Integrated device for assembly and testing of locking mechanisms of space station manipulator arms

Abstract

The present invention provides an integrated assembly and testing device for a locking mechanism of a space station manipulator, which belongs to the field of spacecraft technology, and includes a limiter and a base, wherein the limiter is fixedly locked to one end of the base by screws; the limiter serves as a positioning reference for locking the locking mechanism in place and a reference for height measurement; the base serves as a guide rail installation and test reference in the end locking mechanism; and serves as an installation reference for a fixed bracket; the base is rotatably connected to an end of the base away from the limiter, and the gear cooperates with a lead screw in the locking mechanism to drive the locking claw in the locking mechanism to move to the front end face of the limiter for positioning, and the front end face is arranged higher than the upper end face of the base. The present invention integrates assembly, testing, and running-in, is convenient and quick to operate, and improves work efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft and relates to an integrated assembly and testing device for a locking mechanism of a mechanical arm of a space station. Background Art

[0002] End locking mechanisms are installed at both ends of the space station's robotic arm, and four sets of locking mechanisms are installed at one end. Through the four sets of locking mechanisms, under the control of the control system, synchronous functional movements are performed to achieve the capture, dragging, locking, and electrical connection of the cooperative target, and at the same time, the unlocking and release functions of the target can be completed.

[0003] The locking mechanism at the end of the robot arm is composed of more than 60 parts, including lead screws, guide rails, disc springs, bearings, locking claws and other parts. The assembly accuracy of the overall mechanism requires parallelism of 0.02 and symmetry of 0.02 at all locations. The starting torque of the locking mechanism after assembly is required to be measured. After the overall assembly is completed, multiple locking and unlocking runs and tests of the locking claws are required. The end locking mechanism is installed on the outer cylinder of the robot arm. The mounting surface is an arc surface. The corresponding assembly reference surface of the end locking mechanism is also an arc surface. The arc angle is a small section surface of 35°. During assembly, it is impossible to directly use the arc surface as a reference for assembly measurement. After assembly, the lead screw and lead screw nut are inside the product. There is no interface and matching part for measuring the starting torque, so the starting torque measurement of the locking mechanism cannot be completed. Four sets of end locking mechanisms are installed on the robot arm at the same time, driven by a set of high-power motors. On the arm tube with a diameter of 500mm, four sets of locking mechanisms are driven to move at the same time. The entire set of robot arms is large in size and runs slowly, and it is impossible to achieve a single set of fast and multi-frequency locking and unlocking operations. Summary of the invention

[0004] The problem to be solved by the present invention is to provide an integrated assembly and testing device for a locking mechanism of a space station manipulator arm, which integrates assembly, testing and running-in into one, is convenient and quick to operate, and improves work efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an assembly and testing integrated device for a locking mechanism of a space station manipulator, comprising a limiter and a base, wherein the limiter is fixedly locked at one end of the base by screws;

[0006] The stopper serves as a positioning reference for the locking mechanism to be locked in place and a reference for height measurement;

[0007] The base serves as a guide rail installation and testing reference in the end locking mechanism; and serves as an installation reference for the fixed bracket. The end of the base away from the limit member is rotatably connected to a gear, and the gear cooperates with the lead screw in the locking mechanism to drive the locking claw in the locking mechanism to move to the front end face of the limit member for positioning, and the front end face is arranged higher than the upper end face of the base.

[0008] Furthermore, the limit member is U-shaped and is fixed to one end of the base by screws, and the limit member includes a limit boss, and the limit boss is arranged on the inner side of the U-shaped opening and the two are symmetrically arranged, and the limit boss is located above the base and serves as a positioning reference for the locking mechanism to lock into place, and the side of the limit member away from the base serves as a measurement reference plane.

[0009] Furthermore, the base is used for installing and positioning the fixed bracket, and the base includes a guide rail mounting plane, a left and right adjustment base plane and two front and rear limit mounting planes. The guide rail mounting plane is arranged above one end of the base close to the limit member, serving as a guide rail installation and testing reference. The two front and rear limit mounting planes are arranged on the side of the guide rail mounting plane away from the limit member to position and install the fixed bracket. The left and right adjustment base planes are arranged on one side of the base, and are used for symmetrical adjustment of the center of the fixed bracket.

[0010] Furthermore, the two front and rear limit mounting planes are formed by protrusions on the base, and a plurality of first mounting holes are provided between the two front and rear limit mounting planes for fixed connection of the fixed bracket.

[0011] Furthermore, the flatness, verticality and parallelism of the guide rail installation plane, the left and right adjustment base planes and the two front and rear limit installation planes are all within 0.01 mm.

[0012] Furthermore, the lower part of the gear is embedded in the base, and a bearing mounting seat is arranged above the gear. A second mounting hole is also arranged at the upper end of the base. The second mounting hole is used to fix and lock the bearing mounting seat of the base. The bearing mounting seat cooperates with the screw thread and supports it. The gear is embedded in the bearing mounting seat and cooperates with the screw.

[0013] Furthermore, a slider is provided at the end of the screw away from the gear. When the screw rotates, the slider pushes the locking claw to move. After reaching the limit piece, the locking claw is limited, and the disc spring in the locking structure is compressed into place. The screw rotates in the opposite direction, the slider moves in the opposite direction, the locking claw retreats, and the disc spring is released.

[0014] Furthermore, a main shaft is coaxially arranged with the gear, a rotary wrench is connected to one end of the main shaft away from the gear, a starting torque dial is provided on the side of the rotary wrench away from the main shaft, and the starting torque dial is used for starting torque conversion measurement.

[0015] Furthermore, the gear and the main shaft rotate coaxially through a flat key, the gear is rotatably connected relative to the base through a bearing structure, the main shaft and the rotary wrench rotate coaxially through a regular polygon structure, and the starting torque dial is fixedly arranged with the rotary wrench.

[0016] Furthermore, a counterweight and a test rope are arranged in cooperation with the starting torque dial, and the outer ring of the starting torque dial is provided with a fixed groove, the test rope is wound in the groove and is wound at least once, and one end is fixed or pressed on the starting torque dial, and the other end is connected downward to the counterweight.

[0017] Compared with the prior art, the present invention has the following advantages and positive effects.

[0018] 1. The present invention integrates assembly, testing and running equipment into one, converts the inferior arc surface reference into a cubic vertical plane, and uses the cubic vertical plane as the reference for assembly, adjustment and testing; transfers the rotation of the lead screw inside the mechanism to the outside of the mechanism through the gear for corresponding testing; and drives the mechanism to perform repeated locking and unlocking movements by rotating the gear, thus realizing a single-component, operable, fast and convenient running test;

[0019] 2. The present invention can make the end locking mechanism separate from the installation reference of the large-scale mechanical arm tube of more than ten meters during the assembly process, so as to achieve the characteristics of mobility, small assembly space and convenient operation;

[0020] 3. The present invention uses three reference planes, namely, the base rail installation plane, the left and right adjustment base planes, and the two front and rear limit installation planes, through reference conversion, and the flatness, verticality, and parallelism are all required to be within 0.01 mm, to achieve the measurement and adjustment of the spatial symmetry and parallelism of the locking mechanism, and meet the requirements of symmetry of 0.02 mm and parallelism of 0.02 mm for the locking mechanism;

[0021] 4. The locking mechanism in the present invention realizes the clamping force through 8 groups of disc springs. The pressure is 4750N when compressed by 3mm. In the absence of motor drive, the disc spring is compressed by driving the lead screw through gears, which is convenient for testing and adjusting the pre-compression of the disc spring and the compression distance of the locking claw in place. The internal movement is transferred to the external measurable part through gear transmission, realizing the test of the starting torque of the lead screw inside the locking mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0023] Figure 1 It is a structural schematic diagram of an integrated device for assembling and testing a locking mechanism of a space station manipulator applied to the present invention;

[0024] Figure 2 It is a structural schematic diagram of the assembly and testing integrated device of the locking mechanism of the space station manipulator applied to the present invention and the use of the locking mechanism in conjunction with the locking mechanism;

[0025] Figure 3This is an exploded view of the assembly and testing integrated device of the present invention applied to the locking mechanism of the space station manipulator;

[0026] Figure 4 It is a structural schematic diagram of the position limiting member of the present invention;

[0027] Figure 5 It is a structural schematic diagram of the base of the present invention;

[0028] Figure 6 It is a cross-sectional view of the integrated assembly and testing device of the present invention applied to the locking mechanism of the space station manipulator arm;

[0029] Figure 7 It is a schematic diagram of the first step of the actual installation process of the integrated assembly and testing device for the locking mechanism of the space station manipulator of the present invention;

[0030] Figure 8 It is a schematic diagram of the second step in the actual installation process of the integrated assembly and testing device for the locking mechanism of the space station manipulator of the present invention;

[0031] Fig. 9 It is a schematic diagram of the third step in the actual installation process of the integrated assembly and testing device for the locking mechanism of the space station manipulator of the present invention;

[0032] Fig.10 It is a schematic diagram of the fourth step in the actual installation process of the integrated assembly and testing device for the locking mechanism of the space station manipulator according to the present invention. Description of the drawings:

[0034] 1. Limiting piece; 2. Base; 3. Bearing 6002; 4. Gear; 5. Bearing 6005; 6. Flat key; 7. Spindle; 8. Gasket; 9. Rotating wrench; 10. Starting torque dial; 11. Limiting boss; 12. Measuring reference plane; 13. Front end face; 21. Guide rail mounting plane; 22. Front and rear limiting mounting plane; 23. Left and right adjustment reference plane; 24. First mounting hole; 25. Second mounting hole; 26. First bearing hole; 27. Mounting slot; 28. Second bearing hole; 29. ​​Shaft hole; 31. Bearing mounting seat; 32. Screw; 33. Fixed bracket; 34. Locking claw; 35. Disc spring. DETAILED DESCRIPTION

[0035] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0036] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0037] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0038] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0039] like Figure 1-Figure 10 As shown, the present invention is an integrated assembly and testing device for a locking mechanism of a space station manipulator, comprising a stopper 1 and a base 2, wherein the stopper 1 is fixedly locked at one end of the base 2 by screws;

[0040] Limiting member 1, serving as a positioning reference for the locking mechanism to be locked in place and a reference for height measurement;

[0041] The base serves as a guide rail installation and test reference in the end locking mechanism; it serves as an installation reference for the fixed bracket 33; the end of the base away from the limit member 1 is rotatably connected to a gear 4, and the gear 4 cooperates with the lead screw 32 in the locking mechanism to drive the locking claw 34 in the locking mechanism to move to the front end face 13 of the limit member 1 for positioning, and the front end face 13 is set higher than the upper end face of the base.

[0042] Preferably, the limit member 1 is U-shaped and is fixed to one end of the base 2 by screws. The limit member 1 includes a limit boss 11. The limit boss 11 is arranged on the inner side of the U-shaped opening and the two are symmetrically arranged. The limit boss is located above the base 2 and serves as a positioning reference for the locking mechanism to lock into place. The side of the limit member 1 away from the base serves as a measurement reference plane 12.

[0043] Preferably, the base is used for the installation and positioning of the fixed bracket 33. The base includes a guide rail mounting plane 21, a left and right adjustment base plane and two front and rear limit mounting planes 22. The guide rail mounting plane 21 is arranged above one end of the base close to the limit member 1 and serves as a guide rail installation and test reference. The two front and rear limit mounting planes 22 are arranged on the side of the guide rail mounting plane 21 away from the limit member 1 to position and install the fixed bracket 33. The left and right adjustment base planes are arranged on one side of the base and are used for the center-symmetrical adjustment of the fixed bracket 33.

[0044] Preferably, the two front and rear limit mounting planes 22 are formed by protrusions on the base, and a plurality of first mounting holes 24 are provided between the two front and rear limit mounting planes 22 for fixed connection of the fixing bracket 33 .

[0045] Preferably, the flatness, verticality and parallelism of the guide rail mounting plane 21, the left and right adjustment base planes and the two front and rear limit mounting planes 22 are all within 0.01 mm, so as to achieve the measurement and adjustment of the spatial anisotropic symmetry and parallelism of the locking mechanism and meet the requirements of symmetry of 0.02 mm and parallelism of 0.02 mm for the locking mechanism.

[0046] Preferably, a mounting groove 27 is provided at a position corresponding to the base and the gear 4, the lower part of the gear 4 is embedded in the base, a bearing mounting seat 31 is provided above the gear 4, and a second mounting hole 25 is also provided at the upper end of the base. The second mounting hole 25 is used to fix and lock the bearing mounting seat 31 of the base. The bearing mounting seat 31 is threadedly matched with the screw 32 and supports it. The gear 4 is embedded in the bearing mounting seat 31 and cooperates with the screw 32.

[0047] Preferably, a slider is provided at the end of the screw 32 away from the gear 4. When the screw 32 rotates, the slider pushes the locking claw 34 to move. After reaching the limit member 1, the locking claw 34 is limited, and the disc spring 35 in the locking structure is compressed into place. The screw 32 rotates in the opposite direction, the slider moves in the opposite direction, the locking claw 34 retreats, and the disc spring 35 is released. The running-in test can be completed by rotating the handle in both forward and reverse directions and repeating the above movements multiple times.

[0048] Preferably, a main shaft 7 is coaxially arranged with the gear 4, and a sealing gasket 8 is provided between the main shaft 7 and the base to play a certain protective role and prevent the entry of impurities. A rotating wrench 9 is connected to the end of the main shaft 7 away from the gear 4, and a starting torque dial 10 is provided on the side of the rotating wrench 9 away from the main shaft 7. The starting torque dial 10 is used for starting torque conversion measurement; more preferably, an axial hole 29 is provided at a position corresponding to the base and the main shaft 7 to facilitate the installation of the entire structure.

[0049] Preferably, the gear 4 and the main shaft 7 rotate coaxially through the flat key 6, the gear 4 is connected to the base through a bearing structure, the main shaft 7 and the rotary wrench 9 rotate coaxially through a regular polygon structure, and the starting torque dial 10 is fixedly arranged with the rotary wrench 9. In the present application; more preferably, a first bearing hole 26 and a second bearing hole 28 are provided on the base, the main shaft 7 is located at the front end of the gear 4 and cooperates with the base through a pair of bearings 60023, and the bearings 60023 are arranged in the first bearing hole 26, the main shaft 7 is located at the rear end of the gear 4 and cooperates with the base through a pair of bearings 60055, and the bearings 60055 are arranged in the second bearing hole 28, the main shaft 7 serves as the power for the rotation of the gear 4, the bearing structure has low cost and high stability, and bearing mounting holes are provided at positions corresponding to the base and the bearings.

[0050] Preferably, the counterweight and test rope are arranged in cooperation with the starting torque dial 10, and the outer ring of the starting torque dial 10 is provided with a fixed groove, the test rope is wound in the groove and is wound at least once, and one end is fixed or pressed on the starting torque dial 10, and the other end is downwardly connected to the counterweight, and the number of counterweights is adjusted until the starting torque dial 10 just rotates. The starting torque of the locking mechanism can be calculated by the weight and the radius of the starting torque dial 10; more preferably, when the end of the test rope is fixed, it can be done by gluing, or the end can be pressed and overlapped during the second circle to ensure that the end is fixed.

[0051] In actual use, Figure 7 As shown, a set of guide rails are installed on the base guide rail installation plane 21. The bottom plane and the left and right side surfaces are used as references, and the height gauge is used for detection to adjust the parallelism of the guide rail installation and the symmetry based on the two side surfaces to meet the requirement of 0.02mm; Figure 8 As shown, the bearing mounting seat 31 takes the boss on the base forming the limit mounting plane as the mounting reference, and by adjusting the gasket 8, the two side surfaces are used as the measurement reference, and the symmetry of the bearing mounting seat 31 based on the two side surfaces is adjusted to meet the requirement of 0.02mm; Fig. 9 As shown, the mounting seat of the fixed bracket 33 takes the boss on the base forming the limit mounting plane as the mounting reference, and by adjusting the gasket 8, the two side surfaces are used as the measurement reference to adjust the symmetry of the fixed bracket 33 based on the two side surfaces to meet the requirement of 0.02mm; Fig.10As shown, the gear 4 rotates to drive the lead screw 32 to move, and the locking claw 34 moves to the locking claw 34 in place limiting boss 11, compressing the disc spring 35, and taking the front end plane of the locking claw 34 in place limiting member 1 as the measurement reference, the height difference before and after the compression of the disc spring 35 is measured, and the shim 8 is adjusted to finally meet the 3mm compression requirement of the disc spring 35 to complete the assembly process. After the assembly is completed, during the test process, the lead screw 32 rotates, and the slider pushes the locking claw 34 to move. After the locking claw 34 is limited by the limiting member 1, the disc spring 35 in the locking structure is compressed into place, the lead screw 32 rotates in the opposite direction, the slider moves in the opposite direction, the locking claw 34 retreats, and the disc spring 35 is released. By rotating the handle in both forward and reverse directions and repeating the above movements multiple times, the running-in test can be completed.

[0052] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. An integrated device for assembling and testing the locking mechanism of a space station manipulator, characterized in that: It comprises a limiting member and a base, wherein the limiting member is fixedly locked at one end of the base by screws; The stopper serves as a positioning reference for the locking mechanism to be locked in place and a reference for height measurement; The base is used as a guide rail installation and test reference in the end locking mechanism; and as an installation reference for the fixed bracket; the end of the base away from the limiter is rotatably connected to a gear, and the gear cooperates with the lead screw in the locking mechanism to drive the locking claw in the locking mechanism to move to the front end face of the limiter for positioning, and the front end face is arranged higher than the upper end face of the base; The base is used for installation and positioning of the fixed bracket. The base includes a guide rail installation plane, a left and right adjustment base plane and two front and rear limit installation planes. The guide rail installation plane is arranged above one end of the base close to the limiter and serves as a guide rail installation and test reference. The two front and rear limit installation planes are arranged on the side of the guide rail installation plane away from the limiter to position and install the fixed bracket. The left and right adjustment base planes are arranged on one side of the base and are used for adjusting the center symmetry of the fixed bracket. Through reference conversion, the inferior arc surface reference is converted into a cubic vertical plane, and the cubic vertical plane is used as a reference for installation, adjustment and detection to realize the measurement and adjustment of the spatial non-symmetrical symmetry and parallelism of the locking mechanism; The lower part of the gear is embedded in the base, and a bearing mounting seat is arranged above the gear. A second mounting hole is also arranged at the upper end of the base. The second mounting hole is used to fix and lock the bearing mounting seat of the base. The bearing mounting seat cooperates with the screw thread and supports it. The gear is embedded in the bearing mounting seat and cooperates with the screw. A slider is provided at the end of the lead screw away from the gear. When the lead screw rotates, the slider pushes the locking claw to move. After reaching the limiter, the locking claw is limited, and the disc spring in the locking structure is compressed into place. When the lead screw rotates in the opposite direction, the slider moves in the opposite direction, the locking claw retreats, and the disc spring is released. A main shaft is coaxially arranged with the gear, and a rotary wrench is connected to one end of the main shaft away from the gear. A starting torque dial is provided on the side of the rotary wrench away from the main shaft, and the starting torque dial is used for starting torque conversion measurement; In the absence of motor drive, the lead screw is driven by gears to compress the disc spring, test and adjust the disc spring pre-compression and the compression distance of the locking claw, transfer the rotation of the lead screw inside the mechanism to the outside of the mechanism through gears, and drive the mechanism to perform repeated locking and unlocking movements through gear transmission, transferring the internal movement to an external measurable part to realize the test of the starting torque of the lead screw inside the locking mechanism.

2. The integrated assembly and testing device for the locking mechanism of a space station manipulator according to claim 1 is characterized in that: The limit member is U-shaped and is fixed to one end of the base by screws. The limit member includes a limit boss, which is arranged on the inner side of the U-shaped opening and the two are symmetrically arranged. The limit boss is located above the base and serves as a positioning reference for the locking mechanism to lock into place. The side of the limit member away from the base serves as a measurement reference plane.

3. The integrated assembly and testing device for the locking mechanism of a space station manipulator according to claim 1 is characterized in that: The two front and rear limit mounting planes are formed by protrusions on the base, and a plurality of first mounting holes are arranged between the two front and rear limit mounting planes for fixed connection of the fixing bracket.

4. The integrated assembly and testing device for the locking mechanism of a space station manipulator according to claim 1 is characterized in that: The flatness, verticality and parallelism of the guide rail installation plane, the left and right adjustment base planes and the two front and rear limit installation planes are all within 0.01mm.

5. The integrated assembly and testing device for the locking mechanism of a space station manipulator according to claim 1 is characterized in that: The gear and the main shaft rotate coaxially via a flat key, the gear is rotationally connected relative to the base via a bearing structure, the main shaft and the rotary wrench rotate coaxially via a regular polygon structure, and the starting torque dial is fixedly arranged with the rotary wrench.

6. The integrated assembly and testing device for a locking mechanism of a space station manipulator according to claim 1, characterized in that: A counterweight and a test rope are arranged in cooperation with the starting torque disc. The outer ring of the starting torque disc is provided with a fixed groove. The test rope is wound in the groove and is wound at least once. One end of the test rope is fixed or pressed on the starting torque disc, and the other end is connected downward to the counterweight.

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