CN114986548B - A mechatronic quick-change interface for a reproducible robot for large-scale space operations - Google Patents

Abstract

An electromechanical quick-change interface for a renewable robot that operates over a large area in space, belonging to the technical field of on-orbit construction robots in space. It greatly improves the environmental adaptability, hardware fault tolerance, large-range precision movement capability, and functional diversity of the space robot. The interface includes a docking mechanism, a locking mechanism, and an electrical module; the docking mechanism is a split docking structure, and the two splits of the docking mechanism are locked into one or separated into two parts by a locking mechanism, and the electrical module is installed on the docking mechanism. The present invention has the advantages of small size, light weight, large tolerance, high connection accuracy, and high connection strength, and has a simple structure and reliable functions, which greatly improves the environmental adaptability, hardware fault tolerance, large-range precision movement capability, and functional diversity of the space robot.

Description

A mechatronic quick-change interface for a reproducible robot for large-scale space operations

Technical Field

The invention belongs to the technical field of on-orbit construction robots in space, and in particular relates to an electromechanical quick-change interface for a renewable robot for large-scale space operations.

Background technique

With the continuous development of space science and technology, the demand for the construction of large-scale space facilities such as space stations, space power stations, and on-orbit fuel supply stations is becoming increasingly urgent. On-orbit construction technology can break through the limitations of carriers and make it possible to build super-large space facilities. The United States, Europe, Japan, Canada and other countries have carried out relevant research. At the same time, the experience of the construction and maintenance of the International Space Station shows that space robots are the core equipment for on-orbit services of spacecraft, which can greatly improve the safety and economy of space control. However, with the continuous deepening of human utilization and development of space, the existing 6-7 degree of freedom space robot system cannot meet the future on-orbit construction needs. The International Space Station was built in 1998 and completed in 2010 and entered the full use stage. In order to adapt to the increasingly large space station environment and complex tasks, space robot mobile service systems, including SSRMS, MBS and SPDM, have been built successively. The on-orbit construction of space robots is developing in the direction of multi-branch, super-redundancy and multi-function. Compared with the International Space Station, the future on-orbit construction workload will be larger, the types of tasks will be more, and the operating environment will be more complex, which will pose new challenges to the large-scale mobile operation capability, configuration changes and functional diversity of on-orbit construction space robots. In-orbit robot construction technology is an important guarantee for my country to become a space power.

Facing the future on-orbit construction space robot technology, we propose a space multi-branch renewable robot system that is lightweight, can move over a large range, and can autonomously reconfigure on-orbit. The electromechanical quick-change interface is one of the key technologies of the space renewable robot system. The space renewable robot is composed of joint modules through an electromechanical quick-change interface. Through the quick-change interface, it can autonomously complete on-orbit configuration reconfiguration, replacement of faulty modules, and replacement of end effectors to meet the needs of different on-orbit construction tasks; at the same time, a certain number of electromechanical quick-change interfaces are installed on the space truss. The space renewable robot can achieve large-scale precise movement on the space truss through the connection and combination of the interfaces; therefore, the design of electromechanical quick-change interfaces for space large-scale operation renewable robots is of great significance in space science and technology, national defense, and economy.

Summary of the invention

The present invention provides an electromechanical quick-change interface for a renewable robot that operates over a large space range, which greatly improves the environmental adaptability, hardware fault tolerance, large-range precise movement capability, and functional diversity of the space robot.

The technical solution adopted by the present invention is: an electromechanical quick-change interface for a renewable robot that operates over a large space range, including a docking mechanism, a locking mechanism and an electrical module; the docking mechanism is a split docking structure, the two split parts of the docking mechanism are locked into one or separated into two parts by a locking mechanism, and the electrical module is installed on the docking mechanism.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention has the advantages of small size, light weight, large tolerance, high connection accuracy, high connection strength, simple structure and reliable function, which greatly improves the environmental adaptability, hardware fault tolerance, large-range precise movement ability and functional diversity of the space robot.

2. The locking structure of the present invention is simple, reliable, and can withstand large axial loads, bending moments, and torques.

3. The high tolerance performance of the present invention allows the docking mechanism to produce a certain posture deviation, thereby ensuring the efficiency and accuracy of the docking.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is an exploded view of the structure of the present invention;

Fig. 2 is a front view of the present invention;

Fig. 3 is a left side view of the present invention;

Fig. 4 is a cross-sectional view taken along line A-A of Fig. 3;

Among them: 1. docking mechanism; 2. locking mechanism; 3. electrical module; 11. active sleeve; 12. passive sleeve; 13. positioning key; 14. groove; 21. active part; 22. locking part; 23. locking spherical surface; 24. electric push rod; 25. electric push rod bracket; 26. locking inclined surface; 211. T-shaped slide groove 1; 221. T-key; 222. protruding head; 223. locking steel ball; 31. spring contact pin component; 32. drive plate.

Detailed ways

In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings.

1 to 4 , an electromechanical quick-change interface for a renewable robot for large-scale space operations of the present invention comprises a docking mechanism 1, a locking mechanism 2 and an electrical module 3; the docking mechanism 1 is a split docking structure, the two split parts of the docking mechanism 1 are locked into one or separated into two parts by the locking mechanism 2, and the electrical module 3 is installed on the docking mechanism 1.

The docking mechanism 1 includes an active sleeve 11 and a passive sleeve 12; the main bodies of the active sleeve 11 and the passive sleeve 12 are both circular structures, and the active sleeve 11 and the passive sleeve 12 are connected to each other in a concave-convex manner. According to the requirements for tolerance performance, the docking surface of the active sleeve 11 is an active conical surface, and the passive sleeve 12 has a corresponding passive conical surface. When docking, the active sleeve 11 and the passive sleeve 12 are fitted to achieve high-precision positioning. A positioning key 13 is provided on the docking surface of the active sleeve 11, and a groove 14 matching the positioning key 13 is provided on the corresponding docking surface of the passive sleeve 12 to lock the axial rotational freedom.

One end of the active member 21 of the locking mechanism 2 is installed on the active sleeve 11, and the other end of the active member 21 is connected to the locking member 22. The active member 21 can drive the other end of the locking member 22 to move, so that the other end of the locking member 22 can lock or disengage from the passive sleeve 12, thereby realizing the locking docking or mutual disengagement of the active sleeve 11 and the passive sleeve 12.

The locking mechanism 2 includes an active member 21, a locking member 22, a locking spherical surface 23, an electric push rod 24, an electric push rod bracket 25 and a locking inclined surface 26; the active member 21 is a cone structure, and the active member 21 can slide axially in the equal diameter center hole of the active sleeve 11 through the electric push rod 24, and the outer cone surface of the active member 21 is evenly distributed with three inclined T-shaped slide grooves 211, and the three T-shaped slide grooves 211 are 120° to each other, and the three T-shaped slide grooves 211 are 45° to the docking surface, that is, the conical portion of the active member 21 is a 45° inclined surface, and the bases of the three locking members 22 are all T-shaped platforms, and the three T-shaped platforms are evenly distributed and arranged around the outside of the active member 21, and the end surfaces of the three T-shaped platforms close to the active member 21 are inclined surfaces matching the outer cone surface of the active member 21, and a T-shaped key 221 is respectively arranged on the end surfaces of the three T-shaped platforms close to the active member 21 Slidingly connected with the T-shaped slide groove 1 211, the active member 21 moves along the axis to drive the three locking members 22 to move radially. The three T-shaped stages can slide in the radial T-shaped slide groove 2 on the active sleeve 11. A protruding head 222 is respectively arranged on the outer end surface of the three T-shaped stages. Each protruding head 222 has a through hole, which is connected to a locking steel ball 223 by a bolt to form a locking spherical surface 23. When the locking spherical surface 23 contacts the locking inclined surface 26 on the outer side of the passive sleeve 12, the interface locking operation can be completed.

The electric push rod 24 is fixed to the active sleeve 11 through the electric push rod bracket 25 and can move axially. When the active member 21 moves axially under the pushing action of the electric push rod 24, the locking member 22 can be driven to move radially outward in the T-slot of the active member 21. When the locking spherical surface 23 contacts the locking inclined surface 26 of the passive sleeve 12, the interface is locked. The locking inclined surface 26 is inclined upward from the inside to the outside. The inclination angle of 5° on the locking inclined surface 26 can compensate for certain processing errors. When the electric push rod 24 pulls, the active member 21 moves axially, pulling the locking spherical surface 23 to move radially inward, disengaging from the locking inclined surface 26, and completing unlocking.

The electrical module 3 includes a drive plate 32 and a spring contact pin component 31 ; the drive plate 32 is mounted on the active sleeve 11 , and the drive plate 32 drives the electric push rod 24 . The active sleeve 11 and the passive sleeve 12 are connected in power supply and communication via the spring contact pin component 31 installed therebetween.

The spring contact pin component 31 is composed of a separate spring contact pin plate and a pad plate. The spring contact pin and the pad can be connected to each other by extrusion, and the spring contact pin plate and the pad plate are respectively mounted on the active sleeve 11 and the passive sleeve 12 .

working principle:

Before docking, the electric push rod 24 and the active member 21 are in a retracted state, and the locking member 22 is tightened and gathered at the center. At this time, under the guidance of the global camera visual information of the space on-orbit construction environment, the active sleeve 11 can approach the passive sleeve 12 through the robot system to prepare for docking.

The active sleeve 11 enters the envelope range of the passive sleeve 12, and the active sleeve 11 continues to move forward. The upper active conical surface is in full contact with the passive conical surface on the passive sleeve 12, eliminating the radial position deviation, and continues to move forward. When the positioning key 13 on the active sleeve 11 cooperates and clamps with the groove 14 on the passive sleeve 12, the docking mechanism 1 completes the docking work, eliminating the degrees of freedom in all directions. At the same time, the spring contact pin and the pad are connected by extrusion, realizing the power supply and communication of the quick-change interface.

When the quick-change interface starts locking, under the pushing action of the electric push rod 24, the active part 21 moves axially toward the passive sleeve 12, driving the locking part 22 and the locking spherical surface 23 to slide radially outward along the corresponding T-shaped grooves 2 on the active part 21 and the active sleeve 11. The electric push rod 24 continues to push the active part 21, and the locking spherical surface 23 stops moving when it moves to contact the locking inclined surface 26 on the outer surface of the passive sleeve 12. At this time, the passive sleeve 12 is locked and the locking stage is completed.

When the quick-change interface starts to unlock, under the pulling action of the electric push rod 24, the active part 21 moves axially toward the active sleeve 11, driving the locking part 22 and the locking spherical surface 23 to move radially inward along the corresponding T-shaped grooves on the active part 21 and the active sleeve 11. The electric push rod 24 continues to pull the active part 21, and the locking spherical surface 23 gradually disengages from the locking inclined surface 26 on the surface of the passive sleeve 12. When the electric push rod 24 returns to its initial state, the locking stage is completed, and the active sleeve 11 and the passive sleeve 12 can be separated freely.

Replacement instructions: The inclination angle of the T-shaped groove in the active sleeve 11 and the active member 21 can be changed, and the T-shaped groove can be replaced with a dovetail groove or a guide groove of other structures; the electric push rod 24 can be replaced with a driving device capable of linear motion, such as a motor screw, an electromagnet or a memory alloy.

1. The robot arm joint module can autonomously change its configuration and replace modules through this interface. In the face of different on-orbit construction tasks, different end tools can be replaced through this interface. At the same time, the interface installed on the truss can achieve large-scale precise movement capabilities.

2. The renewable robot system can change its configuration and replace the end effector through this interface, thereby enhancing the environmental adaptability and hardware fault tolerance of the renewable robot system.

3. The regenerative robot can achieve a large range of mobility through the interface installed on the space truss, thereby improving the robot's operating range.

It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims (4)

1. An electromechanical quick-change interface for a reproducible robot for large-scale space operations, characterized in that it comprises a docking mechanism (1), a locking mechanism (2) and an electrical module (3); the docking mechanism (1) is a split docking structure, the two split parts of the docking mechanism (1) are locked into one or separated into two parts by the locking mechanism (2), and the electrical module (3) is installed on the docking mechanism (1). The docking mechanism (1) comprises an active sleeve (11) and a passive sleeve (12); the active sleeve (11) and the passive sleeve (12) are connected to each other in a concave-convex manner; the docking surface of the active sleeve (11) is an active conical surface, and the passive sleeve (12) has a corresponding passive conical surface; a positioning key (13) is provided on the docking surface of the active sleeve (11), and a groove (14) matching the positioning key (13) is provided on the docking surface of the passive sleeve (12), thereby locking the rotational freedom around the axial direction. One end of the active member (21) of the locking mechanism (2) is mounted on the active sleeve (11), and the other end of the active member (21) is connected to the locking member (22). The active member (21) can drive the other end of the locking member (22) to move, so that the other end of the locking member (22) can lock or disengage from the passive sleeve (12), thereby achieving locking docking or mutual disengagement of the active sleeve (11) and the passive sleeve (12). The locking mechanism (2) comprises an active member (21), a locking member (22), a locking spherical surface (23), an electric push rod (24) and a locking inclined surface (26); the active member (21) is a cone structure, the active member (21) can slide axially in the equal diameter center hole of the active sleeve (11) through the electric push rod (24), the outer cone surface of the active member (21) is evenly distributed with three inclined T-shaped slide grooves (211), the bases of the three locking members (22) are all T-shaped platforms, the three T-shaped platforms are evenly distributed and arranged around the outside of the active member (21), and the ends of the three T-shaped platforms close to the active member (21) are A T-shaped key (221) is provided on each surface and is slidably connected to the T-shaped slide groove 1 (211). The active member (21) can drive the three locking members (22) to move radially when moving along the axis. The three T-shaped platforms can slide in the radial T-shaped slide groove 2 on the active sleeve (11). A protruding head (222) is provided on the outer end surface of each of the three T-shaped platforms. Each protruding head (222) has a through hole and is connected to a locking steel ball (223) by a bolt to form a locking spherical surface (23). When the locking spherical surface (23) contacts the locking inclined surface (26) on the outer side of the passive sleeve (12), the interface locking operation can be completed. 2. The electromechanical quick-change interface for a reproducible robot for large-scale spatial operations according to claim 1, characterized in that the locking slope (26) is arranged to be inclined upward from the inside to the outside. 3. The electromechanical quick-change interface for a reproducible robot for large-scale space operations according to claim 2, characterized in that: the electrical module (3) comprises a drive plate (32) and a spring contact pin component (31); the drive plate (32) is installed on the active sleeve (11), the drive plate (32) drives the electric push rod (24), and the active sleeve (11) and the passive sleeve (12) are connected to power supply and communication through the spring contact pin component (31) installed therebetween. 4. According to claim 3, an electromechanical quick-change interface for a renewable robot capable of large-scale space operations is characterized in that: the spring contact pin component (31) is composed of a spring contact pin plate and a pad plate, the spring contact pin and the pad are electrically connected by extrusion contact, and the spring contact pin plate and the pad plate are respectively mounted on the active sleeve (11) and the passive sleeve (12).