CN112061423B - Modularized quick-change mechanical interface capable of being replaced on track - Google Patents

Abstract

A modular quick-change mechanical interface that can be replaced on-rail relates to the field of mechanical interfaces that can be replaced on-rail, including a servo motor, a space cam upper fixing plate, a space cam lower fixing plate, a positioning guide plate, a positioning guide pin, a transmission shaft, Transmission device, transmission gear, sheave mechanism, space cam mechanism, driven gear, inner claw; inner claw includes transmission cylinder, connecting tooth plate; sheave mechanism includes active dial and sheave; space cam mechanism includes space cam and drive pin , the space cam is sleeve-shaped and has an axially undulating drive chute, the space cam is sleeved on the transmission cylinder on the upper side of the sheave; the drive pin is set on the transmission cylinder, and the connecting tooth plate is located on the space cam upper fixed plate On the side, the servo motor drives the transmission shaft to rotate, and the active dial is arranged on the transmission shaft. It has the advantages of simple transmission, compact structure, fast locking, high transmission precision and high transmission efficiency.

Description

A modular quick-change mechanical interface that can be replaced on rail

technical field

The invention relates to the field of mechanical interfaces that can be replaced on rails, and in detail relates to a mechanical interface with simple mechanical transmission, compact structure, fast locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy, and not easy to damage and lock. Modular quick-change mechanical interface that can be replaced on-rail.

Background technique

At present, in the aerospace field, traditional one-time launch satellites are gradually being phased out due to problems such as high maintenance costs, difficult to repair equipment damage, and exhaustion of power sources. In order to enable the spacecraft to operate continuously and stably in complex environments, on-orbit replaceable module spacecraft has been gradually developed and applied. Both the "orbital express" and the existing modular spacecraft all require the on-orbit replacement unit to have standard and independent mechanical and electronic interfaces, and its modules are replaceable, easy to operate, and plug-and-play.

At present, a design scheme of the mechanical interface of a modular spacecraft uses a lead screw nut for locking. In this scheme, because the lead screw nut itself has self-locking performance, the structure does not need to design a pre-tightening device, but the spacecraft module The positioning accuracy is high, and the fault tolerance is poor. In a complex space environment, the lubrication effect is easy to be damaged. In the face of multiple locking and unlocking processes, the screw nut locking mechanism is prone to cold welding, which makes the structure stuck and locked. .

Another design scheme of the existing modular spacecraft mechanical interface adopts a chute-type contact locking mechanism. This scheme is designed with a conical guide hole and a cylindrical guide to further enhance fault tolerance, and can be controlled by a contact switch. Locking and unlocking of the control module unit. However, the internal mechanical transmission mechanism is too complicated, which greatly reduces the volume ratio of the modular spacecraft and reduces the internal functionality of the ORU. At the same time, due to the complex space environment, the gear train used for transmission in this structure is also easily damaged.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art, and to provide a simple mechanical transmission, compact structure, fast locking, high transmission precision, high transmission efficiency, with self-locking function, low volume occupancy, not easy to damage and lock. Modular quick-change mechanical interface that can be replaced on-rail.

The technical scheme adopted by the present invention to solve the above-mentioned deficiencies of the prior art is:

A modular quick-change mechanical interface that can be replaced on rail, which is characterized by comprising a servo motor, an upper fixing plate of a space cam, a lower fixing plate of the space cam, a positioning guide plate, a positioning guide pin, a transmission shaft, a transmission device, and a transmission gear , sheave mechanism, space cam mechanism, driven gear, inner claw; it is characterized in that the inner claw comprises a transmission cylinder, and the transmission cylinder is uniformly distributed with at least three connecting tooth plates; the positioning guide plate is connected to the transmission through the bearing The cylinder is connected, and the positioning guide pin is arranged on the positioning guide plate; the sheave mechanism includes an active dial and a sheave, and the sheave is fixed on the transmission cylinder on the upper side of the positioning guide plate; the space cam mechanism includes a space cam The space cam is in the shape of a sleeve, the side wall of the space cam is provided with an axially undulating drive chute, and the space cam can rotate freely and slide freely in the axial direction. The drive pin and the drive chute are arranged on the transmission cylinder, the driven gear is arranged on the space cam, the upper and lower fixing plates of the space cam and the upper and lower ends of the space cam are respectively connected to the upper and lower ends of the space cam through the bearing. The upper fixing plate of the space cam and the lower fixing plate of the space cam are respectively provided with positioning guide holes opposite to the positioning guide pins. The positioning guide pins can be axially freely slid through the positioning guide holes, and the connecting tooth plates are located in the space The upper fixed plate of the cam is on the upper side, the lower fixed plate of the space cam is provided with a transmission shaft, and the transmission gear and the driven gear are arranged on the transmission shaft; the servo motor is fixedly arranged on the upper fixed plate of the space cam and/or the lower fixed plate of the space cam On the upper side, the servo motor is connected with the transmission shaft through the transmission device, and drives the transmission shaft to rotate. The active dial of the sheave mechanism is arranged on the transmission shaft on the lower side of the lower fixed plate of the space cam.

The sheave in the sheave mechanism described in the present invention is an eight-slot sheave, that is, the sheave has eight radially arranged diverting grooves; the upper end of the transmission cylinder is evenly distributed with four connecting tooth plates; the The driving chute is a smooth groove with both ends at the bottom and the middle at the top. The initial position of the drive pin is located at one end of the drive chute, the servo motor drives the transmission shaft to rotate through the transmission device, and the space cam is driven to rotate on the transmission cylinder through the transmission gear and the passive gear. Before the cylindrical pin on the active dial enters the dial groove of the sheave, the drive chute on the space cam pushes the drive pin, drives the transmission cylinder and the connecting tooth plate to move axially upward; the cylindrical pin on the active dial enters the groove of the sheave. After dialing the groove, the cylindrical pin rotates the sheave through the dialing groove, driving the transmission cylinder and the connecting tooth plate to rotate 45° in the same direction with the space cam; after the cylindrical pin on the active dial comes out of the dialing groove of the sheave, The drive chute on the space cam pushes the drive pin, drives the transmission cylinder and the connecting tooth plate to move axially downward, and the final position of the drive pin is located at the other end of the drive chute.

The space cam upper fixing plate in the present invention is respectively provided with a tooth plate embedding groove matched with the connecting tooth plate on the side surface of the space cam which is opposite to the connecting tooth plate. When the driving pin is at the initial position, the connecting tooth plate is located in the tooth plate embedding groove, and the upper surface of the fixed plate on the space cam is a flat joint surface except for the positioning guide pin.

The transmission device described in the present invention is a worm gear transmission mechanism, the worm of the worm gear transmission mechanism is connected with the output shaft of the servo motor, and the worm gear and the worm are arranged on the transmission shaft in cooperation. The transmission device can also be a gear transmission mechanism.

In the present invention, an annular connecting plate is arranged in the middle of the side surface of the upper fixing plate of the space cam, and the tooth plate embedding groove is arranged on the annular connecting plate. When the driving pin is at the initial position, the connecting tooth plate is located in the tooth plate embedding groove, and the side surface of the annular connecting plate is a flat joint surface, and the connection is stable.

In the present invention, there is a connecting seat plate that cooperates with the inner claws, the connecting seat plate is provided with insertion holes, and the connecting seat plate around the insertion through holes is evenly distributed with insertion grooves that cooperate with the connecting tooth plate, and the inner claws The upper end can pass through the connecting seat plate to its upper side through the insertion through hole and the insertion slot. The connecting seat plate is provided with a guide hole matched with the positioning guide pin at the position opposite to the positioning guide pin, and the positioning guide pin can freely slide axially in the guide hole to play the role of guiding and positioning.

When the present invention is in use, the upper fixing plate of the space cam and the lower fixing plate of the space cam are connected with the replaceable spacecraft module (with bolts and connecting holes). There is a connecting seat plate that cooperates with the inner claws, and the connecting seat plate is provided with insertion through holes. The access hole and insertion slot pass through the connection seat plate to its upper side. The connecting seat plate is installed on the main body of the spacecraft and is connected with the replaceable spacecraft module. The replaceable spacecraft module is transported to the connection with the main body of the spacecraft, the upper fixed plate of the space cam is opposite to the connecting seat plate (rear abutment), the upper end of the inner claw is opposite to the insertion hole, and the connecting tooth plate is opposite to the insertion slot. After that, the servo motor rotates forward, the space cam mechanism drives the inner grip to move upward, the connecting tooth plate goes through the insertion slot to the upper side of the connecting seat plate, and the sheave wheel mechanism drives the inner grip to rotate, so that the connecting tooth plate and the insertion slot are staggered , the space cam mechanism drives the inner grip to move downward, the connecting tooth plate is pressed against the connecting seat plate, and the replaceable spacecraft module is locked and connected to the spacecraft main body. The invention has the advantages of simple mechanical transmission, compact structure, fast locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy, and is not easy to damage and lock.

Description of drawings

FIG. 1 is a schematic view of the three-dimensional structure of the present invention.

2 is a schematic three-dimensional structural diagram of the present invention after removing the upper fixing plate of the space cam, the lower fixing plate of the space cam and the related bearings.

Fig. 3 is the present invention after removing the space cam upper fixing plate, the space cam lower fixing plate, the positioning guide plate, the positioning guide pin, the servo motor, the transmission device, the transmission shaft, the transmission gear, the active dial of the sheave mechanism and the related bearings Schematic diagram of the three-dimensional structure.

4 is a cross-sectional structure of the present invention after removing the upper fixing plate of the space cam, the lower fixing plate of the space cam, the positioning guide plate, the positioning guide pin, the servo motor, the transmission device, the transmission shaft, the transmission gear, and the active dial of the sheave mechanism Schematic.

FIG. 5 is a schematic structural diagram of the drive device, the drive shaft, the drive gear and the drive dial of the sheave mechanism in the present invention.

FIG. 6 is a schematic structural diagram of the fixing plate on the space cam in the present invention.

FIG. 7 is a schematic structural diagram of the lower fixing plate of the space cam in the present invention.

FIG. 8 is a schematic view of the structure of the positioning guide plate in the present invention.

FIG. 9 is a schematic view of the structure of the connecting seat plate in the present invention.

Detailed ways

The modular quick-change mechanical interface that can be replaced on the rail as shown in Figures 1-8 includes a servo motor 5, a space cam upper fixing plate 1, a space cam lower fixing plate 2, a positioning guide plate 14, a positioning guide pin 4, The transmission shaft 6, the transmission device, the transmission gear 8, the sheave mechanism, the space cam mechanism, the driven gear 12, and the inner claw; The connecting tooth plate 3 protruding outwards, the transmission cylinder 19 and the connecting tooth plate 3 form the inner claw. The middle part of the positioning guide plate 14 is connected with the lower end of the transmission cylinder through a bearing (the bearing at the lowermost end of the transmission cylinder 19 in FIG. 4 ), and the transmission cylinder can rotate relative to the positioning guide plate but cannot move axially. On the positioning guide plate, as can be seen from the figure, the positioning guide plate 14 is in the shape of a square plate, and four positioning guide pins are respectively arranged at the four corners of the positioning guide plate; the sheave mechanism includes the active dial 9 and Sheave 13, the sheave 13 is fixed on the transmission cylinder 19 on the upper side of the positioning guide plate 14; the space cam mechanism includes a space cam 11 and a drive pin 15, and the space cam 11 is sleeve-shaped, sleeve-shaped The side wall of the space cam 11 is provided with a drive chute 16 radially extending through the side wall of the space cam, extending in the circumferential direction and undulating in the axial direction. The space cam 11 can rotate freely and slide freely in the axial direction. On the drive cylinder 19 on the side of the drive; the drive pin 15 is arranged on the drive cylinder in cooperation with the drive chute 16; the drive pin can be inserted into the drive chute so as to slide along the length of the drive chute, and the space cam rotates to drive The drive chute moves relative to the drive pin, driving the drive pin to move axially up and down. The driven gear 12 is arranged on the space cam on the lower side of the driving chute, and is used to drive the space cam to rotate; the upper fixed plate 1 of the space cam and the lower fixed plate 2 of the space cam pass through bearings (the upper part and the middle part of the transmission cylinder 19 in Fig. The bearing connected with the cam 11) is connected with the upper end and the lower end of the space cam 11. It can be seen from the figure that the middle parts of the upper fixing plate 1 of the space cam and the lower fixing plate 2 of the space cam are respectively provided with mounting holes 21 and 24. The upper end protrudes from the mounting hole 21 of the upper fixing plate 1 of the space cam, and the connecting tooth plate 3 is located on the upper side of the upper fixing plate 1 of the space cam; as can be seen from the figure, the upper fixing plate 1 of the space cam and the lower fixing plate 2 of the space cam The four corners are respectively provided with connecting holes for connecting with the replaceable spacecraft module or its bracket. Positioning guide holes 22 and 23 are respectively provided on the upper fixing plate of the space cam and the lower fixing plate of the space cam which are opposite to the positioning guide pins 4 , and the positioning guide pins 4 can be axially freely slid through the positioning guide holes 22 and 23 . The lower fixed plate 2 of the space cam on the outside of the sheave 13 is provided with a transmission shaft 6 through a bearing, and the transmission gear 8 is meshed with the driven gear 12 and is arranged on the transmission shaft 6 on the upper side of the lower fixed plate of the space cam; the servo motor 5 is fixedly arranged On the upper fixing plate of the space cam and/or the lower fixing plate of the space cam, the servo motor 5 is connected with the transmission shaft 6 through the transmission device, and drives the transmission shaft 6 to rotate. It can be seen from the figure that the transmission device is a worm gear drive. Mechanism, the worm 10 of the worm gear transmission mechanism is connected with the output shaft of the servo motor 5, and the turbine 7 and the worm 10 are arranged on the transmission shaft 6; the transmission device can also be a gear transmission mechanism. The active dial 9 of the sheave mechanism cooperates with the sheave 13 and is arranged on the transmission shaft 6 on the lower side of the lower fixed plate of the space cam. The positioning guide plate 14 is provided with a dial installation groove. The chassis of the active dial 9 Part of it is located in the dial mounting slot.

The space cam upper fixing plate 1 and the space cam lower fixing plate 2 described in the present invention are provided with through holes that provide sufficient installation space for electrical interfaces and other components.

The sheave 13 in the sheave mechanism described in the present invention is an eight-slot sheave, that is, the sheave 13 has eight radially arranged turning grooves; The connecting tooth plate protruding outwards); the driving chute is an inverted V-shaped smooth transition chute with both ends at the bottom and the middle at the top. The initial position of the drive pin 15 is at one end of the drive chute, the servo motor drives the transmission shaft to rotate through the transmission device, and the space cam is driven to rotate on the transmission cylinder through the transmission gear and the passive gear. Before the cylindrical pin 20 on the active dial 9 enters the dial groove of the sheave, the drive chute 16 on the space cam pushes the drive pin 15, drives the transmission cylinder and the connecting tooth plate to move axially upward; the cylindrical pin on the active dial After 20 enters the dial groove of the sheave, the cylindrical pin 20 rotates the sheave through the dial groove, driving the transmission cylinder and the connecting tooth plate to rotate 45° in the same direction with the space cam; the cylindrical pin 20 on the active dial rotates from the sheave. After the turning slot of the cam is released, the drive chute on the space cam pushes the drive pin, drives the transmission cylinder and the connecting tooth plate to move axially downward, and the final position of the drive pin is at the other end of the drive chute.

The invention is further improved, the servo motor is connected with the worm through a plum-shaped elastic coupling, which can effectively absorb the vibration generated by the self-excitation of the motor, thereby improving the accuracy of the rotation angle of the inner claw.

The present invention is further improved, and a tooth plate embedding slot matched with the connecting tooth plates is respectively provided on the side surface of the upper fixing plate of the space cam opposite to the four connecting tooth plates. When the driving pin is at the initial position, the connecting tooth plate is located in the tooth plate embedding groove, and the upper surface of the fixed plate on the space cam is a flat joint surface except for the positioning guide pin.

The present invention is further improved. As shown in FIG. 1 and FIG. 6 , an annular connecting plate 18 is provided in the middle of the side surface of the upper fixing plate of the space cam, and the tooth plate inserting groove 17 is arranged on the annular connecting plate 18 . When the driving pin is at the initial position, the connecting tooth plate 3 is located in the tooth plate embedding groove 17, and the side surface of the annular connecting plate is a flat joint surface, which is more stable after connection.

In the present invention, there is a connecting seat plate 27 that cooperates with the inner claws. The connecting seat plate 27 is provided with insertion through holes 28 , and the connecting seat plate around the insertion through hole 28 is evenly distributed with inserts that cooperate with the connecting tooth plate 3 . The notch 29, the upper end of the inner claw can be inserted through the through hole 28 and the insertion notch 29 through the connecting seat plate 27 to the upper side thereof. There is a guide hole 26 on the connecting seat plate opposite to the positioning guide pin 4 . The upper end of the positioning guide pin 26 is tapered and can slide freely axially in the guide hole 26 to play the role of guiding and positioning.

The up and down mentioned in the title of the invention are the relative up and down directions of the components in the drawings.

When the present invention is in use, the upper fixing plate of the space cam and the lower fixing plate of the space cam are connected with the replaceable spacecraft module by the cooperation of the bolt and the connecting hole. Install the connecting seat plate on the spacecraft body for connecting with the replaceable spacecraft module. The replaceable spacecraft module is transported to the connection with the main body of the spacecraft, the upper fixed plate of the space cam is opposite (or abutted against) the connecting seat plate, the upper end of the inner claw is opposite to the insertion hole 28, and the tooth plate 3 is connected to the insertion slot. After the opening 29 is opposite and the positioning guide pin 4 is opposite to the guide hole 26, the servo motor rotates forward, the space cam mechanism drives the inner claw and the positioning guide plate 14 to move upward, and the positioning guide pin 4 cooperates with the guide hole 26 to guide positioning Action, the connecting tooth plate goes through the insertion slot 29 to the upper side of the connecting seat plate. During this process, the sheave mechanism is in the rest section, and the sheave does not work; The connecting tooth plate is staggered from the insertion slot; finally, the sheave mechanism is in the rest section, and the space cam mechanism drives the inner claw to move downward, and the connecting tooth plate is pressed against the connecting seat plate, so as to lock the replaceable spacecraft module Tightly attached to the spacecraft body.

The connection process of the invention is only driven by one servo motor, and there are no other driving components, so that the structure is more compact and space is saved; the worm and worm gear transmission mechanism is used as the input mechanism of the movement, and the structure can utilize the automatic worm and worm gear mechanism. The lock function can prevent the interface of the mechanical connection from loosening, and it also makes the whole structure more compact. The invention has the advantages of simple mechanical transmission, compact structure, fast locking, high transmission precision, high transmission efficiency, self-locking function, low volume occupancy, and is not easy to damage and lock.

Claims (5)

1. The utility model provides a modularization quick change mechanical interface that can change on rail which characterized in that: the device comprises a servo motor, a space cam upper fixing plate, a space cam lower fixing plate, a positioning guide pin, a transmission shaft, a transmission device, a transmission gear, a geneva gear, a space cam mechanism, a driven gear and an inner claw; the inner claw comprises a transmission cylinder, and at least three connecting toothed plates are uniformly distributed on the transmission cylinder in the circumferential direction; the positioning guide plate is connected with the transmission cylinder through a bearing, and the positioning guide pin is arranged on the positioning guide plate; the grooved wheel mechanism comprises a driving plate and a grooved wheel, and the grooved wheel is fixed on the transmission cylinder on the upper side of the positioning guide plate; the space cam mechanism comprises a space cam and a driving pin, the space cam is in a sleeve shape, a driving chute which is axially fluctuated is arranged on the side wall of the space cam, and the space cam can freely rotate and axially freely slide and is sleeved on the transmission cylinder at the upper side of the grooved pulley; the driving pin is matched with the driving sliding groove and arranged on the transmission cylinder, the driven gear is arranged on the space cam, an upper space cam fixing plate and a lower space cam fixing plate are respectively connected with the upper end part and the lower end part of the space cam through bearings, positioning guide holes are respectively formed in the positions, opposite to the positioning guide pins, of the upper space cam fixing plate and the lower space cam fixing plate, the positioning guide pins can axially and freely slide and penetrate through the positioning guide holes, the connecting toothed plate is located on the upper side of the upper space cam fixing plate, a transmission shaft is arranged on the lower space cam fixing plate, and the transmission gear is meshed with the driven gear and arranged on the transmission shaft; the servo motor is fixedly arranged on the upper fixing plate and/or the lower fixing plate of the space cam, the servo motor is connected with the transmission shaft through a transmission device and drives the transmission shaft to rotate, and the driving drive plate of the geneva mechanism is arranged on the transmission shaft on the lower side of the lower fixing plate of the space cam; when the space cam connecting device is used, the space cam upper fixing plate and the space cam lower fixing plate are connected with the replaceable spacecraft module by matching bolts with the connecting holes; mounting the connecting seat plate on the spacecraft main body for connecting with the replaceable spacecraft module; the replaceable spacecraft module is conveyed to a connection position with a spacecraft main body, an upper fixing plate of the space cam is opposite to or attached to a connecting seat plate, the upper end of an inner claw is opposite to an inserting through hole, a connecting toothed plate is opposite to an inserting groove opening, and a positioning guide pin is opposite to a guide inserting hole; then, the geneva mechanism works in a matching way, and the geneva mechanism drives the inner claw to rotate so as to enable the connecting toothed plate to be staggered with the insertion notch; and finally, the geneva gear mechanism is in a resting section, the space cam mechanism drives the inner claw to move downwards, and the connecting toothed plate is tightly pressed on the connecting seat plate, so that the replaceable spacecraft module is locked and connected on the spacecraft main body.

2. The on-track replaceable modular quick-change mechanical interface of claim 1, wherein: the grooved wheel in the grooved wheel mechanism is an eight-groove grooved wheel, namely the grooved wheel is provided with eight radially arranged poking and rotating grooves; four connecting toothed plates are uniformly distributed at the upper end of the transmission cylinder in the circumferential direction; the driving sliding groove is a flat sliding groove with two ends at the lower part and the middle part at the upper part.

3. The on-track replaceable modular quick-change mechanical interface of claim 1 or 2, wherein: and toothed plate embedded grooves matched with the connecting toothed plates are respectively arranged at the positions, opposite to the connecting toothed plates, on the upper side surface of the upper fixing plate of the space cam.

4. The on-track replaceable modular quick-change mechanical interface of claim 3, wherein: the middle of the upper side face of the upper fixing plate of the space cam is provided with a circular connecting plate, and the toothed plate embedded groove is formed in the circular connecting plate.

5. The on-track replaceable modular quick-change mechanical interface of claim 4, wherein: the transmission device is a worm gear transmission mechanism, a worm of the worm gear transmission mechanism is connected with an output shaft of the servo motor, and a worm wheel is arranged on the transmission shaft in a manner of being matched with the worm.

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