CN105173123A - Electromagnetic self-locking plane connection device - Google Patents

Abstract

The invention belongs to the technical field of docking of space modular mechanisms, and in particular relates to an electromagnetic self-locking planar connection device. The present invention utilizes the combination of electromagnetic force and rack and pinion transmission to solve the problem of using claw rotation to realize docking. Since the drive by electromagnetic force is simple and does not require complicated controllers and reduction devices that motor drives rely on, the present invention can reduce The production cost of the connection device can effectively reduce the volume and weight of the connection device; since the connection device has a self-locking function, after the connection device completes the connection task, the drive can be powered off without worrying about the problem of disconnection after power failure, which can Improve connection reliability.

Description

An electromagnetic self-locking planar connection device

technical field

The invention belongs to the technical field of space docking, and in particular relates to a planar connection device and an electromagnetic self-locking mechanism adapted to the connection of variable-configuration modules.

Background technique

There are generally two problems in the existing common connection devices: first, if the connection device bears a large load, it is necessary to replace a driver with a higher power, which increases the cost of the connection device on the one hand, and on the other hand, uses power Larger drives will also directly increase the volume and weight of the connection device; second, after most connection devices complete the connection task, the drive needs to be kept powered on at all times to prevent the connection from being disconnected, which consumes a lot of energy.

Therefore, the existing connection device has problems such as high cost, large weight and volume, and too much energy consumption during the connection task.

Contents of the invention

The technical problem to be solved by the present invention is: in order to solve the problems of high cost, large weight and volume, and too much energy consumption in the existing connecting device during the connecting task, the present invention proposes an electromagnetic self-locking planar connecting device, which An electromagnetic-spring thruster with a smaller power can be used to meet the demand of bearing a large load (the load is borne by the elastic force of the spring inside the thruster, so the load size is determined by the selected spring), which can not only reduce the cost, but also effectively reduce the The volume and weight of the connection device, in addition, because the connection device in the present invention has a self-locking function, so after the connection device completes the connection task, the driver can be powered off to save energy, and there is no need to worry about the problem of disconnection after power failure.

The technical solution of the present invention is: an electromagnetic self-locking planar connection device, which is characterized in that it includes two identical connection modules; the connection module includes a base, a handle 4, two electromagnetic-spring thrusters 9, a gear 10. Sliding rack 6 and rack 7; the base has a through hole for the movement of the gripper 4 and a through hole for matching with the gripper 4 of another connection module; two electromagnetic-spring thrusters 9 are located On the base and the axes are parallel to each other, the push rod 8 at the output end is connected to the rack 7, the rack 7 is located on the sliding rack 6, and the power-on and power-off of the electromagnetic-spring thruster 9 drives the two push rods 8 to drive the rack respectively 7 performs reverse movement; one end of the gripper 4 is connected with a gear 10; the rack 7 and the gear 10 mesh with each other, so that the gripper 4 moves circumferentially in the through hole along the axis direction of the gear 10, and passes through the other The through-holes of the connecting units perform the grasping and opening movements synchronously.

A further technical solution of the present invention is: the end of the gripper 4 not connected with the gear 10 is sickle-shaped.

A further technical solution of the present invention is: the through hole is a rectangular hole.

A further technical solution of the present invention is: the gripper 4 cooperates with the gear key.

Invention effect

The technical effect of the present invention is that: the present invention can realize the axial movement of the connecting claw by controlling the on-off of the electromagnetic-spring thruster on the mechanism. When the two mechanisms are installed on the two carriers at the same time, the two mechanisms can The capture between each other realizes the connection of the two carriers. It can assist in the autonomous connection and disconnection of space-variable configuration modules. The entire mechanism is simple to control, does not require complex controllers and actuators, and can still maintain the tension of the connecting claws through the elastic force of the spring in the event of a power failure, saving energy.

Description of drawings

Fig. 1 is a structural representation of the present invention

Figure 2 is a schematic diagram of the structure of the electromagnetic-spring thruster Figure 3 is a schematic diagram of the structure of the gripper

Figure 4 is a schematic diagram of the structure of the sliding rack

Description of reference signs: 1—disc; 2—rectangular hole; 3—fixed seat; 4—handle; 5—slider fixed base; 6—rack slide rail; 7—rack; 8—push rod; 9 —electromagnetic spring thruster; 10—gear.

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with specific implementation examples.

As shown in the accompanying drawings 1-4, the present invention includes a connection plane disc 1, a catch interface 2, a gripper rotating and fixing a shaft seat 3, a gripper 4, a slide rail fixing base 5, and a slide rail 6, which can slide on the slide rail The tooth bar 7, electromagnetic-spring thruster 9 and push rod 8, the gear 10 that cooperates with tooth bar.

Among them, four identical buckle interfaces 2 are evenly distributed on the circumference of the connection plane disc 1, that is, the angles between adjacent buckle interfaces are all 90°. Four identical buckle interfaces 2, two of which are in opposite positions (that is, at an angle of 180° apart) are used as the buckle interfaces, and the other two interfaces are used to install the gripper 4 . The gripper 4 is fixed by the gripper rotation fixed shaft seat 3, and the gripper has only rotational freedom. The gripper 4 is fitted with a gear 10 through a keyway. The gear 10 meshes with the slidable rack 7 installed on the slide rail 6 ; the rack is fixed by the slide rail fixing base 5 . The slidable rack 7 is fixedly connected to the push rod 8 of the electromagnetic-spring pusher 9 . Two sets of identical mechanical structures are distributed symmetrically around the center of the circle connecting the plane disc 1 .

When energizing the electromagnetic-spring thruster 9, under the effect of internal electromagnetic force attraction, the push rod 8 of the thruster 9 stretches out a certain length, and promotes the tooth bar 7 fixedly connected with it to slide on the slide rail 6 for a certain amount. At this time, the gear 10 meshed with the rack 7 rotates accordingly. Since the gear 10 and the gripper 4 are fitted together through the keyway, the gear 10 transmits the rotational moment to the gripper 4, so the gripper 4 follows the gear 10 and rotates synchronously. The grippers 4 on both sides rotate synchronously and open, ready to start to complete the grabbing task.

In the connection device of the present invention, when the electromagnetic-spring thruster 9 is powered off, the electromagnetic force disappears due to the power failure, but under the restoring force of the internal spring of the thruster, the push rod 8 automatically returns to the contracted state. At the same time, the grippers 4 on both sides rotate synchronously and buckle together. Therefore, it is not necessary to keep the driver in the power-on state, and the buckle can be kept in the state; and the use of a driver with a lower power can also meet the requirement of bearing a larger load.

This device includes two identical connection modules, for the convenience of describing the connection process, they are respectively referred to as the first connection module and the second connection module here, that is, the gripper 4 of the first connection module and the catch buckle of the second connection module The interface 2 is snap-connected, and correspondingly, the handle 4 of the second connection module is connected with the snap-buckle interface 2 of the first connection module.

As shown in Figure 1, at the initial moment, the two grippers are simultaneously in the buckled state. When the electromagnetic-spring thruster 9 of the first connection module is energized, under the action of internal electromagnetic force attraction, the push rod 8 of the thruster 9 is pushed out to a certain length, pushing the rack 7 fixedly connected with it on the slide rail 6 slides a certain distance, and at this moment, the gear 10 meshed with the rack 7 rotates accordingly. Since the gear 10 and the gripper 4 are fitted together through the keyway, the gear 10 transmits the rotational moment to the gripper 4, so the gripper 4 follows the gear 10 and rotates synchronously. The grippers 4 on both sides rotate synchronously and open, ready to start to complete the grabbing task.

After the gripper 4 of the first connection module is connected with the buckle interface 2 of the second connection module, and the gripper 4 of the second connection module is connected with the buckle interface 2 of the first connection module, the electromagnetic-spring thrust of the device Both the thrusters 9 are powered off, and the internal electromagnetic force disappears due to the power failure. However, under the restoring force of the internal spring of the thruster, the push rod 8 automatically shrinks. state at the initial moment. Therefore, it is not necessary to keep the driver in the power-on state, and the buckle can be kept in the state; and the use of a driver with a lower power can also meet the demand of bearing a larger load, and greatly saves energy.

Claims (4)

1. An electromagnetic self-locking planar connection device is characterized in that it comprises two identical connection modules; said connection module comprises a base, a grip (4), two electromagnetic-spring thrusters (9), a gear ( 10), sliding rack (6) and rack (7); the base is provided with a through hole for the movement of the gripper (4) and a through hole for matching with the gripper (4) of another connection module; Two electromagnetic-spring thrusters (9) are located on the base and their axes are parallel to each other, and the output end push rod (8) is connected to the rack (7), and the rack (7) is located on the sliding rack (6), and the electromagnetic- The energization and de-energization of the spring thruster (9) drive two push rods (8) to drive the rack (7) to carry out reverse motion respectively; one end of the gripper (4) is connected with a gear (10); the rack (7) and The gears (10) mesh with each other. 2. An electromagnetic self-locking planar connection device according to claim 1, characterized in that the end of the handle (4) not connected to the gear (10) is sickle-shaped. 3. The electromagnetic self-locking planar connection device according to claim 1, wherein the through hole is a rectangular hole. 4. An electromagnetic self-locking planar connection device according to claim 1, characterized in that the handle (4) is matched with the gear through a key.