Soft contact joint based on motion and static blocks

A soft contact and joint technology, applied in the field of space robot research and engineering, can solve the problems of energy impact and energy step transfer between two spacecraft, and achieve the effects of smooth soft contact, expanding applicability and reducing risks

Active Publication Date: 2015-06-24
PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0004] The present invention aims at the energy impact in the contact operation process of existing space robots, and the problem of energy step transfer between two spacecraft under various complex space conditions, and provides a soft contact joint based on dynamic and static blocks

Method used

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  • Soft contact joint based on motion and static blocks
  • Soft contact joint based on motion and static blocks
  • Soft contact joint based on motion and static blocks

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Embodiment Construction

[0027] Attached below Figure 1~5 The present invention is described in further detail:

[0028] The invention section includes three parts: a driving transmission mechanism, a damping assembly and a sensing component.

[0029]The drive transmission mechanism mainly includes motor drive unit one 202, motor drive unit two 408, brake X204, brake Y404, brake one 212, brake two 412, motor shaft one 207, motor shaft two 410, harmonic reducer one 201. Harmonic reducer 2 409, moving block housing 1 101, moving block housing 2 106, static block housing 1 103, static block housing 2 105, moving block housing end cover 1 102, moving block housing end cover 2 107, bracket One 205, support two 406, brake support one 213, brake support two 413 mechanical mechanism; 3 507, slide rail 4 508, electromagnetic brake slider 1 509, slider 2 510, slider 3 511, slider 4 512, sliding inner shell 108 and support 501. Variable damper X208, rotary magnetorheological damper Y402, rotary magnetorheolo...

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Abstract

The invention relates to a space robot structure, in particular to a soft contact joint based on motion and static blocks. The soft contact joint comprises a driving and transmission mechanism, a damping component and a sensing unit, wherein the driving and transmission mechanism mainly comprises a motor driving unit, a controller, an inner shell, an outer shell, a sliding block and a sliding rail, the damping component mainly comprises a linear magneto-rheological damper, a clutch, a rotary magneto-rheological damper, a spring mechanism and a torsion spring mechanism, and the sensing unit comprises an encoder and a linear displacement sensor. The overall flexibility of the mechanical arm joint is mainly controlled by the clutch and the magneto-rheological dampers in the damping component, pitching and yaw two-degree-of-freedom rigid driving and spatial six-dimensional momentum discharge interconversion can be achieved according to an operation task, and then soft contact of spatial operation is achieved.

Description

technical field [0001] The invention relates to the field of space robot research and engineering, in particular to a soft contact joint based on dynamic and static blocks. Background technique [0002] With the development of space science and technology, the development and utilization of space energy has become a trend in the future. A consensus has been formed on the expansion of new aerospace equipment based on space rendezvous and docking technology. Space docking technology and its operating mechanism have become an important research in aerospace technology. The field is the key technology for space on-orbit services, and it is also an important component of the construction of space stations in the future. To realize the space rendezvous and docking technology, the collision problem of the docking mechanisms of the two spacecraft must first be considered. In the process of space rendezvous and docking, the two spacecraft often collide with each other, and the momen...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 董正宏王珏张树才杨帆褚明鞠小龙孟庆川孙汉旭
Owner PLA PEOPLES LIBERATION ARMY OF CHINA STRATEGIC SUPPORT FORCE AEROSPACE ENG UNIV
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