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Tapeline zipper type extensible mechanical arm and design method thereof

The technology of a telescopic arm and a mechanical arm, which is applied in the field of tape measure zipper type telescopic mechanical arm and its design, can solve the problems of consuming too much rocket storage space and carrying quality, and being unsuitable for the aerospace field.

Inactive Publication Date: 2020-10-27
BEIHANG UNIV +1
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The existing traditional telescopic arms are very limited in terms of telescopic arms and length-to-mass ratio, which will consume too much storage space and carrying mass of the rocket, and are not suitable for application in the aerospace field

Method used

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  • Tapeline zipper type extensible mechanical arm and design method thereof
  • Tapeline zipper type extensible mechanical arm and design method thereof
  • Tapeline zipper type extensible mechanical arm and design method thereof

Examples

Experimental program
Comparison scheme
Effect test

example 1

[0041] Example 1: Solar panel inspection for manned spacecraft

[0042] According to the previous design method, the steel strip design is carried out first.

[0043] Step 1: Establish a parametric model of the strip. The steel strip width is 100mm, the node width is 15mm, and the node length is 30mm.

[0044] The second step: establish the steel belt dynamic meshing simulation model. Take the ideal steel strip engagement radius as 150mm. And the steel strip is bent with the above ideal meshing radius as the radius of curvature; two steel strips bent according to the above process are matched at an angle of 60 degrees to establish a dynamic meshing simulation model of the steel strips.

[0045] The third step: adjust parameters. Combining the dynamic simulation model and the parametric model of the steel belt to carry out parameter trials, determine the search interval and search step size of the six sets of parameters of the steel belt: the search interval of the angle be...

example 2

[0054] Example two: for reconnaissance

[0055] According to the previous design method, the same as Example 1, the steel strip design is carried out first.

[0056] Step 1: Establish a parametric model of the strip. The strip width is 35mm, the node width is 5mm, and the node length is 10mm;

[0057] The second step: establish the steel belt dynamic meshing simulation model. Take the ideal engagement radius as 50mm. Establish a dynamic simulation model with the method of Example 1.

[0058] The third step: adjust parameters. The search interval and search step of the six groups of parameters are: the search interval of the angle between the outer edge of the node and the extension direction of the steel strip is 60-80 degrees, and the search step is 5 degrees; the search for the angle between the crease and the outer edge of the node The interval is 20-40 degrees, and the search step is 5 degrees; the search interval for the bending angle is 40-60 degrees, and the search...

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Abstract

The invention provides a tapeline zipper type extensible mechanical arm. The mechanical arm comprises an extensible arm part and a releasing / retracting mechanism which releases and retracts the extensible arm; the extensible arm is a non-solid extensible arm constituted by steel strips made of flexible metal and the section thereof is in a equilateral triangle shape; every two of three steel strips are connected via a zipper engaging structure; according to the releasing / retracting mechanism, two ends of central shafts of each rolling drum and each pressing roller are inserted into a rolling drum installation plate respectively; a driving shaft with threads is installed at the center of a bottom supporting plate; a driving shaft gear is fixedly connected with the driving shaft in a coaxialmode; a motor gear is directly engaged with the driving shaft gear; and a motor of the mechanism is installed on the upper surface of the bottom supporting plate, is located on the side of the driving shaft and is fixed on a bottom installation plate via screws. Through the arrangement that the extension and retraction of the three steel strips are synchronously driven by forward rotation and backward rotation of the motor; and a cable isolating layer and a cable recovering coil spring are used for releasing and retracting a cable of extensible arm tail end operation equipment which penetrates from the inside of the extensible arm.

Description

technical field [0001] The invention relates to a tape measure zipper type telescopic mechanical arm and a design method thereof, belonging to the field of mechanical design and control. Background technique [0002] The telescopic arm is an operating device that expands the working radius and reduces the storage volume through telescopic expansion. In the field of aerospace, the application of telescopic arms is very important. The telescopic arm can be used to detect and maintain the remote end of the spacecraft (such as solar panels), assist astronauts to work outside the cabin, and guide the rendezvous and docking of the spacecraft. Therefore, the telescopic arm is an important tool for performing space missions. [0003] The existing traditional telescopic arms have limitations in terms of telescopic arms and length-to-mass ratio, which will consume too much storage space and carrying mass of the rocket, and are not suitable for application in the aerospace field. In...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J18/02B25J19/00G06F30/17G06F30/20G06T7/00
CPCB25J18/025B25J19/00G06T7/0004G06F30/17G06F30/20
Inventor 刘小明苑会宁刘贵荣姜亮
Owner BEIHANG UNIV