Large-tolerance docking capture device for space-oriented large robotic arm and rendezvous and docking

A large-scale machine, rendezvous and docking technology, which is applied to the docking device, manipulator, program-controlled manipulator and other directions of aerospace vehicles. It can solve the problem of the small tolerance range of the heterogeneous and isomorphic peripheral docking mechanism, and the inability to capture space free floating, small inertia, and unpowered targets. and other problems, to achieve the effect of increasing reliability and success rate, wide tolerance range, simple driving and control

Inactive Publication Date: 2011-12-28
HEILONGJIANG PATENT TECH DEV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problem that the existing cone-rod type capture mechanism cannot capture the small-inertia unpowered target floating freely in space, and the tolerance range of the isomorphic peripheral docking mechanism is small, the invention further proposes a space-oriented large-scale mechanical arm and rendezvous and docking device High Tolerance Butt Capture Device

Method used

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  • Large-tolerance docking capture device for space-oriented large robotic arm and rendezvous and docking
  • Large-tolerance docking capture device for space-oriented large robotic arm and rendezvous and docking
  • Large-tolerance docking capture device for space-oriented large robotic arm and rendezvous and docking

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specific Embodiment approach 1

[0007] Specific implementation manner one: such as figure 1 As shown, the large-tolerance docking capture device for large space-oriented robotic arms and rendezvous and docking in this embodiment includes a capture mechanism 1 and an interface mechanism 2. The capture mechanism 1 includes three fingers 1-1 and a first support housing 1. -2, second support shell 1-3, third support shell 1-4, finger mounting platform 1-5, ball screw 1-6, ball nut 1-7, first mounting platform 1-8, end Cover 1-9, second mounting platform 1-10, first reversing gear 1-11, three connecting joints 1-12, three rotation limit joints 1-13, outer protective shell 1-14, drive assembly 1-15, three capture electrical connection components 1-16, positioning taper groove 1-17, three linear bearing sliders 1-20, three linear bearing guide post supports 1-21 and three linear bearing guide posts 1 -22, the first support shell 1-2, the second support shell 1-3, and the third support shell 1-4 are inserted into the...

specific Embodiment approach 2

[0008] Specific implementation manner two: such as figure 1 The drive assembly 1-15 of the large-tolerance docking capture device for large space-oriented robotic arms and rendezvous and docking shown in this embodiment includes motor power-off brake 1-15-1, DC brushless motor 1-15-2, and harmonic The wave reducer 1-15-3 and the second commutation gear 1-15-4, the DC brushless motor 1-15-2 is fixedly installed on the second mounting platform 1-10, the DC brushless motor 1 The output end of -15-2 is connected to the input end of the harmonic reducer 1-15-3, and the output shaft of the harmonic reducer 1-15-3 is connected to the second commutation gear 1-15-4, so The second reversing gear 1-15-4 meshes with the first reversing gear 1-11. The other components and connection relationships are the same as in the first embodiment.

specific Embodiment approach 3

[0009] Specific implementation manner three: such as figure 1 As shown, the capturing mechanism 1 of the large-tolerance docking capturing device for large space-oriented robotic arms and rendezvous and docking described in this embodiment further includes a nut limited floating mounting spring end cover 1-18 and a nut limited floating mounting spring 1-19. The nut limited floating installation spring 1-19 is sleeved on the rolling nut 1-7, and the nut limited floating installation spring end cover seals the nut limited floating installation spring between the rolling nut 1-7 and the inner wall of the finger installation platform 1-5. between. This embodiment enables the ball nut 1-7 to have a certain level of alignment and cushioning capabilities. Even in the presence of eccentric load and impact, the ball nut 1-7 can still be loaded uniformly without damage due to impact and increase The service life of the ball nut 1-7 is improved. The other components and connection relati...

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Abstract

The invention relates to a large-tolerance docking acquisition device, in particular to a large-tolerance docking acquisition device focused on a space large mechanical arm and rendezvous and docking. The large-tolerance docking acquisition device is provided for solving the problems that the existing cone-pole-type acquisition mechanism cannot acquire a small-inertia unpowered target freely floating in the space, and the allogeneic isomorphic peripheral docking mechanism has a small tolerance range. The large-tolerance docking acquisition device comprises an acquisition mechanism and an interfacing mechanism; the acquisition mechanism is arranged on a wrist joint of an active satellite or a space mechanical arm, and the interfacing mechanism is mounted on an acquired satellite or acquired load. The large-tolerance docking acquisition device is used for acquiring the small-inertia unpowered target freely floating in the space or performing the allogeneic isomorphic peripheral docking.

Description

Technical field [0001] The invention relates to a large-tolerance docking capture device, in particular to a large-tolerance docking capture device oriented to large-scale space manipulators and rendezvous and docking. Background technique [0002] Most of the existing spatial docking capturing mechanisms adopt the rigid capturing principle, and there are mainly two types of peripheral docking mechanisms with different bodies and isomorphic structures and cone-rod docking mechanisms. The cone-rod docking mechanism is a commonly used spatial docking mechanism with a relatively large tolerance range. The peripheral docking mechanism with different body and isomorphism is much larger, but the taper-rod capture method needs to rely on the kinetic energy collision between the two docking aircraft to achieve docking. The collision and impact during the capture process are relatively large, and it is not suitable for space docking. Free-floating small inertia and unpowered target captur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B64G1/64
Inventor 丰飞刘伊威刘宏
Owner HEILONGJIANG PATENT TECH DEV
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