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A space manipulator repetitive locking and releasing mechanism

A space manipulator, repeated locking technology, applied in the direction of motor vehicles, aerospace equipment, space vehicles, etc., can solve the problem of non-repeatable locking mechanism, mechanical arm impact, etc.

Active Publication Date: 2018-08-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] At present, the locking mechanism of the mechanical arm used to perform capture and handling tasks in the space environment at home and abroad is still based on pyrotechnic devices. There are two outstanding shortcomings: one is that the locking mechanism is not repeatable, and the other is that the lock The tightening mechanism will bring relatively large impact to the mechanical arm during the unlocking process

Method used

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  • A space manipulator repetitive locking and releasing mechanism
  • A space manipulator repetitive locking and releasing mechanism
  • A space manipulator repetitive locking and releasing mechanism

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] figure 1 It is a repetitive locking and releasing mechanism for a space manipulator, which includes a power generation unit 1, a first power transmission unit 2, a second power transmission unit 3, a translation piece 4, an actuator 5 and a housing 6;

[0023] A power generating unit 1, configured to generate rotational motion and transmit the rotational motion to the power transmission unit 1;

[0024] The first power transmission unit 2 is connected with the power generation unit 1, and is used to transmit the rotational motion generated by the power generation unit to the second power transmission unit 3;

[0025] The second power transmission unit 3 is connected with the first power transmission unit 2 and is used to convert the rotational motion into translational motion;

[0026] The translation member 4 is connected with the second power transmission unit 3, and is used for translation in the casing driven by the second power transmission unit 3;

[0027] The e...

Embodiment 2

[0031] Such as Figure 2 to Figure 4 As shown, it is a repetitive locking and releasing mechanism of a space manipulator, which includes a driving motor 1, a transmission gear set: a cylindrical gear 21 and a cylindrical gear 22, a worm 31 and a worm wheel 32, a sliding block 4, a locking hook 51, a locking hook 52 and a shell body 6; the end of the output shaft of the driving motor 1 is fixedly connected with the housing 6 by screws, and the rotation of the driving motor 1 is transmitted to the cylindrical gear 22 meshing with it through the cylindrical gear 21 coaxial with the output shaft of the driving motor 1, wherein The spur gear 21 is transferred to the spur gear 22 and its connecting shaft is connected by keys respectively, the spur gear 22 is connected to the worm 31 by a key, and the worm 31 is connected to the housing 6 through deep groove ball bearings 91, 92 and glands 101, 102 respectively. The worm gear 32 is connected to the housing 6 through the support plate...

Embodiment 3

[0040] The difference of this embodiment is that the movement of the translator in the housing is a horizontal linear movement, which can be achieved by setting the axial direction of the output shaft of the drive motor to be vertical, The power is transmitted through the first power transmission unit, and the second power transmission unit realizes the conversion of the rotary motion into a horizontal linear motion, so that the locking part of the mechanical arm placed vertically can be locked.

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PUM

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Abstract

The invention discloses a repeated locking and releasing mechanism of a space mechanical arm. The repeated locking and releasing mechanism comprises a power generating unit, a first power transmitting unit, a second power transmitting unit, a translation piece and an executive piece. The power generating unit is used for generating rotary movement; the first power transmitting unit is connected with the power generating unit and used for transmitting rotary movement generated by the power generating unit to the second power transmitting unit; the second power transmitting unit is connected with the first power transmitting unit and used for changing rotary movement transmitted by the first power transmitting unit into translation; the translation piece is connected with the second power transmitting unit and used for doing parallel movement; and the executive piece is connected with the translation piece and used for doing locking and releasing actions when the translation piece does parallel movement. Therefore, the repeated locking and releasing mechanism of the space mechanical arm is positively rotated and reversed through the power generating unit, and the locking and releasing actions are repeatedly achieved.

Description

technical field [0001] The invention relates to the technical field of locking devices, in particular to a repetitive locking and releasing mechanism for a space manipulator. Background technique [0002] At present, the locking mechanism of the mechanical arm used to perform capture and handling tasks in the space environment at home and abroad is still based on pyrotechnic devices. There are two outstanding shortcomings: one is that the locking mechanism is not repeatable, and the other is that the lock The tightening mechanism will bring relatively large impact to the mechanical arm during the unlocking process. With the diversification of space missions, there is an urgent need for a mechanism that can lock and release the robotic arm repeatedly in the space environment and space environment and has low impact characteristics. [0003] In view of the above-mentioned defects, the author of the present invention has finally obtained this creation through long-term researc...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/66
CPCB64G1/66
Inventor 岳洪浩杨飞彭金圣宋连杰张文星
Owner HARBIN INST OF TECH
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