Flexible joint analog device with adjustable gaps of space manipulator

A space manipulator and flexible joint technology, applied in the aerospace field, can solve the problems of high cost, difficult to achieve flexible large load, and long simulation test verification period with adjustable joint gap, so as to save experimental investment and shorten verification period. Effect

Inactive Publication Date: 2013-06-19
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The present invention solves the problems that the existing space manipulator flexible joint simulation device is difficult to realize the simulation test of flexible large load and adjustable joint gap, as well as the problems of long test verification period and huge cost, and further provides a flexible space manipulator with adjustable gap. Joint Simulator

Method used

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  • Flexible joint analog device with adjustable gaps of space manipulator

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Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0012] Specific implementation mode one: as figure 1 As shown, the flexible joint simulation device with adjustable space manipulator gap in this embodiment includes a motor fixing base 1, a driving motor 2, a gap adjustment turntable 3, a disc-shaped extension shaft 5, a driving connecting rod 7, a flexible elastic piece 11, a load fixing Frame 12, weight 13, air-floating feet 14, two force sensors 8, two gap-adjusting hexagon socket screws 9, two screw fixing seats 10; the driving motor 2 is fixed on the test bench through the motor fixing seat 1, and the driving The output shaft of the motor 2 is vertically arranged upwards, the output shaft of the gap adjustment turntable 3 is affixed to the drive motor 2, the disc extension shaft 5 is fixed on the upper end surface of the gap adjustment turntable 3 and the disc extension shaft 5 is connected to the drive motor The output shafts of 2 are coaxially arranged, one end of the drive connecting rod 7 is rotationally connected wi...

specific Embodiment approach 2

[0016] Specific implementation mode two: as figure 1 As shown, one end of the driving connecting rod 7 in this embodiment is rotatably connected to the upper part of the disc-shaped extension shaft 5 through two deep groove ball bearings, and the two deep groove ball bearings are respectively sleeved on the disc-shaped extension shaft 5 up and down. With such arrangement, the inner ring of the bearing is closely matched with the disc-shaped extension shaft 5, and the outer ring of the bearing is closely matched with the driving connecting rod 7, so that the rolling and sliding effect is good. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0017] Specific implementation mode three: as figure 1 As shown, the disk-shaped extension shaft 5 in this embodiment is composed of a fixed disk 5-1 and an extension shaft 5-2, and the extension shaft 5-2 and the fixed disk 5-1 are coaxially fixed as a whole. Designed in this way, it is convenient for the disc-shaped extension shaft 5 to be fixed on the clearance adjustment rotary disk 3 . Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a flexible joint analog device with adjustable gaps of a space manipulator and relates to a flexible joint analog device. The flexible joint analog device with adjustable gaps of the space manipulator solves the problems that an existing space manipulator flexible joint analog device is difficult in achieving an analog test with large flexible loads and adjustable joint gaps, and a test verification period is long and cost is huge. One end of a driving connection rod is connected with a plate-shaped extending shaft in a rotating mode, and the other end of the driving connection rod is fixedly connected with one end of a flexible shrapnel. The other end of the flexible shrapnel is fixedly connected with the side wall of a load fixed frame, and heavy articles are arranged in the load fixed frame which is fixed on the upper end face of an air floating foot. Two screw fixed seats are symmetrically arranged on the upper end face of a gap adjusting plate with the driving connection rod as a symmetry axis, and each screw fixed seat is provided with a gap adjusting inner hexagon screw. Two force sensors are symmetrically arranged on two side walls of the driving connection rod, and the two force sensors are coaxially arranged with the two gap adjusting inner hexagon screws. The flexible joint analog device with adjustable thee gaps of the space manipulator is used for verifying mechanical properties of the flexible joint analog device.

Description

technical field [0001] The invention relates to a flexible joint simulation device with adjustable space manipulator gap, which belongs to the field of aerospace. Background technique [0002] The space manipulator is an indispensable tool for in-depth manned spaceflight and deep space exploration activities. In the space station system, it undertakes functions such as cabin capture and transfer, instrument equipment transfer and installation, and assisting astronauts in their operations. The space manipulator system belongs to large-scale space equipment, which has the characteristics of large carrying capacity, high positioning accuracy, and obvious flexible characteristics. , is a typical system of multidisciplinary integration and integration. [0003] In order to verify the rationality of the structural design of the space manipulator and the reliability during the mission, it is necessary to establish an experimental verification simulation device on the ground. At p...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08
Inventor 魏承马聪刘天喜潘东张越
Owner HARBIN INST OF TECH
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