43; the follower 42 has a follower gear 421 and a follower shaft 422; the driving member 43 has a driving gear 431 and a driving shaft 432; wherein, the driving shaft 432 and the driven shaft 422 are rotatably connected with the hollow carrier 10 through a bearing (not shown), the driven gear 421 is engaged with the driving gear 431, the end of the driven shaft 422 is provided with an insertion groove 423 matched with the screw rod 20, the screw rod 20 is fixedly connected with the driven shaft 422 through the insertion groove 423, the driving insertion hole 41 is positioned at the top end of the driving shaft 432, a structure of gear linkage is adopted, the connection structure is simple, and the weight is light.

In the present embodiment, the preload supply mechanism 50 is used for providing preload to the screw element 20, the preload supply mechanism 50 is disposed in the hollow carrier 10, and the preload supply mechanism 50 is disposed on the transmission mechanism 40.

In this embodiment, the preload supply mechanism 50 includes: a guide 51, a guide plate 52, a rotating shaft 53, and an accumulator 54; the guide 51 has a guide slot 511, and the guide 51 is fixedly connected with the hollow carrier 10; the guide plate 52 is provided with a guide block 521, the guide block 521 is inserted into the guide groove 511, and the guide plate 52 is axially connected with the guide piece 51 in a sliding manner through the guide block 521 and the guide groove 511; the rotating shaft 53 is configured to be fixedly connected with the guide plate 52, and the rotating shaft is rotatably connected with the driven shaft; the accumulator 54 is disposed between the guide plate 52 and the inner wall surface of the hollow carrier 10. By arranging the guide plate 52, the problems that the energy accumulator 54 is abraded and the service life of the energy accumulator 54 is shortened due to the fact that the rotating shaft 53 rotates to drive the energy accumulator 54 to rotate in the conventional structure are solved.

In the present embodiment, a shaft hole (not shown) is provided at the tip of the driven shaft 422 so as to match the rotation shaft 53. The end of the rotating shaft 53 is inserted into the shaft hole, and the rotating shaft 53 is rotatably connected with the driven shaft 422 through the shaft hole.

In some embodiments, the accumulator 54 is a spring through which the shaft 53 is disposed.

In some embodiments, the bottom surface of the positioning protrusion 141 is provided in an arc shape, so that the positioning protrusion 141 can be more easily inserted into the positioning groove 131.

In some embodiments, the insertion groove 423 is a regular hexagonal groove body, and the screw member 20 has a regular hexagonal insertion portion, so that the screw member 20 has good stability after being inserted into the insertion groove 423, and rotation does not occur.

The utility model also provides an assembly tool, including relative robot, still include foretell modularization unit towards spatial structure equipment.

The assembly tool of the disclosed embodiments will now be described in general terms with reference to the accompanying drawings.

As shown in fig. 1-15, the opposing robot includes a torso, branches that move around the torso, and end tools 60 mounted at the ends of the branches.

In the present embodiment, the end tool 60 includes: a cage 61, a first steering gear 62 and a driven gear member 63. The holder 61 has a coupling screw hole 611. A driving gear member 621 is provided on an output shaft of the first steering gear 62, and the first steering gear 62 is fixedly disposed in the holder 61. The middle part of the driven gear part 63 is provided with a connecting screw 631, the connecting screw 631 is used for being connected with the threaded barrel part 30, the connecting screw 631 is screwed into the connecting screw hole 611, and the driven gear part 63 and the connecting screw 631 are integrally arranged; wherein, driven gear part 63 meshes with driving gear part 621 mutually, and connecting screw 631 passes through driving gear part 621 and the linkage of driven gear part 63 with first steering wheel 62, and holder 61 bottom is provided with the protruding cylinder that is used for with positioning groove 131 butt joint, and protruding cylinder sets up four, and four protruding cylinder distributions are around connecting screw 631.

The end tool 60 further comprises: a second steering gear 64 and a hexagonal shaft 65, the hexagonal shaft 65 being arranged to rotatably pass through one of the protruding cylinders, the hexagonal shaft 65 being in linkage with the second steering gear 64. The second steering engine 64 is used for driving the hexagonal shaft 65 to transmit with the driving shaft 432. The hexagonal shaft 65, in cooperation with the raised cylinders, enables a locking connection of the end tool 60 to the modular units of the present disclosure assembled facing a space structure.

In the description herein, references to the description of the term "present embodiment," "some embodiments," "other embodiments," or "specific examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described, the scope of the present invention is not limited thereto, and any changes or substitutions that are not thought of through the inventive work should be included within the scope of the present invention; no element, act, or instruction used herein should be construed as critical or essential unless explicitly described as such.

Claims (8)

1. A modular unit assembled for a space structure, comprising:

the hollow bearing body is provided with a bearing surface and a connecting surface, a positioning groove and an assembling hole are arranged on the bearing surface, a positioning bulge and a penetrating hole are arranged on the connecting surface, and a through hole is formed in the bottom of the positioning groove;

a screw member;

the threaded barrel part is fixedly assembled in the assembling hole and is used for being connected with a locking shaft of the robot and the screw rod part; and

the transmission mechanism is arranged in the hollow bearing body, is linked with the screw rod piece and is used for driving the screw rod piece to rotate and axially move so as to enable the screw rod piece to extend out of the hollow bearing body from the penetrating hole or retract into the hollow bearing body;

wherein the transmission mechanism has a drive insertion hole for inserting a drive shaft of the robot, the drive insertion hole being located directly below the through hole.

2. The modular unit of claim 1, wherein the transmission mechanism comprises:

a driven member having a driven gear and a driven shaft; and

the driving part is provided with a driving gear and a driving shaft;

the driving shaft and the driven shaft are rotatably connected with the hollow bearing body, the driven gear is meshed with the driving gear, an insertion groove matched with the screw rod piece is formed in the tail end of the driven shaft, the screw rod piece is fixedly connected with the driven shaft through the insertion groove, and the driving insertion hole is formed in the top end of the driving shaft.

3. The modular unit assembled for a space-facing structure according to claim 2, further comprising:

the pre-tightening force supply mechanism is used for providing pre-tightening force for the screw rod piece, the pre-tightening force supply mechanism is arranged in the hollow bearing body, and the pre-tightening force supply mechanism is arranged on the transmission mechanism.

4. The space-oriented structure assembled modular unit of claim 3, wherein the pretensioning force-supplying mechanism comprises:

the guide piece is provided with a guide groove and is fixedly connected with the hollow carrier;

the guide plate is provided with a guide block, the guide block is inserted into the guide groove, and the guide plate is axially and slidably connected with the guide piece through the guide block and the guide groove;

the rotating shaft is configured to be fixedly connected with the guide plate and is rotatably connected with the driven shaft; and

and an accumulator disposed between the guide plate and an inner wall surface of the hollow carrier.

5. The modular unit assembled towards the spatial structure as claimed in claim 4, wherein the top end of the driven shaft is provided with a shaft hole matched with the rotating shaft, the end of the rotating shaft is inserted into the shaft hole, and the rotating shaft and the driven shaft are rotatably connected through the shaft hole.

6. The modular unit assembled towards a space structure according to claim 5, wherein the energy accumulator is a spring through which the rotation shaft is disposed.

7. The modular unit assembled towards the space structure as claimed in claim 1, wherein the bottom surface of the positioning protrusion is arc-shaped.

8. An assembly tool comprising opposing robots, further comprising modular units assembled facing a space structure according to any of claims 1-7.

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