A five-degree-of-freedom adaptive error compensation mechanism

Abstract

The invention discloses a five-degree-of-freedom self-adaptation error compensation mechanism which comprises a front end cover, a sliding piston support, a sliding piston, a spring, a steel ball, a steel ball support, a spherical surface knuckle bearing installing end cover, a shell, a spherical surface knuckle bearing pedestal, a spherical surface knuckle bearing and butt-joint piece to be compensated for; the butt-joint piece to be compensated for penetrates through the spherical surface knuckle bearing and is matched with the spherical surface knuckle bearing pedestal, and the spherical surface knuckle bearing pedestal and the spherical surface knuckle bearing installing end cover are fixedly connected with the steel ball support separately; the steel ball makes contact with the sliding piston support, the sliding piston support is fixedly connected with the front end cover and the shell separately, and the front end cover and the shell are fixedly connected; through holes are evenly distributed in the peripheral direction of the sliding piston support, the sliding piston runs through the through hole, the spring is installed at one end of the sliding piston, and the other endof the sliding piston makes contact with the butt-joint piece to be compensated for and used for compensating for the deviation of the degree of freedom of the butt-joint piece to be compensated for.Axial translation of the butt-joint piece to be compensated for is limited, and the degree of freedom except for axial translation of the butt-jointed piece to be compensated for is rapidly and adaptively compensated for.

Description

technical field [0001] The invention relates to a five-degree-of-freedom self-adaptive error compensation mechanism, which is especially suitable for the docking and separation of gas-liquid interfaces during satellite on-orbit service tasks, and belongs to the technical field of space vehicle on-orbit service. Background technique [0002] In the propellant on-orbit replenishment mission, after the initial docking of the service spacecraft and the receptor, there are certain position and angle errors between the two, which cannot meet the relative position requirements for establishing the sealing surface. At the end of the service spacecraft, a mechanism capable of realizing five-degree-of-freedom adaptive error compensation is designed between the gas-liquid interface to be docked and the satellite structure, which can realize the flexible docking of the gas-liquid interface and solve the problem of establishing a sealing process for the docking interface valve High-preci...

AI Technical Summary

Problems solved by technology

[0005] The technical problem solved by the present invention is: to overcome the deficiencies of the prior art, the present invention provides a five-degree-of-freedom self-adaptive error compensation mechanism, which is fixedly connected to the shell through the front end cover, effectively limiting the axial translation of the receiving compensation part , and through the cooperation of sliding piston bracket, sliding piston, spring, steel ball, steel ball bracket, spherical joint bearing installation end cover, shell, spherical joint bearing seat and spherical joint bearing, the degrees of freedom of the compensation parts other than axial translation are realized Fast self-adaptive compensation makes up for the defect that the traditional error compensation mechanism cannot realize large-scale adaptive compensation of translation error and rotation error at the same time, and the traditional error compensation mechanism has weak axial bearing capacity

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