Two-DOF Decoupled Spatial Adhesion Claw Transmission
A technology of transmission device and sticking claw, which is applied in the field of space sticking claw transmission device, can solve the problems of transmission system without rigid transmission parts, etc., and achieve the effect of compact structure and convenient design
Active Publication Date: 2022-08-05
SHANGHAI AEROSPACE CONTROL TECH INST
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Problems solved by technology
At present, there is only one kind of rope transmission method for space adhesion devices using dry adhesion materials, and there is no transmission system using rigid transmission parts.
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[0022] In order to make the above objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments.
[0023] like Figures 1 to 7 As shown, the present invention provides a two-degree-of-freedom decoupling space adhesion claw transmission device, comprising: a tangential loading transmission mechanism 1 and a normal decoupling transmission mechanism 2, wherein the tangential loading transmission mechanism 1 is used for Realize the functions of centripetal loading and centrifugal unloading.
[0024] The desorption force loading of the normal desorption transmission mechanism 2 adopts a secondary force boosting mechanism composed of a trapezoidal lead screw 14 and a four-bar force boosting mechanism that is symmetrically arranged and is at the dead center position during reverse loading; the trapezoidal lead screw 14 is the self-...
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The invention provides a space adhesion claw transmission device with two degrees of freedom decoupling. It mainly includes tangential loading transmission mechanism and normal desorption transmission mechanism. The device is used to drive the space adhesion unit to adhere and desorb the target. The advantages are: first, the present invention can meet the transmission requirements of centripetal loading and centrifugal unloading along the tangential direction of the adhesion surface when the space adhesion unit adheres to the target; The transmission requirements of the normal desorption force loading; thirdly, the present invention can realize the decoupling motion of tangential loading and unloading along the adhesion surface and decoupling movement along the normal direction of the adhesion surface, which is convenient for the design of the motion control system; fourth, This transmission component is designed to adapt to complex space, harsh environment, high reliability, and compact structure, and adopts several reliability measures that are multi-purpose and resistant to complex and harsh environment in space, and well achieves the intended use target.
Description
technical field [0001] The invention relates to a space adhesion claw transmission device with two degrees of freedom decoupling. Background technique [0002] Inside and outside the aerospace industry, most of the existing two-axis transmission systems adopt the layout of two-axis superposition. Although the two degrees of freedom are decoupled, they do not carry out the embedded fusion design of the two-degree-of-freedom transmission structure, and do not carry out a large number of A multi-purpose design makes the number of parts large, the size and weight of the structure are large, and the manufacturing cost is also high. The existing transmission system has low reliability and high launch cost, and is obviously not suitable for space applications. At present, there is only one rope transmission mode for the space adhesive device using dry adhesive materials, and there is no transmission system using rigid transmission parts. SUMMARY OF THE INVENTION [0003] The ob...
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IPC IPC(8): B64G1/66
CPCF16H1/16F16H1/14B64G1/66B64G4/00F16H25/04F16H53/00
Inventor 孙俊王金海张晓龙宋婷刘志刚
Owner SHANGHAI AEROSPACE CONTROL TECH INST