Unlocking limiting mechanism for space manipulator operation

Abstract

The invention provides an unlocking limiting mechanism for space manipulator operation, and belongs to the technical field of space station construction. The mechanism is composed of a driven end and a driving end. The side face of the passive end butt joint rod is a quartic curve rotating curved surface, the rod head is spherical and has a guiding function, meanwhile, stress peaks and surface scratches are avoided in a uniform contact mode, and the separation process after unlocking is smoother; the conical hole of the butt joint rod can provide axial pre-tightening load after being matched with the driving end latch pin, and has the characteristics of interference prevention and escape prevention. The friction limiting unlocking assembly and the mechanical limiting unlocking assembly both have unlocking and unlocking limiting functions, meanwhile, the unlocking process and the separation process are decoupled, and repeated connection can still be achieved after separation; a mechanism which is easy to operate, safe, reliable, reusable, high in adaptability and smooth in separation is provided for maintenance, disassembly and replacement of the extravehicular load, in-orbit maintenance and assembly of the extravehicular load are facilitated, and technical support is provided for the field.

Description

technical field [0001] The invention relates to the technical field of space station construction, in particular to an unlocking and limiting mechanism for the operation of a space manipulator. Background technique [0002] The detection range and resolution of extravehicular loads and other performance indicators continue to improve, making its overall structure size continuously increase, often exceeding the limit of the carrying envelope. Generally, the extravehicular payload is connected to the spacecraft through a connecting device to carry out the detection of the extravehicular load. Assemble. The device should have a repeatable connection function to meet the requirements of unlocking, releasing and repeated connection under the failure of the external load and the replacement task. With the development of manipulator technology, the on-orbit assembly of external loads through manipulator-assisted operation has gradually been widely used, and a connection mechanism ...

AI Technical Summary

Problems solved by technology

[0003] At present, the relevant technologies related to the connection mechanism between the extravehicular load and the spacecraft in China are as follows: an exposed load support system for the spacecraft, through the guiding structure and auxiliary locking device on the hollow shell, the locking and unlocking functions are realized , but it does not have the function of unlocking the limit position, and it occupies a large volume. It is manually operated and the operation process is relatively complicated. Therefore, this mechanism cannot meet the technical requirements for the connection between the extravehicular payload and the spacecraft; The flexible docking device of the mechanical arm of the hinge mechanism realizes the connection function of the active and passive ends through the Hooke hinge mechanism, and realizes the reset buffer function through the buffer spring and the return spring. However, the device requires high mechanical strength during the flexible docking and separation process. The accuracy of the arm control system is high, and the active and passive ends are in the form of flexible connections, so this mechanism cannot meet the rigidity requirements for the connection between the payload outside the cabin and the spacecraft.

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