A multi-degree-of-freedom flexible self-calibrating petal docking device

Abstract

The present invention provides a multi-degree-of-freedom flexible self-calibrating petal docking device, which includes an upper top seat, a plurality of docking petals A, a plurality of docking petals B and a lower base. The plurality of docking petals A are uniformly arranged on one side wall of the upper top seat along the circumferential direction of the upper top seat, and the plurality of docking petals B are uniformly arranged on one side wall of the lower base along the circumferential direction of the lower base, and the number of the docking petals A and the docking petals B corresponds one by one. Among them, the upper top seat and the lower base are connected to each other so that the docking petals A and the docking petals B are in contact with each other for calibration in multiple degrees of freedom. The number of the docking petals A is four pairs. Among them, the first oblique angle between the docking petal A and the upper top seat is 45°, which solves the problems in the prior art that if the gap between the male end and the female end of the docking is too large, the final docking may fail, and if the gap between the male end and the female end of the docking is too small, the docking may not be aligned during movement.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical correction, and particularly relates to a multi-degree-of-freedom flexible self-correcting petal docking device. Background Art

[0002] At present, precision linear docking mechanisms mainly achieve docking by improving the machining accuracy of the male and female ends and the assembly accuracy, or by using a conical surface for correction. During the docking process, high machining accuracy and installation accuracy are required, which impose extremely high requirements on the assembly skills of workers and the machining accuracy of parts.

[0003] As is well known, during the docking process, there may be offsets in multiple degrees of freedom. If a conical surface is used for alignment, there may be a poor force condition and scratching of the surface of the docked workpiece, which poses a challenge to occasions that require precise docking.

[0004] For occasions where a moving object needs to be docked, the requirements for the machining accuracy of the docked object are even higher. In the prior art, if the gap between the male and female ends of the docking is too large or too small, and only one direction can be calibrated, then the docking may not be properly aligned during movement. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention is to provide a multi-degree-of-freedom flexible self-correcting petal docking device, which can solve the problems that if the gap between the male and female ends of the docking in the prior art is too large, it may lead to the final docking failure, and if the gap between the male and female ends of the docking is too small, the docking may not be properly aligned during movement.

[0006] To solve the above problems, the present invention provides a multi-degree-of-freedom flexible self-correcting petal docking device, including an upper top seat, a plurality of docking petals A, a plurality of docking petals B, and a lower base;

[0007] A plurality of docking petals A are uniformly arranged on a side wall of the upper top seat along the circumferential direction of the upper top seat, and a plurality of docking petals B are uniformly arranged on a side wall of the lower base along the circumferential direction of the lower base. The number of docking petals A and docking petals B corresponds one by one. Among them, the upper top seat and the lower base are connected to each other so that the docking petals A and the docking petals B come into contact with each other for correction in multiple degrees of freedom.

[0008] Optionally, the number of docking petals A is four pairs. Among them, the angle between the docking petal A and the X-axis is the first oblique angle, and the first oblique angle is 45°. The radian between the docking petal A and the Y-axis is the first radian, and the first radian is 120°.

[0009] Optionally, the number of docking petals B is four pairs. Among them, the angle between the docking petal B and the X-axis is the second oblique angle, and the second oblique angle is 60°. The radian between the docking petal B and the Y-axis is the second radian, and the second radian is 120°.

[0010] Optionally, the docking petals A and the docking petals B are in contact with each other to form a third oblique angle, and the third oblique angle is greater than the equivalent friction angle of the two materials.

[0011] Optionally, the docking petals B are provided with a linear guiding section along the Z-axis direction, and the linear guiding section is greater than 6 mm.

[0012] Optionally, the multiple degrees of freedom include translation along the X-axis or the Y-axis and / or rotation about the X-axis and / or rotation about the Y-axis and / or rotation about the Z-axis.

[0013] Optionally, the major axis ratio of the projection length of the force-bearing surface of the docking petals A in the Y-plane and the projection length in the Z-plane is less than 5, and the major axis ratio of the projection length of the force-bearing surface of the docking petals B in the Y-plane and the projection length in the Z-plane is less than 5.

[0014] Optionally, the petal docking device further includes an upper top seat mounting hole, a lower base mounting hole, and a lower base positioning straight port;

[0015] The upper top seat mounting hole is provided on the circumferential edge of the upper top seat, the lower base mounting hole is provided on the circumferential edge of the lower base, and the lower base positioning stop port is provided in the middle of the lower base for calibration and positioning.

[0016] Advantageous Effects

[0017] In the embodiment of the present invention, a multi-degree-of-freedom flexible self-calibrating petal docking device is provided. Through multiple pairs of docking petals A mounted on the upper top seat and multiple pairs of docking petals B mounted on the lower base, that is, through the mutual docking and contact of the docking petals A and the docking petals B, a third oblique angle is formed, thereby reducing the docking error and enabling use on a certain planet, and further solving the problem in the prior art that if the gap between the male and female ends of the docking is too large, the final docking may fail, and if the gap between the male and female ends of the docking is too small, the docking may not be aligned during movement.

[0018] Advantages:

[0019] 1. The structure is simple. By using four pairs of evenly distributed petal docking, the docking between two components that need to move relative to each other becomes simple.

[0020] 2. It can achieve self-calibration of five degrees of freedom of X, Y, Rx, Ry, and Rz, avoiding scratching important surfaces during the docking of components. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a three-dimensional structural schematic diagram before docking in an embodiment of the present invention;

[0022] Figure 2 is a front view structural schematic diagram before docking in an embodiment of the present invention;

[0023] Figure 3 Schematic diagram of the contact self - calibration force of docking petal A and docking petal B according to an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the upward - looking structure of docking petal A according to an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of the downward - looking structure of docking petal B according to an embodiment of the present invention;

[0026] Figure 6 Schematic diagram of the translational calibration structure in the X and Y directions according to an embodiment of the present invention;

[0027] Figure 7 Schematic diagram of the rotational calibration structures of Rx and Ry according to an embodiment of the present invention;

[0028] Figure 8 Schematic diagram of the rotational calibration structure of Rz according to an embodiment of the present invention;

[0029] Figure 9 Schematic diagram of the experimental structure according to an embodiment of the present invention.

[0030] The reference signs are shown as:

[0031] 1. Upper top seat mounting hole; 2. Upper top seat; 3. Docking petal A; 4. Docking petal B; 5. Lower base; 6. Lower base positioning straight port; 7. Lower base mounting hole. Detailed implementation manners

[0032] With reference to Figures 1 to 9 As shown, according to an embodiment of the present invention, a multi - degree - of - freedom flexible self - calibration petal docking device, please refer to Figure 1, including an upper top seat 2, a plurality of docking petals A3, a plurality of docking petals B4, a lower base 5, an upper top seat mounting hole 1, a lower base mounting hole 7, and a lower base positioning straight port 6; the plurality of docking petals A3 are uniformly arranged on one side wall of the upper top seat 2 along the circumferential direction of the upper top seat 2, the plurality of docking petals B4 are uniformly arranged on one side wall of the lower base 5 along the circumferential direction of the lower base 5, and the number of the docking petals A3 and the docking petals B4 corresponds one by one. Among them, the upper top seat 2 and the lower base 5 are connected to each other so that the docking petals A3 and the docking petals B4 are in contact with each other for multi-degree-of-freedom correction. The upper top seat mounting hole 1 is arranged on the circumferential edge of the upper top seat 2, the lower base mounting hole 7 is arranged on the circumferential edge of the lower base 5, and the upper top seat mounting hole 1 and the lower base mounting hole 7 are arranged in one-to-one correspondence. The lower base positioning stop port 6 is arranged in the middle of the lower base 5 for calibration and positioning. By docking the upper top seat 2 and the lower base 5 with each other, that is, the plurality of docking petals A3 on the upper top seat 2 and the plurality of docking petals B4 on the lower base 5 are in contact with each other, thereby realizing multi-degree-of-freedom self-calibration. Among them, the lower base positioning stop port 6 is used to position the lower base 5, that is, to fix and position the lower base 5, which is convenient for the upper top seat 2 to perform self-calibration. Furthermore, the docking is simple and the calibration is accurate. At the same time, it solves the problems in the prior art that if the gap between the male end and the female end of the docking is too large, the final docking may fail, and if the gap between the male end and the female end of the docking is too small, the docking may not be aligned during movement.

[0033] Further, please refer to Figure 2 and Figure 4 , the docking petal A3 is integrally installed with the upper top seat 2. The docking petal A3 can be directly welded to the upper top seat 2, or can be connected to the upper top seat 2 by means of threaded connection or other mechanical connection methods, as long as the docking petal A3 and the upper top seat 2 are fixedly connected.

[0034] Further, the included angle between the docking petal A3 and the X-axis is the first oblique angle, and the first oblique angle is 45°. Among them, the docking petal A3 is fixedly connected to the upper top seat 2, that is, the included angle between the docking petal A3 and the horizontal plane of the upper top seat 2 is the first oblique angle, which is 45°, and the horizontal plane is parallel to the X-axis. The radian between the docking petal A3 and the Y-axis is the first radian, and the first radian is 120°. Among them, the included angle between the docking petal A3 and the vertical plane of the upper top seat 2 is the first radian, which is 120°, and the vertical plane is parallel to the Y-axis.

[0035] Further, the docking petal B4 is integrally installed with the lower base 5. The docking petal B4 can be directly welded to the lower base 5, or can be connected to the lower base 5 by means of threaded connection or other mechanical connection methods, as long as the docking petal B4 and the lower base 5 are fixedly connected.

[0036] Further, the included angle between the docking petal B4 and the X-axis is the second oblique angle, and the second oblique angle is 60°. Among them, the docking petal B4 is fixedly connected to the lower base 5, that is, the included angle between the docking petal B4 and the horizontal plane of the lower base 5 is the second oblique angle, which is 60°, and the horizontal plane is parallel to the Y-axis. The radian of the docking petal B4 and the Y-axis is the second radian, and the second radian is 120°. Among them, the included angle between the docking petal B4 and the vertical plane of the lower base 5 is the second radian, which is 120°, and the vertical plane is parallel to the Y-axis.

[0037] Further, the shape of the lower base 5 is symmetrically arranged along the center line and is a polygon, where the polygon can be an annular shape, a square or a rectangle.

[0038] Further, the shape of the upper top seat 2 can be symmetrically arranged along the center line or partially symmetrically arranged. According to different usage scenarios and higher calibration requirements for a certain part, it can be a rectangle. The shape of the upper top seat 2 is also a polygon, where the polygon can be an annular shape, a square or a rectangle.

[0039] Further, the upper top seat mounting holes 1 can be symmetrically arranged on the upper top seat 2 or asymmetrically arranged on the upper top seat 2, and can be adjusted to adapt to specific docking occasions.

[0040] Further, please refer to Figure 2 and Figure 5 , the lower base mounting holes 7 are for installing the docking petal B4 on a relatively moving object. At the same time, the lower end driving component and the docking petal B4 are accurately positioned and fixed through the lower base positioning straight port 6, improving the stability and accuracy of docking and installation, and at the same time improving the self-calibration accuracy.

[0041] Further, polytetrafluoroethylene is applied to the contact calibration surface of the docking petal A3 to form self-lubrication, and the coating thickness is not less than 0.5 mm. Polytetrafluoroethylene is applied to the contact calibration surface of the docking petal B4 to form self-lubrication, and the coating thickness is not less than 0.5 mm.

[0042] Further, the major axis ratio of the projection length of the force-bearing surface of the docking petal A3 in the Y plane and the projection length in the Z plane is less than 5, and the major axis ratio of the projection length of the force-bearing surface of the docking petal B4 in the Y plane and the projection length in the Z plane is less than 5. Among them, the major axis ratio of the longest end and the shortest end of the force-bearing surface of the docking petal A3 is less than 5, and the major axis ratio of the longest end and the shortest end of the force-bearing surface of the docking petal B4 is less than 5, which can avoid the buckling effect of the compression bar.

[0043] Further, the docking petal A3 has a first oblique angle and a first radian, and the number is four pairs, that is, it is evenly arranged on the edge of the upper top seat 2 along the circumferential direction of the upper top seat 2, that is, the horizontal included angle between each pair of docking petals A3 is 90 degrees.

[0044] Further, the docking petals B4 are provided with a second bevel angle and a second radian, and the number thereof is four pairs, that is, they are evenly arranged on the edge of the lower base 5 along the circumferential direction of the lower base 5, that is, the horizontal included angle between each pair of docking petals B4 is 90 degrees.

[0045] Further, a third bevel angle is formed by the cooperation between the docking petals A3 and the docking petals B4, that is, the size and angle of the third bevel angle are adjusted according to the actual use environment. The third bevel angle is greater than the equivalent friction angle of the material.

[0046] Further, taking polytetrafluoroethylene as an example, the friction coefficient is 0.1 and the equivalent friction angle is 5.7 degrees. Therefore, the third bevel angle only needs to be greater than 5.7 degrees. Here, to avoid excessive force, it can be taken as greater than 20 degrees.

[0047] Further, the first bevel angle between the docking petals A3 and the upper top seat 2 is 45°, and the first radian between the docking petals A3 and the upper top seat 2 is 120°. The second bevel angle between the docking petals B4 and the lower base 5 is 60°, and the second radian between the docking petals B4 and the lower base is 120°.

[0048] Further, the docking petals B4 are provided with a linear guiding section along the Z-axis direction, and the linear guiding section is greater than 6 mm.

[0049] Place the docking petals B4 on the workpiece to be calibrated, and then the docking petals A3 and the docking petals B4 are docked with each other. When a driving force is applied to the docking petals B4, if the two docking petals B4 and the docking petals A3 are not within a certain range, the docking petals B4 and the docking petals A3 will perform self-calibration. The certain range is that the error within the range of translational movement in the X and Y directions can be calibrated within ±1.72 mm; the calibration range for rotation around X or around Y is within ±4°; the rotational error around the Z-axis is within ±1.8°; for the comprehensive error, due to different combinations, the calibration range is also different. Here, it is assumed that there are errors of 0.8 mm along X and Y respectively, then the calibration range around Z is ±0.5°.

[0050] As an implementation method, please refer to Figure 6 , it can calibrate the translational movement in the X and Y directions, and rely on the inclined surfaces of the symmetric docking petals B for guiding calibration. At this time, no other directions need to be calibrated.

[0051] As another implementation method, please refer to Figure 7 , when there is an offset in the rotation along X or Y of the two objects to be docked, it can be calibrated by the inclined surface of the docking petals B and the docking petals A. When the inclined surface is completely lifted, since both the docking petals A and the docking petals B have a part of the linear guiding part, therefore, within a reasonable tolerance range, the angle calibration is achieved.

[0052] As another embodiment, please refer to Figure 8 , when the two objects to be docked rotate along the Z-axis, the correction at this time requires the cooperation of the petals in the X and Y directions for correction. A total of 5 degrees of freedom of offset correction can be achieved.

[0053] To prevent interference during installation, the upper top seat 2 and the lower base 5 can both remove the interfering parts according to specific situations.

[0054] To meet the docking requirements in different scenarios, the docking petals A3 are evenly distributed on the upper top seat 2. The sizes of the docking petals A3 in the X and Y directions can also be different, but the mating docking petals B4 need to be similarly trimmed and adjusted

[0055] Example:

[0056] For ease of description, words such as planet, planet soil, planet dust, etc. that appear later are replaced by star soil, planet, star dust, etc. For the first environment, taking a certain type of scientific payload equipment in a certain planet exploration project as an example, in an ultra-low temperature, vacuum, and unmanned environment, the docking of the furnace lid is carried out. The volatile preparation unit of the scientific payload needs to put the collected planet soil (hereinafter referred to as star soil) of a certain planet into the heating furnace. The tray where the collected star soil is located is not on the same line as the axis of the heating furnace and needs to be rotated first before docking can be carried out. As shown in the present invention Figure 9 , the heating furnace is fixed on the frame. After the sampling part receives the star soil from the sampling tube, taking the figure as an example, it rotates counterclockwise by 60 degrees, and then moves upward to send the sample into the heating furnace for component analysis. During this process, the rotational movement of the sampling part is driven by a motor to rotate. Therefore, after rotating 60 degrees, there are certain errors, such as deflection angles, etc. During the upward movement, the slider moves upward along the frame. Since it is necessary to consider the presence of dust, etc. in the environment of a certain planet, there is a gap between the slider and the frame. Therefore, during the upward movement, it is not necessarily possible to completely ensure movement on the same axis. However, when studying the heating of star soil components at ultra-low temperatures, it is necessary to ensure that the star soil is completely fed into the heating furnace part. Therefore, during the docking process, self-correction must be possible. Therefore, the docking petals A3 are installed on the heating furnace, and the docking petals B4 are installed on the sampling part.

[0057] In the embodiment, the possible deflections are: 1. Translation along the X and Y axes; 2. Rotation around the X axis; 3. Rotation around the Y axis; 4. Rotation around the Z axis; 5. Composite deflection of any 2 or more of 1 to 4; These errors can be corrected by the docking petals A3 and the docking petals B4. The specific correction process is as follows:

[0058] First, the working environment is a vacuum environment below -180°C. The external envelope size of the docking petal assembly is 60mm × 60mm × 30mm. The clearance for the sample receiving component to move along the Z-axis is ±30μm, and the docking accuracy is ±10μm. Here, the docking accuracy is explained, that is, finally Figure 9 after the sample receiving component in

[0059] is docked with the heating furnace, the relative error of their respective axes cannot exceed ±10μm;

[0060] 1. Error correction along X and Y

[0061] Theoretically, if the sample receiving component is completely biased to one side in the guidance of the frame, the possible deviation can reach 60μm, which is unacceptable for the docking accuracy of ±10μm. If the machining accuracy of the components is directly improved, on the one hand, the cost will be increased, and on the other hand, in the planetary environment, it is easy to accumulate stardust and cause jamming. Therefore, the docking petal assembly involved is used for docking. The distance between the two inner sides of the docking petal A3 is 26mm, and the distance between the two outer sides of the docking petal B4 is 26mm. Among them, the errors of the docking petal B4 and the docking petal A3 are repaired, and the relative error is ±5μm; when the error is 60μm, due to the angle of the docking petal B4 being 60 degrees, theoretically, the X or Y translation correction can be completed within a deviation of up to 1.72mm. Considering the machining errors and assembly errors of other components, the correction redundancy of 1.72mm here is sufficient to achieve the 60μm error correction.

[0062] 2. Error correction around the X-axis and around the Y-axis

[0063] The specific process will not be elaborated here. The correction method is similar to the above. Here, only the correctable redundancy is analyzed. When the sample receiving component rotates and generates a rotational error, theoretically, the maximum error that can be corrected is ±4° through the swing angle;

[0064] 3. Error correction around the Z-axis

[0065] The specific process will not be elaborated here. The calibration method is similar to the above. Here, only the redundant amount that can be calibrated is analyzed. When an error around the Z-axis occurs, by swinging the angle, theoretically, the maximum error that can be calibrated is ±1.8°.

[0066] 4. Comprehensive error calibration

[0067] When there are more than two types of errors, the calibrated amount will change accordingly. Here, the calibration ability of the comprehensive error is analyzed. When the errors of translation along X and Y are 0.8 mm, the rotational error around Z can be calibrated by 0.5°. Therefore, this structure is fully capable of achieving a docking accuracy of ±10 μm.

[0068] In summary of the above analysis, without this structure, in the scenario of this embodiment, it is only theoretically feasible to improve the machining accuracy so that the final cumulative assembly accuracy and error accuracy are less than ±10 μm. Due to the existence of a large number of stardust particles in a certain planetary environment, under solar radiation, these stardust carry a large amount of charge and are extremely easy to adsorb on the equipment. Therefore, it is very easy to have the accumulation of stardust, which will further lead to jamming. Therefore, this solution cannot be actually implemented. If the machining accuracy is processed according to the size of the redundant stardust, there will be at least an error of ±30 μm. Therefore, in the extreme case (moving to one side), there may be an error of ±60 μm in the relative position between the axis of the sampling part and the axis of the heating furnace. This error is unacceptable. However, by using the docking device designed by this solution, the docking accuracy can reach ±10 μm, and the actual docking range is much larger. Therefore, in addition to the errors mentioned in the embodiment, it can also calibrate the phenomenon of increased errors caused by vibrations during installation, launch from the earth, and entry into a certain planet, etc. This is the effect that can be achieved by this solution in the embodiment.

[0069] It is easy for those skilled in the art to understand that, on the premise of no conflict, the above advantageous methods can be freely combined and superimposed.

Claims

1. A multi-degree-of-freedom flexible self-calibrating petal docking device, characterized in that It includes an upper top seat (2), a plurality of docking petals A (3), a plurality of docking petals B (4), and a lower base (5); The plurality of docking petals A (3) are evenly arranged on one side wall of the upper top seat (2) along the circumferential direction of the upper top seat (2), and the plurality of docking petals B (4) are evenly arranged on one side wall of the lower base (5) along the circumferential direction of the lower base (5). The number of docking petals A (3) and docking petals B (4) corresponds one by one. Among them, the upper top seat (2) and the lower base (5) are connected to each other so that the docking petals A (3) and the docking petals B (4) are in contact with each other for correction in multiple degrees of freedom; The number of docking petals A (3) is four pairs. Among them, the angle between the docking petal A (3) and the X-axis is the first oblique angle, and the first oblique angle is 45°. The radian of the docking petal A (3) and the Y-axis is the first radian, and the first radian is 120°; The number of docking petals B (4) is four pairs. Among them, the angle between the docking petal B (4) and the X-axis is the second oblique angle, and the second oblique angle is 60°. The radian of the docking petal B (4) and the Y-axis is the second radian, and the second radian is 120°; The docking petals A (3) and the docking petals B (4) are in contact with each other to form a third oblique angle, and the third oblique angle is greater than the equivalent friction angle; The docking petal B (4) is provided with a linear guiding section along the Z-axis direction, and the linear guiding section is greater than 6 mm.

2. The multi-degree-of-freedom flexible self-calibrating petal docking device according to claim 1, characterized in that, The multiple degrees of freedom include translation along the X-axis or Y-axis and / or rotation around the X-axis and / or rotation around the Y-axis and / or rotation around the Z-axis.

3. The multi-degree-of-freedom flexible self-calibrating petal docking device according to claim 1, characterized in that, The ratio of the major axis to the minor axis of the projection length of the force-bearing surface of the docking petal A (3) in the Y plane and the projection length in the Z plane is less than 5, and the ratio of the major axis to the minor axis of the projection length of the force-bearing surface of the docking petal B (4) in the Y plane and the projection length in the Z plane is less than 5.

4. The multi-degree-of-freedom flexible self-calibrating petal docking device according to claim 1, wherein The petal docking device further includes an upper top seat mounting hole (1), a lower base mounting hole (7), and a lower base positioning straight port (6); The upper top seat mounting hole (1) is arranged on the circumferential edge of the upper top seat (2), the lower base mounting hole (7) is arranged on the circumferential edge of the lower base (5), and the lower base positioning stop port (6) is arranged in the middle of the lower base (5) for alignment and positioning.

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