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Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking

A large-scale machine, rendezvous and docking technology, which is applied to the docking device, manipulator, program-controlled manipulator, etc. of space navigation vehicles. It can solve the problem of not being able to capture free-floating, small inertia, unpowered targets in space, and the tolerance range of heterogeneous and isomorphic peripheral docking mechanisms. and other problems, to achieve the effect of increasing reliability and success rate, wide tolerance range, simple driving and control

Inactive Publication Date: 2013-07-03
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 acquisition device focused on space large mechanical arm and rendezvous and docking
  • Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking
  • Large-tolerance docking acquisition device focused on space large mechanical arm and rendezvous and docking

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specific Embodiment approach 1

[0007] Specific implementation mode one: as figure 1 As shown, the large-tolerance docking capture device for space-oriented large robotic arm and rendezvous and docking described in this embodiment includes a capture mechanism 1 and an interface mechanism 2, and the capture mechanism 1 includes three fingers 1-1, a first support shell 1 -2. The second supporting shell 1-3, the third supporting shell 1-4, the finger mounting platform 1-5, the ball screw 1-6, the ball nut 1-7, the first mounting platform 1-8, the end Cover 1-9, second installation 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 supporting shell 1-2, the second supporting shell 1-3, and the...

specific Embodiment approach 2

[0008] Specific implementation mode two: as figure 1 The driving assembly 1-15 of the large-tolerance docking capture device facing the space-oriented large-scale robotic arm and rendezvous and docking described in this embodiment includes a motor power-off brake 1-15-1, a DC brushless motor 1-15-2, a harmonic A wave reducer 1-15-3 and a second reversing gear 1-15-4, the DC brushless motor 1-15-2 is fixedly installed on the second installation 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 reversing gear 1-15-4, so The second reversing gear 1-15-4 meshes with the first reversing gear 1-11. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0009] Specific implementation mode three: as figure 1 As shown, the capture mechanism 1 of the large-tolerance docking capture device facing space and rendezvous and docking described in this embodiment also includes a nut limited floating installation spring end cover 1-18 and a nut limited floating installation spring 1-19. The nut limited floating mounting spring 1-19 is set on the rolling nut 1-7, and the nut limited floating mounting spring end cover seals the nut limited floating mounting spring between the rolling nut 1-7 and the inner wall of the finger mounting platform 1-5 between. This embodiment enables the ball nuts 1-7 to have a certain degree of self-alignment and buffering capacity, even in the presence of partial loads and impacts, the ball nuts 1-7 can still be loaded evenly, and will not be damaged due to impacts, increasing Extend the service life of ball nut 1-7. Other components and connections are the same as those in the first embodiment.

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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 and capturing device, in particular to a large-tolerance docking and capturing device facing a space-oriented large mechanical arm and rendezvous and docking. Background technique [0002] Most of the existing space docking mechanisms adopt the principle of rigid capture. There are mainly two types of isomorphic peripheral docking mechanisms and cone-rod docking mechanisms. The cone-rod docking mechanism is a commonly used space docking mechanism, and its tolerance range is relatively large Compared with the heterogeneous isomorphic peripheral docking mechanism, it is much larger, but the cone-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, so it is not suitable for space. The capture of free-floating small-inertia non-powered targets, however, although the iso...

Claims

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Application Information

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