CN112357130B - Standardized mechanical interface device for satellite mechanical arm tail end and maintenance module - Google Patents
Standardized mechanical interface device for satellite mechanical arm tail end and maintenance module Download PDFInfo
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- CN112357130B CN112357130B CN202011249895.4A CN202011249895A CN112357130B CN 112357130 B CN112357130 B CN 112357130B CN 202011249895 A CN202011249895 A CN 202011249895A CN 112357130 B CN112357130 B CN 112357130B
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- 238000012423 maintenance Methods 0.000 title claims abstract description 25
- 210000000078 claw Anatomy 0.000 claims abstract description 41
- 239000011324 bead Substances 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 abstract description 6
- 238000010276 construction Methods 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 description 14
- 239000007787 solid Substances 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/66—Arrangements or adaptations of apparatus or instruments, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
- B64G2004/005—Robotic manipulator systems for use in space
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Abstract
本发明提供了一种卫星机械臂末端与维修模块标准化机械接口装置，属于在轨构建技术领域。本发明紧固爪与支撑横杆通过第四螺栓连接，支撑横杆与支撑盘通过第三螺栓穿过第三螺纹孔刚性固定，支撑横杆内部凹槽和支撑盘突出部分嵌合，支撑盘开有镂空孔，支撑盘外圈通过第二螺栓和第二螺纹孔与公头外圈连接，公头外圈内部开有第四螺纹孔，限位珠在第四螺纹孔内最外端连接弹簧，弹簧支撑在支撑螺栓上，支撑螺栓固定在公头外圈，紧固爪与H形横连杆通过第五螺栓连接，H形横连杆通过第六螺栓与底支座连接，底支座在机械臂固定环沿底支座轴线滑动。本发明彻底实现卫星机械臂末端与可更换多功能模块的机械固定，是多任务在轨服务技术实现的重要组成部分。
The invention provides a standardized mechanical interface device between the end of a satellite manipulator and a maintenance module, which belongs to the technical field of on-orbit construction. In the present invention, the fastening claw and the support cross bar are connected by the fourth bolt, the support cross bar and the support plate are rigidly fixed by the third bolt through the third threaded hole, the inner groove of the support cross bar and the protruding part of the support plate are fitted, and the support plate Hollow holes are opened, the outer ring of the support plate is connected with the outer ring of the male head through a second bolt and a second threaded hole, a fourth threaded hole is opened inside the outer ring of the male head, and the limit ball is connected to the outermost end of the fourth threaded hole Spring, the spring is supported on the support bolt, the support bolt is fixed on the outer ring of the male head, the fastening claw is connected with the H-shaped transverse link through the fifth bolt, the H-shaped transverse link is connected with the base support through the sixth bolt, and the bottom support The fixed ring seated on the mechanical arm slides along the axis of the base support. The invention completely realizes the mechanical fixation of the end of the satellite manipulator and the replaceable multi-function module, and is an important part of the realization of the multi-task on-orbit service technology.
Description
Technical Field
The invention relates to a standardized mechanical interface device for a satellite mechanical arm tail end and a maintenance module, and belongs to the technical field of on-orbit construction.
Background
The multi-task in-orbit service technology has the advantages that aiming at the uncertainty and complexity of the satellite in-orbit maintenance task, the diversity requirement of the required service tool is met by replacing the tail end module of the mechanical arm, and further the tasks of fragment clearing, fuel filling, service life prolonging and the like are achieved. The satellite mechanical arm carries a mechanical interface device of the satellite mechanical arm tail end and the maintenance module, and is an important component of a multitask on-orbit service technology. At present, a standardized mechanical interface device for the tail end of the satellite mechanical arm and the maintenance module is not available, so that the invention provides a standardized mechanical interface device for the tail end of the satellite mechanical arm and the maintenance module for a multitask on-orbit service technology.
Disclosure of Invention
The invention aims to solve the diversity requirement of maintenance tools required by multitask on-orbit service, and further provides a mechanical interface device for a satellite mechanical arm tail end and a maintenance module
The purpose of the invention is realized by the following technical scheme:
a standardized mechanical interface device for a satellite robot arm end and maintenance module, comprising: the female head outer ring, the female head fastening rod, the female head limiting groove, the male head outer ring, the limiting ball, the spring, the supporting bolt, the supporting plate, the supporting transverse rod, the fastening claw, the H-shaped transverse connecting rod, the bottom support, the mechanical arm fixing ring, the first bolt, the first threaded hole, the second bolt, the second threaded hole, the third bolt, the third threaded hole, the fourth bolt, the fifth bolt, the sixth bolt, the hollow hole and the fourth threaded hole, the female head outer ring is provided with the female head limiting groove, the first threaded hole is arranged at the central point of the inner side of the female head outer ring, the female head fastening rod is fixedly connected through the first bolt, the limiting ball is connected with the spring, the spring is connected with the supporting bolt and connected with the fourth threaded hole, the supporting plate is connected with the male head outer ring through the second bolt and the second threaded hole, the supporting transverse rod is connected with the supporting plate through the third bolt and the third threaded hole, the supporting transverse rod is connected with the fastening claw through the fourth bolt, the fastening claw is connected with the H-shaped transverse connecting rod through a fifth bolt, the H-shaped transverse connecting rod is connected with the bottom support through a sixth bolt, the bottom support can slide in the mechanical arm fixing ring, and a hollow hole is formed in the supporting disk.
The invention provides a mechanical standard interface device for the tail end of a satellite mechanical arm and a maintenance module for a multitask on-orbit service technology, solves the diversity requirement of an on-orbit service maintenance tool by replacing the tail end module of the mechanical arm, realizes that different functional modules can be conveniently carried on the mechanical arm, and is an important component of the multitask on-orbit service technology.
The invention discloses a mechanical standardized interface device for a satellite mechanical arm tail end and a maintenance module, which has the following beneficial effects:
1. the ellipsoidal female head fastening rod can be firmly grasped by the four fastening claws at intervals of 90 degrees, and only the fastening claws are controlled to be opened to unlock, so that good fixing capacity is embodied. 2. The inside surface of the fastening claw is the same as the outline size of the female fastening rod, and the fastening claw can be completely attached when fastened. 3. The female fastening rod is of a standard serialized size and can be used in a multi-cooperative-target scenario. 4. The public first outer lane is equipped with eight screw holes, the erection bracing dish of being convenient for. 5. Eight threaded holes are formed in the supporting plate, so that the supporting cross rod and the fastening claw can be conveniently installed and supported. 6. The bottom support is driven by the outside, the uncontrolled degree of freedom of the whole device is zero, the controlled degree of freedom is one, and the opening and closing angle can be indirectly controlled by controlling the relative position of the bottom support and the mechanical arm fixing ring. 7. The female head outer ring and the male head outer ring are of variable-size structures, can be completely attached, and can realize automatic correction under the condition of butt joint errors. 8. Spacing pearl can block in the spacing groove after the butt joint, has consolidated butt joint intensity, and has realized allowing the fastening claw to open and shut completely and just clenched again behind the spacing groove at spacing pearl card, has increased the success rate of butt joint. 9. Female first anchorage bar passes through screw hole and bolted connection, and the installation is convenient. 10. The supporting cross rod is internally provided with a groove which can be embedded on the supporting plate to reinforce rigid connection.
Drawings
Fig. 1 is a schematic cross-sectional view of a standardized mechanical interface device for a satellite robot arm end and a maintenance module according to the present invention.
Figure 2 is a top view of a standardized mechanical interface apparatus for a satellite robot end and maintenance module of the present invention. (wherein the female head outer ring 1, the female head fastening rod 2 and the female head limiting groove 3 are not included)
Fig. 3 is a schematic diagram of an oblique cross-section axis of a standardized mechanical interface device for a satellite robot arm end and a maintenance module according to the present invention.
Fig. 4 is a schematic view of an elevation axis of a standardized mechanical interface device for a satellite robot end and a maintenance module according to the present invention.
Reference numerals in the figure, 1 is a female head outer ring, 2 is a female head fastening rod, 3 is a female head limiting groove, 4 is a male head outer ring, 5 is a limiting bead, 6 is a spring, 7 is a supporting bolt, 8 is a supporting disc, 9 is a supporting cross rod, 10 is a fastening claw, 11 is an H-shaped cross connecting rod, 12 is a bottom support, 13 is a mechanical arm fixing ring, 14 is a first bolt, 15 is a first threaded hole, 16 is a second bolt, 17 is a second threaded hole, 18 is a third bolt, 19 is a third threaded hole, 20 is a fourth bolt, 21 is a fifth bolt, 22 is a sixth bolt, 23 is a hollow hole, and 24 is a fourth threaded hole.
Detailed Description
The invention will be described in further detail below with reference to the accompanying drawings: the present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed embodiment is given, but the scope of the present invention is not limited to the following embodiments.
As shown in fig. 1 to 4, the present embodiment relates to a standardized mechanical interface apparatus for a satellite robot arm end and a maintenance module, which includes: the mechanical arm fixing device comprises a female head outer ring 1, a female head fastening rod 2, a female head limiting groove 3, a male head outer ring 4, limiting balls 5, a spring 6, a supporting bolt 7, a supporting plate 8, a supporting cross rod 9, a fastening claw 10, an H-shaped transverse connecting rod 11, a bottom support 12, a mechanical arm fixing ring 13, a first bolt 14, a first threaded hole 15, a second bolt 16, a second threaded hole 17, a third bolt 18, a third threaded hole 19, a fourth bolt 20, a fifth bolt 21, a sixth bolt 22, a hollowed hole 23 and a fourth threaded hole 24;
female first outer lane 1 is opened there is female first spacing groove 3 to it has first screw hole 15 to open at 1 inboard central point in female first outer lane, link firmly female first anchorage bar 2 through first bolt 14, spacing pearl 5 coupling spring 6, spring 6 connects support screw 7, support bolt 7 can link firmly with fourth screw hole 24, supporting disk 8 is connected with public first outer lane 4 through second bolt 16 and second screw hole 17, support horizontal pole 9 is connected with supporting disk 8 through third bolt 18 and third screw hole 19, support horizontal pole 9 is connected with fastening claw 10 through fourth bolt 20, fastening claw 10 is connected with H-shaped cross rod 11 through fifth bolt 21, H-shaped cross rod 11 is connected with bottom support 12 through sixth bolt 22, bottom support 12 can slide in mechanical arm solid fixed ring 13, supporting disk 8 is opened there is fretwork hole 23.
The number of the fastening claws 8 is four, the fastening claws are distributed at intervals of 90 degrees, the corresponding angles are 20 degrees, the fastening claws are kept in an open state before butt joint, and when the male head outer ring 4 is inserted into the female head outer ring 1, the limiting ball clamp 5 is locked after reaching the female head limiting groove 3.
The size of the fourth threaded hole 24 at the far end side from the axle center of the male outer ring 4 is smaller than that at the near end side, so that the limiting bead 5 can partially extend out of the fourth threaded hole 24.
The supporting bolt 7 can be fixed at one side of the fourth threaded hole 24, which is far away from the axle center near end of the male outer ring 4.
The bottom support 12 can be driven by the outside, and slides along the axis of the bottom support 12 in the mechanical arm fixing ring 13, so that the sixth bolt 22 drives the H-shaped transverse connecting rod 11, the H-shaped transverse connecting rod 11 drives the fifth bolt 21 to drive the fastening claw 10, the fastening claw 10 forms a rotating pair with the supporting cross rod 9 through the fourth bolt 20, the supporting cross rod 9 can be fixedly connected with the supporting disk 8, and a controllable mechanism with zero driving freedom and one driving freedom is not included.
Example 1
As shown in fig. 1 and fig. 3, female first outer lane 1 is opened there is female first spacing groove 3 to open at 1 inboard central point in female first outer lane and have first screw hole 15, female first outer lane 1 links firmly female first anchorage bar 2 through first bolt 14, and female first anchorage bar 2 is standard serialization size, can be used to under the target situation of many cooperations, and female first anchorage bar 2 is connected with first bolt 14 through first screw hole 15, simple to operate.
The limiting ball 5 is connected with a spring 6 at the outermost end in the fourth threaded hole 24, the spring 6 is supported on a supporting bolt 7, the supporting bolt 7 can be fixedly connected with the fourth threaded hole 24, and the supporting bolt 7 can be fixed on one side of the fourth threaded hole 24, which is far away from the axle center near end of the male outer ring 4. A fourth threaded hole 24 is formed in the male outer ring 4, and the size of the fourth threaded hole 24 at the far end side away from the axis of the male outer ring 4 is smaller than that at the near end side, so that the limiting ball 5 can partially extend out of the fourth threaded hole 24; male head outer lane 4 is equipped with eight screw holes, the erection bracing dish 8 of being convenient for. The female head outer ring 1 and the male head outer ring 4 are of variable-size structures, can be completely attached, and can realize automatic correction under the condition of butt joint errors. Spacing pearl 5 can block in female first spacing groove 3 after the butt joint, has consolidated butt joint intensity, and has realized allowing fastening claw 10 to open and shut completely and just clenched again behind female first spacing groove 3 at spacing pearl 5 card, has increased the success rate of butt joint.
The outer ring of the supporting plate 8 is connected with the male outer ring 4 through a second bolt 16 and a second threaded hole 17, and eight threaded holes are formed in the supporting plate 8, so that the supporting cross rod 9 and the fastening claw 10 can be conveniently installed.
As shown in fig. 2, the supporting cross bar 9 passes through a third threaded hole 19 through a third bolt 18 and is rigidly fixed with the supporting plate 8, the supporting cross bar 9 is connected with the fastening claws 10 through a fourth bolt 20, the fastening claws 10 are connected with the H-shaped cross connecting rod 11 through a fifth bolt 21, the number of the fastening claws 10 is four, the fastening claws are distributed at intervals of 90 degrees and have corresponding angles of 20 degrees, the fastening claws are kept in an open state before butt joint, and when the male outer ring 4 is inserted into the female outer ring 1, the limiting ball clamp 5 is locked after reaching the female limiting groove 3. The ellipsoidal female head fastening rod 2 can be firmly grasped by the four fastening claws 10 with the intervals of 90 degrees, and the unlocking can be realized only by controlling the fastening claws 10 to open, so that the good fixing capacity is embodied. The inner side surface of the fastening claw 10 has the same size as the external dimension of the female fastening rod 2, and can be completely attached when the fastening claw 10 is fastened.
As shown in fig. 4, the fastening claw 10 is connected to the H-shaped cross link 11 by a fifth bolt 21, the H-shaped cross link 11 is connected to the bottom support 12 by a sixth bolt 22, the bottom support 12 is slidable in the arm fixing ring 13, and the support plate 8 is provided with a hollow hole 23. The bottom support 12 can be driven by the outside, slide along the axle center of the bottom support 12 in the solid fixed ring 13 of arm, can indirectly control the angle of opening and shutting through controlling the bottom support 12 and the solid fixed ring 13 relative position of arm, and then drive H shape transverse connecting rod 11 by sixth bolt 22, H shape transverse connecting rod 11 drives fifth bolt 21 and then drives fastening claw 10, fastening claw 10 forms the revolute pair through fourth bolt 20 and support horizontal pole 9, support horizontal pole 9 can link firmly with supporting disk 8, and then form and contain the drive degree of freedom and be zero, do not contain the controllable mechanism that the drive degree of freedom is one. The supporting cross rod 9 is internally provided with a groove, the supporting disk 8 is provided with a protruding part, and the supporting cross rod 9 can be embedded on the supporting disk 8 to reinforce the rigid connection.
The innovation points of the embodiment include: 1. the traditional three-jaw type is caught by the front end of the jaw, the catching is unreliable, and the embodiment adopts a surface contact mode and adds the limiting beads, so that the locking rapidity is greatly improved; 2. the butt joint tolerance is large, the butt joint device can adapt to different non-precise butt joint environments, and the outer contour design of the female head can effectively guide the fastening claw in the butt joint process; 3. the self-locking capacity is high, the female head outer contour and the fastening claw have self-locking performance, locking failure cannot be caused under the action of vertical external force, and the locking reliability is improved.
The above description is only a preferred embodiment of the present invention, and these embodiments are based on different implementations of the present invention, and the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.
Claims (6)
1. A standardized mechanical interface device of a satellite mechanical arm terminal and a maintenance module is characterized by comprising: the mechanical arm fixing device comprises a female head outer ring (1), a female head fastening rod (2), a female head limiting groove (3), a male head outer ring (4), limiting balls (5), a spring (6), a supporting bolt (7), a supporting disc (8), a supporting cross rod (9), a fastening claw (10), an H-shaped transverse connecting rod (11), a bottom support (12), a mechanical arm fixing ring (13), a first bolt (14), a first threaded hole (15), a second bolt (16), a second threaded hole (17), a third bolt (18), a third threaded hole (19), a fourth bolt (20), a fifth bolt (21), a sixth bolt (22), a hollowed hole (23) and a fourth threaded hole (24);
the female head outer ring (1) is provided with a female head limiting groove (3), the central point of the inner side of the female head outer ring (1) is provided with a first threaded hole (15), the female head outer ring (1) is fixedly connected with a female head fastening rod (2) through a first bolt (14), a limiting bead (5) is connected with a spring (6), the spring (6) is connected with a supporting bolt (7) at a fourth threaded hole (24), a supporting plate (8) is connected with a male head outer ring (4) through a second bolt (16) and a second threaded hole (17), a supporting cross rod (9) is connected with the supporting plate (8) through a third bolt (18) and a third threaded hole (19), the supporting cross rod (9) is connected with a fastening claw (10) through a fourth bolt (20), the fastening claw (10) is connected with an H-shaped cross connecting rod (11) through a fifth bolt (21), the H-shaped cross connecting rod (11) is connected with a bottom support (12) through a sixth bolt (22), the bottom support (12) can slide in the mechanical arm fixing ring (13), and a hollow hole (23) is formed in the support disc (8).
2. The standardized mechanical interface device for the satellite robot arm end and maintenance module according to claim 1, characterized in that the number of the fastening claws (10) is four and the fastening claws are distributed at intervals of 90 °.
3. The standardized mechanical interface device for the satellite robot arm end and maintenance module according to claim 1, characterized in that the H-shaped cross links (11) are four in number and distributed at 90 ° intervals.
4. The standardized mechanical interface device for the satellite robot arm end and maintenance module according to claim 1, characterized in that the number of the hollowed-out holes (23) is six and the hollowed-out holes are distributed at intervals of 60 °.
5. The standardized mechanical interface device for the satellite manipulator tail end and the maintenance module as claimed in claim 1, wherein the number of the limiting beads (5), the springs (6), the supporting bolts (7), the fourth threaded holes (24), the second bolts (16) and the second threaded holes (17) is eight respectively, and the limiting beads, the springs, the supporting bolts, the fourth threaded holes, the second threaded holes and the second threaded holes are distributed at intervals of 45 degrees respectively.
6. The standardized mechanical interface device for the satellite mechanical arm tail end and the maintenance module as claimed in claim 1, wherein the number of the supporting cross bar (9), the fourth bolt (20), the fifth bolt (21) and the sixth bolt (22) is four respectively, and the supporting cross bar, the fourth bolt, the fifth bolt and the sixth bolt are distributed at intervals of 90 degrees respectively.
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| CN202011249895.4A CN112357130B (en) | 2020-11-10 | 2020-11-10 | Standardized mechanical interface device for satellite mechanical arm tail end and maintenance module |
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| CN202011249895.4A CN112357130B (en) | 2020-11-10 | 2020-11-10 | Standardized mechanical interface device for satellite mechanical arm tail end and maintenance module |
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| CN112357130B true CN112357130B (en) | 2022-02-01 |
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| CN115072011B (en) * | 2022-06-28 | 2023-04-14 | 哈尔滨工业大学（深圳） | A multi-arm spacecraft variable topology electromechanical integration docking device and docking method |
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| US11440685B2 (en) * | 2018-02-06 | 2022-09-13 | Altius Space Machines Inc. | Robotic capture interface |
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| CN106882402A (en) * | 2017-01-20 | 2017-06-23 | 北京空间飞行器总体设计部 | A kind of capture racemization mechanism suitable for spin space fragment |
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| CN108516112A (en) * | 2018-04-08 | 2018-09-11 | 浙江理工大学 | A kind of adaptive drive lacking formula noncooperative target space capture mechanism |
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