A space soft capturing and locking device and corresponding capturing and locking method
A locking device and space technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of large rigid capture impact loads, etc., and achieve the effect of small capture impact force, small size, and small rigid impact
Active Publication Date: 2019-08-23
SHANGHAI AEROSPACE SYST ENG INST
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Problems solved by technology
[0003] What the present invention aims to solve is the problem that the rigid capture impact load of the capture mechanism at the end of the space manipulator is too large during the capture process. The present invention provides a space soft capture locking device and a corresponding capture locking method
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[0036] figure 1 It is a schematic diagram of the capture adapter [1] of the active capture mechanism [2] of the present invention. Such as figure 1 As shown, the present invention consists of an adapter [1] and an active capture mechanism [2], and the active capture mechanism [2] is installed at the end of a space manipulator (not shown in the figure).
[0037] Please refer to figure 1 and figure 2 , the space manipulator carries the active capture mechanism [2] gradually approaching the adapter [1] until the pull rod [4] on the adapter [1] enters the capture range of the active capture mechanism [2], and the active capture mechanism [2] is connected to the adapter [1] ] to capture; after the capture is completed, the active capture mechanism [2] pulls the adapter [1] to gradually approach the active capture mechanism [2] until the end faces of the two are attached to each other. At this time, the active capture mechanism [2] brakes to ensure A certain locking force is re...
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The invention discloses a soft capturing and locking device for a space and a corresponding capturing and locking method and particularly relates to a tail end capturing and locking device for a space manipulator. The soft capturing and locking device is divided into two parts including an active capturing mechanism and an adapter; and the active capturing mechanism is composed of a capturing assembly and a tightening assembly. The capturing and locking method comprises three processes including capturing, locking as well as releasing and separating; during capturing, a rotating ring of the capturing assembly forwards rotates, and a steel wire rope is gradually closed up from a completely opened state until a pull rod of the adapter is completely clamped; during locking, the tightening assembly drives the capturing assembly to upwards move until the adapter completely presses against the end surface of the active capturing mechanism; and during releasing and separating, the rotating ring of the capturing assembly reversely rotates, the steel wire rope is restored to the completely opened state from a closed-up state, the space manipulator takes with the soft capturing and locking device and the adapter to realize separation. The soft capturing and locking device can be used for the space manipulator, can be used for soft capturing and locking a small load in a space and has the beneficial effects of little capturing impact, light weight, small size and large tolerance.
Description
technical field [0001] The invention relates to the field of space intelligent capture technology, in particular to a soft capture and locking device of a space manipulator and a corresponding capture and lock method. The mechanism can realize soft capture, locking and release of small space loads. Background technique [0002] The space manipulator needs to complete a series of space manipulation tasks, among which capturing and locking the target is one of the basic tasks of the manipulator. At present, the mission planning of the space manipulator includes on-orbit assembly, ORU module replacement, on-orbit maintenance of the spacecraft, etc., all of which need to capture and lock the space payload. With the construction of my country's space station and the expansion of on-orbit operation experiments, the capture tasks of space payloads continue to increase, and the demand for capture and locking tools at the end of the space manipulator is also becoming stronger and str...
Claims
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IPC IPC(8): B25J9/10B25J9/16
CPCB25J9/1045B25J9/1679
Inventor 赵颖苗军韩亮亮杨健
Owner SHANGHAI AEROSPACE SYST ENG INST