A passive compensation mechanism with automatic angle adjustment

Abstract

The application discloses a passive compensation mechanism with automatic angle adjustment, comprising a taper sleeve, a guide column and a taper shaft, the guide column is slidably arranged in the taper sleeve, the taper shaft is slidably fitted in the taper sleeve, the taper shaft and the guide column slide along the axial direction of the taper sleeve, one end of the taper shaft is spherically connected with one end of the guide column, the other end of the taper shaft extends out of the taper sleeve and is used for connecting a terminal mechanism, a compression spring is sleeved on the guide column, and the two ends of the compression spring are connected with the taper shaft and the taper sleeve respectively. The axial movement is realized through the sliding of the guide column, the circumferential movement is realized through the spherical hinge connection between the guide column and the taper shaft, when the terminal mechanism and the surface of the measured sample have an angle deviation, there is a contact gap between the taper shaft and the taper sleeve, under the condition that the terminal mechanism is subjected to the reaction force of the sample surface, the terminal mechanism drives the taper shaft to move axially towards the guide column, and through the circumferential movement of the spherical hinge and the self-adaptive adjustment of the compression spring, the passive compensation of the angle deviation between the terminal mechanism and the sample surface is realized.

Description

Technical Field

[0001] This invention relates to the field of angle compensation technology, specifically to a passive compensation mechanism with automatic angle adjustment. Background Technology

[0002] Spacecraft are subjected to various space environmental factors during their orbital operation, such as vacuum, extreme temperatures, and high-speed dust impacts. These factors collectively lead to the degradation of the properties of materials used in spacecraft. This study simulates the comprehensive space radiation environment. Utilizing electron and proton radiation from an accelerator, sunlight (parallel light) from a solar simulator, ultraviolet light from a deuterium lamp, and the vacuum and extreme temperature environments of a vacuum chamber, the effects of comprehensive space radiation on materials, devices, and components are investigated, and analyzed using in-situ / semi-in-situ testing equipment. However, in-situ / semi-in-situ analysis requires a corresponding drive mechanism to transport the test equipment probe to the designated location. Simultaneously, the main body of the external testing equipment needs radiation protection. According to the probe testing operation requirements, the fluorescence spectrometer and integrating sphere need to be in close contact with the sample surface during testing. Currently, there is an angular deviation between the end mechanism and the sample surface, preventing the performance of detection and repair functions, thus hindering high-precision detection and repair capabilities. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide a passive compensation mechanism with automatic angle adjustment, which can adaptively adjust the angle of the end mechanism so that the end mechanism is in close contact with the surface of the sample being tested, thereby achieving high-precision detection, repair and other functions.

[0004] The objective of this invention is achieved through the following technical solution: a passive compensation mechanism with automatic angle adjustment, comprising a conical sleeve, a guide post, and a conical shaft. The guide post is slidably disposed within the conical sleeve, and the conical shaft is slidably adapted within the conical sleeve. Both the conical shaft and the guide post slide along the axial direction of the conical sleeve. One end of the conical shaft is spherically hinged to one end of the guide post, and the other end of the conical shaft extends outside the conical sleeve for connecting an end mechanism. A compression spring is sleeved on the guide post, and both ends of the compression spring are respectively connected to the conical shaft and the conical sleeve.

[0005] The effect of adopting the above technical solution is that axial movement is achieved by sliding the guide post, and circumferential movement is achieved by hinge between the guide post and the conical shaft. When the end mechanism has an angular deviation from the surface of the sample being tested, there is a contact gap between the conical shaft and the conical sleeve. Under the reaction force of the sample surface on the end mechanism, the end mechanism drives the conical shaft to move axially towards the guide post. Passive compensation for the angular deviation between the end mechanism and the sample surface is achieved through the circumferential movement of the ball joint and the adaptive adjustment of the compression spring. At the same time, during the automatic angle adjustment process, the position of the end mechanism remains unchanged due to the preload of the compression spring, ensuring the accuracy of performing detection, repair and other functions.

[0006] In some embodiments, the conical shaft includes a shaft and a cone. The cone is in the shape of a frustum. One end of the cone with a large diameter is spherically hinged to one end of the guide post. The shaft is fixedly connected to one end of the cone with a small diameter. The cone and the shaft are coaxially arranged.

[0007] In some embodiments, a conical cavity is provided inside the conical sleeve, and the cone of the conical shaft is adapted to the conical cavity. A through hole is provided at the end of the conical sleeve away from the guide post for the shaft to pass through. The conical design of the cone and the conical cavity allows the conical shaft to intersect inside the conical cavity after the guide post drives the conical shaft to move axially, creating a gap between the conical shaft and the inner wall of the conical cavity. This allows the conical shaft to deflect circumferentially inside the conical cavity, thereby driving the end mechanism to perform position adjustment. This enables the end mechanism to adaptively adjust its angle to closely adhere to the surface of the sample being tested.

[0008] In some embodiments, the conical sleeve has a cylindrical cavity that communicates with the conical cavity, and the guide post is disposed in the conical cavity and slidably adapted to the conical sleeve, providing installation space for the guide post.

[0009] In some embodiments, the guide post includes a sliding post and a spherical universal joint, the sliding post being slidably adapted to the cone sleeve, one end of the sliding post near the cone shaft being detachably connected to the spherical universal joint, and the spherical end of the spherical universal joint being hinged to the cone.

[0010] In some embodiments, one end of the sliding post is fixed with an external threaded post, and the spherical universal joint is threadedly connected to the external threaded post.

[0011] In some embodiments, a positioning mechanism is provided on the conical sleeve. The positioning mechanism includes a housing, a guide block, and a positioning pin. The housing is installed on the conical sleeve by screws. The guide block is slidably disposed in the housing. The conical sleeve has a movable hole communicating with the conical cavity. The positioning pin is fixedly connected to the bottom of the guide block. A strip groove is formed on the conical surface of the cone. The positioning pin passes through the movable hole and fits into the strip groove. When the deviation angle is adjusted, the conical shaft and the conical sleeve are in contact without gap, and the position is locked by the positioning pin. This further ensures that there is no angular deviation between the end mechanism and the sample surface, and achieves high-precision detection, repair, and other functions without changing the position.

[0012] In some embodiments, the guide block is inverted T-shaped, and a preload spring is fitted on the guide block, with both ends of the preload spring connected to the guide block and the housing, respectively.

[0013] The beneficial effects of this invention are:

[0014] 1. Axial movement is achieved through the sliding of the guide post, and circumferential movement is achieved through the hinge between the guide post and the conical shaft. When the end mechanism has an angular deviation from the surface of the sample being tested, there is a contact gap between the conical shaft and the conical sleeve. Under the reaction force of the sample surface on the end mechanism, the end mechanism drives the conical shaft to move axially towards the guide post. Passive compensation for the angular deviation between the end mechanism and the sample surface is achieved through the circumferential movement of the ball joint and the adaptive adjustment of the compression spring. At the same time, during the automatic angle adjustment process, the position of the end mechanism remains unchanged due to the preload of the compression spring, ensuring the accuracy of performing detection, repair and other functions.

[0015] 2. The conical design of the cone and the conical cavity allows the guide column to drive the cone shaft to move axially. The cone shaft then intersects within the conical cavity, creating a gap between the cone shaft and the inner wall of the conical cavity. This allows the cone shaft to deflect circumferentially within the conical cavity, thereby driving the end mechanism to adjust its position and posture. This enables the end mechanism to adaptively adjust its angle to closely adhere to the surface of the sample being tested.

[0016] 3. After the deviation angle is adjusted, the cone shaft and the cone sleeve are in contact without gap, and the position is locked by the positioning pin, which further ensures that there is no angular deviation between the end mechanism and the sample surface, and achieves high-precision detection, repair and other functions without changing the position. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the internal structure of a passive compensation mechanism with automatic angle adjustment according to the present invention;

[0018] Figure 2 This is a schematic diagram showing the connection between a passive compensation mechanism with automatic angle adjustment and an end effector according to the present invention.

[0019] Figure 3 This is a schematic diagram of the external structure of a passive compensation mechanism with automatic angle adjustment according to the present invention.

[0020] Figure 4 This is a schematic diagram of the conical shaft in a passive compensation mechanism with automatic angle adjustment according to the present invention.

[0021] In the figure, 1-conical sleeve, 2-guide post, 3-conical shaft, 4-shaft body, 5-conical body, 6-conical cavity, 7-through hole, 8-cylindrical cavity, 9-compression spring, 10-sliding post, 11-spherical universal joint, 12-external threaded post, 13-housing, 14-guide block, 15-locating pin, 16-movable hole, 17-strip groove, 18-preload spring. Detailed Implementation

[0022] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0023] like Figures 1 to 4 As shown, a passive compensation mechanism with automatic angle adjustment includes a conical sleeve 1, a guide post 2, and a conical shaft 3. The guide post 2 is slidably disposed within the conical sleeve 1, and the conical shaft 3 is slidably fitted within the conical sleeve 1. Both the conical shaft 3 and the guide post 2 slide along the axial direction of the conical sleeve 1. One end of the conical shaft 3 is spherically hinged to one end of the guide post 2, and the other end of the conical shaft 3 extends outside the conical sleeve 1 for connecting to an end mechanism. A compression spring 9 is sleeved on the guide post 2, and both ends of the compression spring 9 are connected to the conical shaft 3 and the conical sleeve 1, respectively. The conical shaft 3 includes a shaft body 4 and a cone body 5. The cone body 5 is frustum-shaped, and the larger diameter end of the cone body 5 is spherically hinged to one end of the guide post 2. The shaft body 4 is fixedly connected to the smaller diameter end of the cone body 5. The cone body 5 and the shaft body 4 are coaxially arranged. The guide post 2 includes a sliding post 10 and a spherical universal joint 11. The sliding post 10 is slidably fitted within the conical sleeve 1, and the sliding post 10 is close to the conical shaft. One end of the 3 is detachably connected to a ball joint 11. The ball end of the ball joint 11 is hinged to the cone 5. Axial movement is achieved through the sliding of the guide post 2. The hinge between the guide post 2 and the cone shaft 3 achieves circumferential movement. When the end mechanism has an angular deviation from the surface of the sample being tested, the guide post 2 drives the cone shaft 3 to move axially, creating a contact gap between the cone shaft 3 and the cone sleeve 1. Under the reaction force of the sample surface on the end mechanism, the end mechanism drives the cone shaft 3 to move axially towards the guide post 2. Through the circumferential movement of the ball joint 11 and the adaptive adjustment of the compression spring 9, passive compensation for the angular deviation between the end mechanism and the sample surface is achieved. At the same time, during the automatic angle adjustment process, the compression spring 9 has a certain preload, which keeps the position of the end mechanism unchanged, ensuring the accuracy of performing detection, repair and other functions.

[0024] Furthermore, such as Figure 1As shown, a conical cavity 6 is provided inside the conical sleeve 1, and the conical body 5 of the conical shaft 3 is adapted to the conical cavity 6. A through hole 7 is provided at the end of the conical sleeve 1 away from the guide post 2 for the shaft body 4 to pass through. The shaft body 4 passes through the through hole 7 and connects to the end mechanism. The conical design of the conical body 5 and the conical cavity 6 allows the conical shaft 3 to move axially after the guide post 2 drives it to move, and the conical shaft 3 intersects in the conical cavity 6, so that a gap is generated between the conical shaft 3 and the inner wall of the conical cavity 6. This allows the conical shaft 3 to deflect circumferentially in the conical cavity 6, thereby driving the end mechanism to perform position adjustment, realizing the end mechanism's adaptive angle adjustment to closely adhere to the surface of the sample being tested.

[0025] Furthermore, the tapered sleeve 1 is provided with a cylindrical cavity 8, which communicates with the tapered cavity 6. The guide post 2 is set in the tapered cavity 6 and is slidably adapted to the tapered sleeve 1. One end of the sliding post 10 is fixed with an external thread post 12. The ball universal joint 11 is threadedly connected to the external thread post 12, and the ball universal joint 11 and the sliding post 10 are quickly connected through the threaded connection.

[0026] In some embodiments, such as Figure 1 As shown, a positioning mechanism is provided on the conical sleeve 1. The positioning mechanism includes a housing 13, a guide block 14, and a positioning pin 15. The housing 13 is installed on the conical sleeve 1 by screws. The guide block 14 is slidably disposed within the housing 13. The conical sleeve 1 has a movable hole 16 communicating with the conical cavity 6. The positioning pin 15 is fixedly connected to the bottom of the guide block 14. A strip groove 17 is provided on the conical surface of the cone 5. The positioning pin 15 passes through the movable hole 16 and fits into the strip groove 17. The guide block 14 is inverted T-shaped. A preload spring 18 is sleeved on the guide block 14. The two ends of the preload spring 18 are respectively connected to the guide block 14. 4 is connected to the housing 13. The pre-tightening spring 18 is in a compressed state. The pre-tightening spring 18 drives the guide block 14 to move. The guide block 14 drives the positioning pin 15 to move into the strip groove 17 and abut against the conical shaft 3. When the deviation angle is adjusted, the conical shaft 3 is in an inclined state and abuts against the inner wall of the conical cavity 6, so that the conical shaft 3 and the conical sleeve 1 have no gap contact. At this time, under the action of the pre-tightening spring 18, the positioning pin abuts against the cone 5 to achieve position locking, further ensuring that there is no angular deviation between the end mechanism and the sample surface, and achieving high-precision detection, repair and other functions without changing the position.

[0027] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," and "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. Furthermore, those skilled in the art will understand that the beneficial effects to be achieved by this invention are merely to achieve better beneficial effects compared with the current embodiments in the prior art under specific conditions, rather than to directly achieve the best use effect in the industry.

[0028] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A passive compensation mechanism with automatic angle adjustment, characterized in that, The device includes a conical sleeve (1), a guide post (2), and a conical shaft (3). The guide post (2) is slidably disposed inside the conical sleeve (1), and the conical shaft (3) is slidably adapted to the conical sleeve (1). Both the conical shaft (3) and the guide post (2) slide along the axial direction of the conical sleeve (1). One end of the conical shaft (3) is spherically hinged to one end of the guide post (2), and the other end of the conical shaft (3) extends outside the conical sleeve (1) for connecting the end mechanism. A compression spring (9) is sleeved on the guide post (2), and the two ends of the compression spring (9) are respectively connected to the conical shaft (3) and the conical sleeve (1). The conical shaft (3) includes a shaft body (4) and a cone body (5). The cone body (5) is in the shape of a frustum. The large diameter end of the cone body (5) is spherically hinged to one end of the guide post (2). The shaft body (4) is fixedly connected to the small diameter end of the cone body (5). The cone body (5) and the shaft body (4) are coaxially arranged. The tapered sleeve (1) has a tapered cavity (6) inside, and the cone (5) of the tapered shaft (3) is adapted to the tapered cavity (6). The tapered sleeve (1) has a through hole (7) at one end away from the guide post (2) for the shaft (4) to pass through. The conical sleeve (1) is provided with a cylindrical cavity (8), which communicates with the conical cavity (6). The guide post (2) is disposed in the conical cavity (6) and is slidably adapted to the conical sleeve (1). The guide post (2) includes a sliding post (10) and a spherical universal joint (11). The sliding post (10) is slidably adapted to the cone sleeve (1). The end of the sliding post (10) near the cone shaft (3) is detachably connected to the spherical universal joint (11). The spherical end of the spherical universal joint (11) is hinged to the cone (5).

2. The passive compensation mechanism with automatic angle adjustment according to claim 1, characterized in that, One end of the sliding column (10) is fixed with an external threaded column (12), and the spherical universal joint (11) is threadedly connected to the external threaded column (12).

3. The passive compensation mechanism with automatic angle adjustment according to claim 1, characterized in that, The conical sleeve (1) is provided with a positioning mechanism, which includes a housing (13), a guide block (14) and a positioning pin (15). The housing (13) is installed on the conical sleeve (1) by screws. The guide block (14) is slidably disposed in the housing (13). The conical sleeve (1) is provided with a movable hole (16) communicating with the conical cavity (6). The positioning pin (15) is fixedly connected to the bottom of the guide block (14). The conical surface of the cone (5) is provided with a strip groove (17). The positioning pin (15) passes through the movable hole (16) and is adapted to the strip groove (17).

4. A passive compensation mechanism with automatic angle adjustment according to claim 3, characterized in that, The guide block (14) is inverted T-shaped, and a preload spring (18) is fitted on the guide block (14). The two ends of the preload spring (18) are connected to the guide block (14) and the housing (13) respectively.

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