Multifunctional screwing device and screwing method suitable for precise on-orbit operation in space

Abstract

A multifunctional screwing device and screwing method adapted to fine operations in orbit in space belong to the field of in-orbit space service technology. In order to solve the problem of how to transmit torque and realize screwing tasks while achieving capture in space manipulation tasks. The present invention includes a rotating support shell, a clamping mechanism, a drive and transmission mechanism and a clutch mechanism; the clamping mechanism is installed on the rotating support shell, the power input end of the clamping mechanism is inside the rotating support shell, and the claw end of the clamping mechanism is at the top of the rotating support shell; the drive and transmission mechanism is installed in the rotating support shell, the power output end of the drive and transmission mechanism is connected to the power input end of the clamping mechanism, and realizes the opening and closing of the clamping mechanism; the clutch mechanism is installed in the rotating support shell and cooperates with the rotating support shell to drive the clamping mechanism to rotate under the action of the drive and transmission mechanism to realize the screwing of the operation target. The present invention is mainly used for grasping and screwing of space operation targets.

Description

Technical Field

[0001] The present invention belongs to the field of space on-orbit service technology, and relates to an operating tool for space on-orbit maintenance and repair, specifically a multifunctional screwing device and screwing method suitable for space on-orbit fine operations. Background Art

[0002] On-orbit space servicing technology is a highly competitive field worldwide and a key indicator of a nation's comprehensive national strength. Space manipulation is a crucial capability in on-orbit space servicing technology. Because it can replace humans in highly complex tasks such as space station assembly, installation, maintenance, and repair, orbital debris removal, space asset maintenance, and the capture, release, and recovery of satellites, research and development of this technology has always been a hot topic for leading aerospace technology nations.

[0003] Space manipulation missions require extremely high levels of complex and precise manipulation capabilities. Therefore, developing these capabilities is crucial for space manipulation. Tightening, a prime example of fine manipulation, is essential. The development of versatile, versatile tightening tool technology that can accommodate these tasks is urgent and a core capability for enhancing future on-orbit manipulation and servicing technologies. Summary of the Invention

[0004] The present invention aims to solve the problem of how to transmit torque and realize the screwing task while achieving capture in space manipulation tasks; and further provides a multifunctional screwing device and screwing method that are suitable for precise operations on orbit in space.

[0005] The technical solution adopted by the present invention to solve the above technical problems is:

[0006] A multifunctional screwing device adapted to precise operations in orbit, including a rotating support housing, a clamping mechanism, a drive and transmission mechanism, and a clutch mechanism;

[0007] The rotating support housing includes a clamping jaw support housing, a stepped flange, a clutch support housing, and a shaft support housing coaxially connected in sequence from top to bottom; the clamping jaw support housing is fixedly connected to the stepped flange; the stepped flange is partially inserted into the clutch support housing and is rotatably connected to the clutch support housing, and the clutch support housing is fixedly connected to the shaft support housing;

[0008] The claw end of the clamping mechanism is located above the clamping support housing, and the power input end of the clamping mechanism is located in the accommodating cavity formed by the stepped flange and the clamping support housing;

[0009] The driving and transmission mechanism includes a motor, a rotating shaft and a power output member. The motor is installed in a shaft support housing. The bottom end of the rotating shaft is fixedly connected to the power output end of the motor and is rotatably mounted on the shaft support housing. The upper end of the rotating shaft passes through the clutch support housing and the stepped flange in sequence and is rotatably mounted on the clamp support housing. The power output member is installed on the rotating shaft and connected to the power input end of the clamp assembly to drive the clamp assembly to open or close.

[0010] The clutch mechanism is an annular structure and is installed in an annular mounting groove formed by the stepped flange and the clutch support housing; the clutch mechanism includes a clutch housing, a clutch coil, a compression spring, a clutch fixed friction disc, a clutch rotating friction disc, a brake rotating friction disc and a limit flange; the lower annular surface of the clutch housing is provided with a circle of grooves, and the clutch coil is located in the grooves; the clutch housing and the clutch rotating friction disc are sequentially sleeved on the lower section of the stepped flange from top to bottom, and an annular groove is formed between the clutch housing and the stepped flange, the compression spring is sleeved on the stepped flange and is located in the annular groove, one end of the compression spring abuts against the step surface of the stepped flange, and the other end of the compression spring abuts against the clutch rotating friction disc; the clutch The rotating friction disc and the outer ring wall of the step flange are key-connected and can move axially. The limiting flange is sleeved on the rotating shaft and fixedly connected to the bottom end face of the step flange, which is used to limit the up and down movement of the clutch rotating friction disc; the brake rotating friction disc is sleeved on the rotating shaft and fixedly connected to the shaft shoulder of the rotating shaft; the clutch fixed friction disc is sleeved on the clutch housing and fixedly mounted on the shaft shoulder of the inner ring wall of the clutch support housing; the contact surfaces of the lower ring surface of the clutch fixed friction disc and the upper ring surface of the clutch rotating friction disc are friction surfaces, and braking is achieved by contact between the two friction surfaces; the contact surfaces of the lower ring surface of the clutch rotating friction disc and the upper ring surface of the brake rotating friction disc are friction surfaces, and braking is achieved by contact between the two friction surfaces.

[0011] Preferably, the clamping mechanism comprises a plurality of clamping assemblies, which are evenly arranged circumferentially and radially slidably connected to the clamping support housing.

[0012] Preferably, the clamping jaw support shell is circumferentially provided with a plurality of sliding grooves I penetrating the upper and lower surfaces, the sliding direction of each sliding groove I is consistent with the radial direction of the clamping jaw support shell, and a clamping jaw assembly is slidably connected in each sliding groove I.

[0013] Preferably, each clamping jaw assembly includes a clamping jaw, a clamping jaw sliding base, and a clamping jaw driving base, wherein the clamping jaw is fixedly mounted on the clamping jaw sliding base and is located above the clamping jaw support housing; the clamping jaw sliding base is slidably connected to the slide groove I of the clamping jaw support housing; the clamping jaw driving base is wedge-shaped, the wedge-shaped surface of the clamping jaw driving base serves as the driven surface, the top surface of the clamping jaw driving base is fixedly connected to the lower end surface of the clamping jaw sliding base, and is located in the accommodating cavity formed by the stepped flange and the clamping jaw support housing;

[0014] The driving and transmission mechanism is a screw nut pair, the rotating axis is the screw shaft, and the power output part is a truncated cone-shaped screw nut. The screw nut is screwed on the screw shaft, and a plurality of sliding grooves II are opened circumferentially on the outer wall of the screw nut. The sliding direction of the sliding groove II is the same as the slope direction of the screw nut; the clamping claw drive base is in the sliding groove II and is slidably connected to the screw nut.

[0015] Preferably, the power output member is a ring-shaped drive disc, the upper ring surface of the drive disc is threaded, and the inner ring wall of the drive disc is connected to the rotating shaft by a key;

[0016] Each clamping jaw assembly includes a clamping jaw and a clamping jaw sliding base. The clamping jaw is fixedly mounted on the upper surface of the clamping jaw sliding base and is located above the clamping jaw supporting shell. The clamping jaw sliding base is slidably connected in the slide groove Ⅰ of the clamping jaw supporting shell. The lower surface of the clamping jaw sliding base is threaded and engages with the thread on the upper surface of the driving disk to realize the movement of the clamping jaw sliding base along the radial direction of the clamping jaw supporting shell.

[0017] Preferably, a concentric annular mounting groove is formed on the upper annular surface of the driving disc;

[0018] A mounting sleeve is coaxially arranged on the lower surface of the clamping claw supporting shell. The mounting sleeve is inserted into the annular mounting groove of the driving disc and is rotatably connected to the annular mounting groove.

[0019] Preferably, the upper annular surface of the clutch rotating friction disc is coaxially provided with a circle of annular protrusions I, which are arranged opposite to the clutch fixed friction disc, and the upper end surface of the annular protrusions I serves as a friction surface; the lower annular surface of the clutch rotating friction disc is coaxially provided with a circle of annular protrusions II, and the lower end surface of the annular protrusions II serves as a friction surface;

[0020] The upper annular surface of the brake rotating friction disc is coaxially provided with a circle of annular protrusions III, which are arranged opposite to the annular protrusions II, and the upper end surface of the annular protrusions III is the friction surface.

[0021] Preferably, the motor is a brushless DC motor, which includes a motor rotor shaft, a motor rotor magnet fixing flange, a motor rotor magnet, a motor stator coil and a motor axial retaining ring; the motor rotor shaft, the motor rotor magnet fixing flange, the motor rotor magnet and the motor stator coil are arranged in sequence from the inside to the outside, the motor rotor shaft is keyed to the motor rotor magnet fixing flange, and the motor rotor magnet is fixed to the motor rotor magnet fixing flange by gluing; the motor stator coil is axially supported in the shaft support housing by the motor axial retaining ring, and is keyed to the inner ring wall of the shaft support housing; the bottom end of the rotating shaft is keyed to the motor rotor shaft.

[0022] Preferably, the screwing device further comprises a sensor, a controller, a driver and a robotic arm interface; the sensor, controller, driver and robotic arm interface are coaxially installed in sequence and fixedly connected to the bottom of the rotating support housing through the sensor;

[0023] The sensor includes a magnetic ring fixing plate, a magnetic ring, an angular position sensor processing circuit board, and an angular position sensor fixing bracket, which are arranged in sequence from top to bottom; the magnetic ring fixing plate is fixedly connected to the lower end surface of the motor rotor shaft, the magnetic ring is fixed to the magnetic ring fixing plate, the angular position sensor processing circuit board is fixedly connected to the angular position sensor fixing bracket, and the angular position sensor fixing bracket is installed at the lower port of the shaft support housing and seals the lower port of the shaft support housing;

[0024] The controller includes a control panel bracket and a control panel, wherein the control panel bracket is fixedly mounted on the lower surface of the angular position sensor fixing bracket, and the control panel is fixedly connected to the control panel bracket;

[0025] The driver includes a driving plate and a driving plate bracket, wherein the driving plate bracket is fixedly mounted on the lower surface of the control plate bracket, and the driving plate is fixedly mounted on the driving plate bracket;

[0026] The robotic arm interface includes a base flange, a protective cover and a replacement interface, as well as an insulating gasket and an electrical connector, which are arranged in sequence from top to bottom; the base flange is installed on the lower surface of the drive plate bracket, and the protective cover is arranged below the base flange, with a gap left at the edge between the two and sealed by an insulating gasket; the replacement interface is installed on the protective cover, and the electrical connector is installed on one side of the replacement interface.

[0027] A multifunctional screwing method adapted to precise in-orbit operations in space. The specific operation process is as follows:

[0028] S1, space target acquisition phase:

[0029] When the clutch coil in the clutch mechanism is energized, the electromagnetic attraction force generated attracts the clutch rotating friction disc, so that the clutch rotating friction disc moves upward along the axial direction of the stepped flange and overcomes the elastic force of the compression spring under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc and the friction surface of the clutch rotating friction disc adhere to each other and generate a certain pressure. The clutch rotating friction disc remains stationary. At this time, the compression spring is in a compressed state and stores a certain preload force. The motor in the drive and transmission mechanism provides power, and the rotating shaft rotates around its own central axis. Since the friction surfaces of the brake rotating friction disc and the clutch rotating friction disc are disengaged, only the brake rotating friction disc rotates with the rotating shaft. The clamping mechanism is fixed in the circumferential and axial directions. Driven by the rotating shaft, the power output member generates a force on the power input end of the clamping mechanism, so that the grasping aperture formed by the claw end gradually decreases, thereby realizing the clamping mechanism to grasp the spatial target.

[0030] S2, the twisting phase of the space target:

[0031] The clutch coil in the clutch mechanism is de-energized, the electromagnetic attraction force disappears, and the clutch rotating friction disc moves downward along the axis of the stepped flange under the action of the preload force of the compression spring. The friction surface of the clutch rotating friction disc and the friction surface of the brake rotating friction disc fit together and generate a certain pressure; the DC brushless motor in the drive and transmission mechanism provides power, and the rotating shaft rotates around its own central axis. The brake rotating friction disc rotates with the rotating shaft. The clutch rotating friction disc drives the stepped flange to rotate under the action of the friction force of the brake rotating friction disc. The stepped flange transmits the rotational torque to the clamp support shell and the clamp mechanism in turn, and the clamp mechanism rotates with the rotating shaft. Since the clamp mechanism and the power output member in the drive and transmission mechanism rotate synchronously, the power output member will not generate driving force on the power input end of the clamp mechanism, and the gripping diameter of the clamp mechanism will not change; the rotation of the clamp mechanism realizes the screwing of the operation target.

[0032] S3, space target release phase:

[0033] The clutch coil in the clutch mechanism is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disk, so that the clutch rotating friction disk moves upward along the axial direction of the stepped flange and overcomes the elastic force of the compression spring under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disk fits the friction surface of the clutch rotating friction disk and generates a certain pressure. The clutch rotating friction disk remains stationary. At this time, the compression spring is in a compressed state and stores a certain preload force; the motor in the drive and transmission mechanism provides power, and the rotating shaft rotates in the opposite direction around its own central axis. Since the friction surfaces of the brake rotating friction disk and the clutch rotating friction disk are disengaged, only the brake rotating friction disk rotates in the opposite direction with the rotating shaft. The clamping mechanism is fixed in the circumferential direction and axial direction. Driven by the rotating shaft, the power output member generates a force on the power input end of the clamping mechanism, so that the capture aperture formed by the claw end gradually increases, thereby realizing the release of the spatial target by the clamping mechanism.

[0034] The beneficial effects of the present invention compared with the prior art are:

[0035] 1. This application realizes the capture, screwing and release of space targets under the coordinated action of the rotating support shell, the clamping mechanism, the driving and transmission mechanism and the clutch mechanism, thereby completing the space operation mission.

[0036] 2. The application captures, twists and releases space targets through only one brushless DC motor, which reduces the overall size and weight of the device. At the same time, the application adopts a clutch mechanism with a smaller size and mass, and utilizes the suction force of the electromagnetic clutch to enable the clutch rotating friction disk to have the freedom to move up and down, and utilizes the friction between the clutch rotating friction disk and the clutch fixed friction disk and the friction between the clutch rotating friction disk and the brake rotating friction disk to enable the clamping claws in the clamping claw mechanism to complete the two-degree-of-freedom movements of planar movement and rotation. The entire device has the effects of few degrees of freedom, low power consumption and simple control.

[0037] 3. The driving and transmission mechanism of the present application adopts a trapezoidal screw nut transmission or a threaded transmission between the driving disc and the sliding base of the clamping claw, which can achieve self-locking, does not require an additional brake component, is light in weight and has high reliability.

[0038] 4. This application adopts a modular electromechanical interface, has the ability to dock with a space robot or a space manipulator, and has the ability to be replaced on orbit, which greatly expands the application scope of on-orbit precision operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The accompanying drawings are incorporated in and constitute a part of this application and are used to provide a further understanding of the present invention.

[0040] Figure 1 It is an axonometric view of the screwing device of the present invention.

[0041] Figure 2 It is a top view of the screwing device of the present invention.

[0042] Figure 3 For Example 1 Figure 2 Cross-sectional view at AA in the middle.

[0043] Figure 4 for Figure 2 Cross-sectional view at the middle BB.

[0044] Figure 5 This is a schematic structural diagram of the rotating support shell in Example 1.

[0045] Figure 6 This is a schematic structural diagram of the clamping jaw supporting shell in Example 1.

[0046] Figure 7 Schematic diagram of the structure of the clamping mechanism in Example 1.

[0047] Figure 8 It is a structural diagram of the clutch mechanism and the stepped flange.

[0048] Figure 9 Schematic diagram of the clutch housing structure.

[0049] Figure 10 Axial cross-section of Example 3 Figure 1 .

[0050] Figure 11 Axial cross-section of Example 3 Figure 2 .

[0051] Figure 12 This is a schematic structural diagram of the clamping jaw supporting shell in Example 3.

[0052] Figure 13 This is a schematic diagram of the structure of the drive disk in Example 3.

[0053] Figure 14 Schematic diagram of the structure of the clamping jaw assembly in Example 3.

[0054] Description of reference numerals: A-rotation support housing; B-gripper mechanism; C-drive and transmission mechanism; D-clutch mechanism; E-sensor; F-controller; J-driver; H-manipulator interface;

[0055] 1- Gripper support housing; 2- Stepped flange; 3- Clutch support housing; 4- Shaft support housing; 5- First bearing assembly; 6- Gripper assembly; 7- Brushless DC motor; 8- Screw shaft; 9- Screw nut; 10- Second bearing assembly; 11- Third bearing assembly; 12- Fourth bearing assembly; 13- Clutch housing; 14- Clutch coil; 15- Compression spring; 16- Clutch fixed friction disc; 17- Clutch rotating friction disc; 18- Brake rotating friction disc; 19- Limiting flange; 20- Magnetic ring fixing plate; 21- Magnetic ring; 22- Angular position sensor processing circuit board; 23- Angular position sensor fixing bracket; 24- Control board bracket; 25- Control board; 26- Drive board; 27- Drive board bracket; 28- Base flange; 29- Protective cover; 30- Replacement interface; 31- Insulation pad; 32- Electrical connector; 33- Rotating shaft; 34- Drive disc; 35- Fifth bearing assembly;

[0056] 101-slideway I; 102-center through hole; 103-mounting sleeve; 501-bearing inner sealing ring; 502-bearing outer sealing ring; 503-bearing; 601-grip; 602-grip sliding base; 603-grip driving base; 701-motor rotor shaft; 702-motor rotor magnetic steel fixing flange; 703-motor rotor magnetic steel; 704-motor stator coil; 705-motor axial retaining ring; 901-slideway II; 1001-bearing seat; 1002-angular contact ball bearing; 1003-bearing inner spacer I; 1004-bearing outer spacer I; 1005-bearing outer lock Tightening nut; 1006-bearing inner locking nut; 1101-bearing I; 1102-bearing inner spacer II; 1103-bearing outer spacer II; 1104-bearing locking nut I; 1201-deep groove ball bearing; 1202-bearing spacer; 1203-bearing locking nut II; 1301-groove; 1302-annular groove; 1701-annular protrusion I; 1702-annular protrusion II; 1801-annular protrusion III; 3401-annular mounting groove; 3501-bearing inner spacer III; 3502-bearing outer spacer III; 3503-bearing locking nut III; 3504-bearing II. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0058] This application aims to solve the problem of how to transmit torque and achieve the screwing task while achieving target capture in space manipulation tasks; since this application has two driving modes, this application is explained through two device embodiments and two corresponding method embodiments respectively.

[0059] Example 1:

[0060] See also Figures 1 to 9 , this embodiment provides a multifunctional screwing device that is suitable for fine on-orbit operation in space, which includes a rotating support shell A, a clamping mechanism B, a drive and transmission mechanism C, a clutch mechanism D, a sensor E, a controller F, a driver J and a robotic arm interface H; the clamping mechanism B is installed on the rotating support shell A, the power input end of the clamping mechanism B is located inside the rotating support shell A, and the claw end of the clamping mechanism B is located at the top of the rotating support shell A; the drive and transmission mechanism C is installed in the rotating support shell A, the power output end of the drive and transmission mechanism C is connected to the power input end of the clamping mechanism B, and realizes the opening and closing of the clamping mechanism B, thereby realizing the release and clamping of the operation target; the clutch mechanism D is installed in the rotating support shell A and cooperates with the rotating support shell A to drive the clamping mechanism B to rotate under the action of the drive and transmission mechanism C, thereby realizing the screwing of the operation target; the sensor E, controller F, driver J and robotic arm interface H are coaxially installed in sequence and fixedly connected to the bottom of the rotating support shell A through the sensor E.

[0061] See also Figure 5 The rotating support shell A includes a clamping jaw support shell 1, a stepped flange 2, a clutch support shell 3 and a shaft support shell 4 coaxially connected in sequence from top to bottom; the clamping jaw support shell 1 is fixedly connected to the stepped flange 2 by screws; the stepped flange 2 is partially inserted into the clutch support shell 3 and is rotatably connected to the clutch support shell 3, and the clutch support shell 3 and the shaft support shell 4 are fixedly connected by screws.

[0062] For further information, see Figure 6 The clamping jaw supporting shell 1 is used to support the clamping jaw mechanism B and transmit the rotational torque; the top circumference of the clamping jaw supporting shell 1 is provided with a plurality of sliding grooves Ⅰ101 running through the upper and lower surfaces, and the sliding direction of each sliding groove Ⅰ101 is consistent with the radial direction of the clamping jaw supporting shell 1, and a clamping jaw is slidably connected in each sliding groove Ⅰ101.

[0063] For further information, see Figure 3 and Figure 4The stepped flange 2 is used to transmit the torque output by the drive and transmission mechanism C, and to support the transmission pair in the drive and transmission mechanism C; the axial single-side cross-section of the stepped flange 2 is stepped, and an accommodating cavity is formed between the inner annular wall of the stepped flange 2 and the inner annular wall of the clamping claw support housing 1, and the power output end of the drive and transmission mechanism C is in the accommodating cavity; two upper and lower annular mounting grooves are formed between the outer annular wall of the stepped flange 2 and the inner annular wall of the clutch support housing 3, and a first bearing assembly 5 is provided in the upper mounting groove for the rotational connection between the stepped flange 2 and the clutch support housing 3, wherein a certain gap is left between the corresponding end faces of the stepped flange 2 and the clutch support housing 3 to prevent the stepped flange 2 and the clutch support housing 3 from transmitting torque between the two due to external force; the clutch mechanism D is in the lower mounting groove, and the clutch mechanism D is mounted on the outside of the stepped flange 2 and is also fixedly connected to the clutch support housing 3.

[0064] For further information, see Figure 5 The first bearing assembly 5 includes an inner bearing sealing ring 501, an outer bearing sealing ring 502 and a bearing 503. The bearing 503 is installed in the installation groove through the inner bearing sealing ring 501 and the outer bearing sealing ring 502 arranged opposite to each other up and down, wherein the inner bearing sealing ring 501 abuts against the upper end surface of the inner ring of the bearing 503, the outer bearing sealing ring 502 abuts against the lower end surface of the outer ring of the bearing 503, the stepped flange 2 abuts against the inner ring of the bearing 503, and the clutch support housing 3 abuts against the outer ring of the bearing 503.

[0065] Furthermore, the shaft support housing 4 and the sensor E form a mounting cavity, and the power input end of the driving and transmission mechanism C is located in the mounting cavity.

[0066] In this embodiment, the rotary support housing A serves as a supporting shell of the screwing device on the one hand, and is used to transmit the rotational torque to realize the rotation action of the clamping mechanism B on the other hand.

[0067] See also Figure 7 The clamping mechanism B includes a plurality of clamping assemblies 6, preferably three, and the three clamping assemblies 6 are evenly arranged around the circumference and are respectively slidably connected to the clamping support shell 1.

[0068] Furthermore, each clamping jaw assembly 6 includes a clamping jaw 601, a clamping jaw sliding base 602 and a clamping jaw driving base 603, wherein the clamping jaw 601 is fixedly mounted on the clamping jaw sliding base 602 and is located above the clamping jaw supporting shell 1; the clamping jaw sliding base 602 is a rectangular parallelepiped, and the clamping jaw sliding base 602 is slidingly connected in the slide groove Ⅰ101 of the clamping jaw supporting shell 1; the clamping jaw driving base 603 is wedge-shaped, and the wedge-shaped surface of the clamping jaw driving base 603 is the driven surface, and the top surface of the clamping jaw driving base 603 is fixedly connected to the lower end surface of the clamping jaw sliding base 602, and is located in the accommodating cavity formed by the stepped flange 2 and the clamping jaw supporting shell 1, and the wedge-shaped surface of the clamping jaw driving base 603 is slidingly connected to the power output end of the driving and transmission mechanism C, and moves radially under the drive of the driving and transmission mechanism C.

[0069] In this embodiment, when capturing a target in space, the driving and transmission mechanism C simultaneously drives the three jaw driving bases 603 to move inward along the radial direction of the jaw supporting shell 1, and the jaw driving base 603 in turn drives the jaw sliding base 602 and the jaw 601 to gather inward, and the capture aperture formed between the three jaws 601 gradually decreases, realizing the closing action of the jaw mechanism B; conversely, the driving and transmission mechanism C simultaneously drives the three jaw driving bases 603 to move outward along the radial direction of the jaw supporting shell 1, and the jaw driving base 603 in turn drives the jaw sliding base 602 and the jaw 601 to expand outward, and the capture aperture formed between the three jaws 601 gradually increases, realizing the opening action of the jaw mechanism B.

[0070] See also Figure 4 The driving and transmission mechanism C includes a brushless DC motor 7, a screw shaft 8 and a screw nut 9. The brushless DC motor 7 is installed in the shaft support housing 4. The bottom end of the screw shaft 8 is fixedly connected to the power output end of the brushless DC motor 7 and is rotatably mounted on the shaft support housing 4 through the second bearing assembly 10. The upper end of the screw shaft 8 passes through the clutch support housing 3 and the stepped flange 2 in sequence and is rotatably mounted on the clamp support housing 1 through the third bearing assembly 11; the middle section of the screw shaft 8 is rotatably connected to the stepped flange 2 through the fourth bearing assembly 12; the screw nut 9 is screwed on the screw shaft 8 and is slidably connected to the clamp drive base 603.

[0071] For further information, see Figure 4The brushless DC motor 7 includes a motor rotor shaft 701, a motor rotor magnetic steel fixing flange 702, a motor rotor magnetic steel 703, a motor stator coil 704 and a motor axial retaining ring 705; the motor rotor shaft 701, the motor rotor magnetic steel fixing flange 702, the motor rotor magnetic steel 703 and the motor stator coil 704 are arranged in sequence from the inside to the outside, the motor rotor shaft 701 is keyed to the motor rotor magnetic steel fixing flange 702, and the motor rotor magnetic steel 703 is fixed to the motor rotor magnetic steel fixing flange 702 by gluing; the motor stator coil 704 is axially supported in the installation cavity formed by the shaft support housing 4 and the sensor E through the motor axial retaining ring 705, and is keyed to the inner ring wall of the shaft support housing 4; the bottom end of the screw shaft 8 is keyed to the motor rotor shaft 701.

[0072] For further information, see Figure 7 The screw nut 9 is in a truncated cone shape, and a plurality of sliding grooves Ⅱ 901 are opened on the outer wall of the screw nut 9 in the circumferential direction. The sliding direction of the sliding groove Ⅱ 901 is the same as the slope direction of the screw nut 9; the clamping jaw driving base 603 is in the sliding groove Ⅱ 901 and is slidably connected to the screw nut 9.

[0073] For further information, see Figure 4 The second bearing assembly 10 includes a bearing seat 1001, two angular contact ball bearings 1002, a bearing inner spacer Ⅰ 1003, a bearing outer spacer Ⅰ 1004, a bearing outer locking nut 1005 and a bearing inner locking nut 1006; the bearing seat 1001 is fixedly mounted on the shaft support housing 4 by screws, and the two angular contact ball bearings 1002 are coaxially sleeved on the lower end of the screw shaft 8 and arranged in the bearing seat 1001; the two angular contact ball bearings 1002 are connected by the bearing inner spacer Ⅰ 1003 and the bearing outer spacer Ⅰ 1004. The spacer ring I 1004 is used to separate the two bearings; the outer locking nut 1005 of the bearing is screwed onto the internal thread at the bottom of the bearing seat 1001, and abuts against the outer ring of the angular contact ball bearing 1002 located below; the inner locking nut 1006 of the bearing is screwed onto the screw shaft 8, and abuts against the inner ring of the angular contact ball bearing 1002 located below; wherein, the outer ring of the angular contact ball bearing 1002 located above is fixed by the shoulder at the top of the bearing seat 1001, and the inner ring of the angular contact ball bearing 1002 located above is fixed by the shoulder on the screw shaft 8.

[0074] For further information, see Figure 4The third bearing assembly 11 includes a bearing I1101, a bearing inner spacer II1102, a bearing outer spacer II1103 and a bearing locking nut I1104. The bearing I1101 is sleeved on the upper end of the screw shaft 8 and supported on the shoulder of the screw shaft 8 through the bearing inner spacer II1102; the bearing outer spacer II1103 is sleeved on the screw shaft 8 and abuts against the outer ring of the bearing I1101. The bearing locking nut I1104 is screwed on the screw shaft 8 and is located between the bearing outer spacer II1103 and the lower surface of the clamp support shell 1.

[0075] For further information, see Figure 8 The fourth bearing assembly 12 includes two deep groove ball bearings 1201, a bearing spacer 1202 and a bearing locking nut II 1203; the two deep groove ball bearings 1201 are coaxially sleeved on the screw shaft 8, the bearing spacer 1202 is sleeved on the screw shaft 8 and is located between the two deep groove ball bearings 1201, the bearing spacer 1202 abuts against the inner rings of the two deep groove ball bearings 1201, and the bearing locking nut II 1203 is screwed onto the screw shaft 8 and abuts against the outer ring of the deep groove ball bearing 1201 located above.

[0076] In this embodiment, the screw shaft 8 is supported and axially fixed by the second bearing assembly 10, the third bearing assembly 11 and the fourth bearing assembly 12 to prevent the screw shaft 8 from vibrating during rotation. At the same time, the screw nut 9 and the screw shaft 8 form a trapezoidal screw pair, which has a self-locking characteristic.

[0077] In this embodiment, the drive and transmission mechanism C realizes the conversion from rotational motion to linear motion through a screw-nut pair. Specifically, a brushless DC motor provides power, and the screw shaft 8 rotates around its own central axis. Since the clamp driving base 603 is fixed in the axial direction, the screw nut 9 moves up and down along the axial direction of the screw shaft 8 under the constraint of the clamp driving base 603. The outer wall of the screw nut 9 generates an outward expansion force or an inward pulling force on the clamp driving base 603, causing the clamp driving base 603 to move radially, thereby realizing the opening and closing of the clamp mechanism.

[0078] See also Figure 8, the clutch mechanism D is an annular structure and is sleeved on the stepped flange 2 and the screw shaft 8; it includes a clutch housing 13, a clutch coil 14, a compression spring 15, a clutch fixed friction disc 16, a clutch rotating friction disc 17, a brake rotating friction disc 18 and a limit flange 19; the lower annular surface of the clutch housing 13 is provided with a circle of grooves 1301, and the clutch coil 14 is in the groove 1301; the clutch housing 13 and the clutch rotating friction disc 17 are sequentially sleeved on the lower section of the stepped flange 2 from top to bottom, and an annular groove 1302 is formed between the clutch housing 13 and the stepped flange 2, the compression spring 15 is sleeved on the stepped flange 2 and is in the annular groove 1302, one end of the compression spring 15 abuts on the step surface of the stepped flange 2, and the other end of the compression spring 15 abuts on the clutch rotating friction disc 17; the clutch rotating friction disc 17 is key-connected to the outer annular wall of the stepped flange 2 and can move axially, the limit flange 19 It is sleeved on the screw shaft 8 and fixedly connected to the bottom end face of the stepped flange 2 by screws. The outer diameter of the limit flange 19 is larger than the outer diameter of the lower end of the stepped flange 2, so the limit flange 19 extends a portion of the disc surface to limit the up and down movement of the clutch rotating friction disc 17; the brake rotating friction disc 18 is sleeved on the screw shaft 8 and fixedly connected to the shoulder of the screw shaft 8 by screws; the clutch fixed friction disc 16 is sleeved on the clutch housing 13 by gluing and fixedly mounted on the shoulder of the inner ring wall of the clutch support housing 3 by stoppers and screws; the contact surfaces of the lower annular surface of the clutch fixed friction disc 16 and the upper annular surface of the clutch rotating friction disc 17 are respectively sputtered with a wear-resistant material with a large friction coefficient and form a friction surface, and braking is achieved by contact between the two friction surfaces; the contact surfaces of the lower annular surface of the clutch rotating friction disc 17 and the upper annular surface of the brake rotating friction disc 18 are respectively sputtered with a wear-resistant material with a large friction coefficient and form a friction surface, and braking is achieved by contact between the two friction surfaces.

[0079] For further information, see Figure 8 The upper annular surface of the clutch rotating friction disk 17 is coaxially provided with a circle of annular protrusions I1701, which are arranged opposite to the clutch fixed friction disk 16, and the upper end surface of the annular protrusions I1701 is the friction surface; the lower annular surface of the clutch rotating friction disk 17 is coaxially provided with a circle of annular protrusions II1702, and the lower end surface of the annular protrusions II1702 is the friction surface.

[0080] For further information, see Figure 8 The upper annular surface of the brake rotating friction disk 18 is coaxially provided with a circle of annular protrusions III1801, and the annular protrusions III1801 are arranged opposite to the annular protrusions II1702, and the upper end surface of the annular protrusions III1801 is the friction surface.

[0081] For further information, see Figure 8The outer diameter of the limiting flange 19 is smaller than the inner diameter of the annular protrusion II 1702. When the clutch rotating friction disc 17 moves axially downward, the limiting flange 19 is located in the annular protrusion II 1702 of the clutch rotating friction disc 17, and will not affect the contact braking between the clutch rotating friction disc 17 and the brake rotating friction disc 18.

[0082] In this embodiment, when the clutch coil 14 is energized, the electromagnetic attraction force generated attracts the clutch rotating friction disc 17, so that the clutch rotating friction disc 17 moves upward along the axial direction of the stepped flange 2 and overcomes the elastic force of the compression spring 15 under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc 16 is in contact with the friction surface of the clutch rotating friction disc 17 and generates a certain pressure. The clutch rotating friction disc 17 remains stationary. At this time, the compression spring 15 is in a compressed state and stores a certain preload force; since the friction surfaces of the brake rotating friction disc 18 and the clutch rotating friction disc 17 are disengaged, only the brake rotating friction disc 18 rotates with the screw shaft 8, and the screw nut 9 makes axial linear motion and drives the clamping jaw 601 to open or close, thereby releasing or clamping the operating target.

[0083] When the clutch coil 14 is de-energized, the electromagnetic attraction force disappears, and the clutch rotating friction disc 17 moves downward along the axis of the stepped flange 2 under the action of the preload force of the compression spring 15. The friction surface of the clutch rotating friction disc 17 and the friction surface of the brake rotating friction disc 18 fit together and generate a certain pressure; when the brake rotating friction disc 18 rotates together with the screw shaft 8, under the action of the friction force between the brake rotating friction disc 18 and the clutch rotating friction disc 17, the clutch rotating friction disc 17 drives the stepped flange 2 to rotate together, and the stepped flange 2 transmits the rotational torque to the clamping jaw support shell 1 and the clamping jaw mechanism B in turn, and the clamping jaw mechanism B rotates together with the screw shaft 8. Therefore, the clamping jaw drive base 603 in the clamping jaw mechanism B no longer restricts the screw nut 9, and the screw nut 9 also rotates synchronously with the screw shaft 8, and will not generate radial pushing force or pulling force on the clamping jaw drive base 603; the rotation of the clamping jaw mechanism B realizes the screwing of the operation target.

[0084] See also Figure 5 The sensor E includes a magnetic ring fixing plate 20, a magnetic ring 21, an angular position sensor processing circuit board 22 and an angular position sensor fixing bracket 23, which are arranged in sequence from top to bottom; the magnetic ring fixing plate 20 is fixedly connected to the lower end surface of the motor rotor shaft 701 by screws, the magnetic ring 21 can be fixed to the magnetic ring fixing plate 20 by gluing, the angular position sensor processing circuit board 22 is fixedly connected to the angular position sensor fixing bracket 23 by screws, and the angular position sensor fixing bracket 23 is installed at the lower port of the shaft support shell 4 and seals the lower port of the shaft support shell 4.

[0085] In this embodiment, the installation between the magnetic ring 21 and the angular position sensor processing circuit board 22 has a certain relationship, ensuring that when the magnetic ring 21 rotates driven by the motor rotor shaft 701, the angular position sensor processing circuit board 22 can collect information on the rotation angle of the motor rotor shaft 701.

[0086] See also Figure 1 The controller F includes a control board bracket 24 and a control board 25. The control board bracket 24 is fixedly mounted on the lower surface of the angular position sensor fixing bracket 23. The control board 25 is fixedly connected to the control board bracket 24 by screws.

[0087] See also Figure 1 The driver J includes a driving plate 26 and a driving plate bracket 27. The driving plate bracket 27 is fixedly mounted on the lower surface of the control plate bracket 24. The driving plate 26 is fixedly mounted on the driving plate bracket 27 by screws.

[0088] See also Figure 1 The robotic arm interface H includes a base flange 28, a protective cover 29 and a replacement interface 30, as well as an insulating gasket 31 and an electrical connector 32, which are arranged in sequence from top to bottom; the base flange 28 is installed on the lower surface of the drive plate bracket 27, and the protective cover 29 is arranged below the base flange 28, with a gap left at the edge between the two and sealed by an insulating gasket 31; the replacement interface 30 is installed on the protective cover 29 by screws, and the electrical connector 32 is installed on one side of the replacement interface 30.

[0089] In this embodiment, the lower port of the replacement interface 30 is designed to be a conical surface. The conical surface guidance of the replacement interface 30 can achieve rapid docking with the space robot arm, complete mechanical and electrical connections, and realize signal transmission.

[0090] Example 2:

[0091] This embodiment provides a multifunctional screwing method adapted to precise operations on-orbit in space based on the screwing device in Example 1. The specific operation process is as follows:

[0092] S1, space target acquisition phase:

[0093] The clutch coil 14 in the clutch mechanism D is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disc 17, so that the clutch rotating friction disc 17 moves upward along the axial direction of the stepped flange 2 and overcomes the elastic force of the compression spring 15 under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc 16 and the friction surface of the clutch rotating friction disc 17 are in contact and generate a certain pressure. The clutch rotating friction disc 17 remains fixed and motionless. At this time, the compression spring 15 is in a compressed state and stores a certain preload force. The DC brushless motor in the drive and transmission mechanism C provides power, and the screw shaft 8 rotates around its own central axis. Due to the brake rotating friction disc 1 8 and the friction surface of the clutch rotating friction disk 17 are disengaged, and only the brake rotating friction disk 18 rotates together with the screw shaft 8. The clamping jaw drive base 603 in the clamping jaw mechanism B is fixed in the circumferential direction and the axial direction. The screw nut 9 moves downward along the axial direction of the screw shaft 8 under the constraint of the clamping jaw drive base 603. Since the cross-sectional area corresponding to the screw nut 9 and the clamping jaw drive base 603 gradually decreases, the outer wall of the screw nut 9 generates an inward pulling force on the clamping jaw drive base 603, causing the clamping jaw drive base 603 to move radially, and the caliber formed between the three clamping jaws 601 gradually decreases, thereby realizing the clamping jaw mechanism to grasp the space target.

[0094] S2, the twisting phase of the space target:

[0095] The clutch coil 14 in the clutch mechanism D is powered off, the electromagnetic attraction force disappears, and the clutch rotating friction disc 17 moves downward along the axis of the stepped flange 2 under the preload of the compression spring 15. The friction surface of the clutch rotating friction disc 17 and the friction surface of the brake rotating friction disc 18 adhere to each other and generate a certain pressure; the DC brushless motor in the drive and transmission mechanism C provides power, the screw shaft 8 rotates around its own central axis, and the brake rotating friction disc 18 rotates with the screw shaft 8. The clutch rotating friction disc 17 rubs against the brake rotating friction disc 18. Under the action of friction, the stepped flange 2 is driven to rotate together, and the stepped flange 2 transmits the rotational torque to the clamping support shell 1 and the clamping mechanism B in sequence. The clamping mechanism B rotates together with the screw shaft 8. Since the clamping mechanism B and the screw nut 9 produce synchronous rotational motion, the clamping drive base 603 in the clamping mechanism B no longer restricts the screw nut 9. The screw nut 9 also rotates synchronously with the screw shaft 8, and will not generate radial pushing force or pulling force on the clamping drive base 603; the rotation of the clamping mechanism B realizes the screwing of the operation target.

[0096] S3, space target release phase:

[0097] The clutch coil 14 in the clutch mechanism D is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disc 17, so that the clutch rotating friction disc 17 moves upward along the axial direction of the stepped flange 2 and overcomes the elastic force of the compression spring 15 under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc 16 and the friction surface of the clutch rotating friction disc 17 are in contact and generate a certain pressure. The clutch rotating friction disc 17 remains fixed and motionless. At this time, the compression spring 15 is in a compressed state and stores a certain preload force. The DC brushless motor in the drive and transmission mechanism C provides power, and the screw shaft 8 rotates in the opposite direction around its own central axis. Due to the brake rotating friction disc 1 8 and the friction surface of the clutch rotating friction disk 17 are disengaged, and only the brake rotating friction disk 18 rotates in the opposite direction together with the screw shaft 8. The clamping jaw drive base 603 in the clamping jaw mechanism B is fixed in the circumferential direction and the axial direction. The screw nut 9 moves along the axial direction of the screw shaft 8 under the constraint of the clamping jaw drive base 603. Since the cross-sectional area corresponding to the screw nut 9 and the clamping jaw drive base 603 gradually increases, the outer wall of the screw nut 9 generates an outward expansion force on the clamping jaw drive base 603, causing the clamping jaw drive base 603 to move radially, and the caliber formed between the three clamping jaws 601 gradually increases, thereby realizing the release of the space target by the clamping jaw mechanism.

[0098] Example 3:

[0099] See also Figures 10 to 13 The difference between this embodiment and embodiment 1 is that a central through hole 102 is opened at the center position of the clamping jaw supporting shell 1, and an integral mounting sleeve 103 is coaxially arranged on the lower surface of the clamping jaw supporting shell 1.

[0100] The driving and transmission mechanism C includes a brushless DC motor 7, a rotating shaft 33 and a driving disc 34. The driving disc 34 is a circular ring structure. A concentric annular mounting groove 3401 is provided on the upper annular surface of the driving disc 34, and a portion of the upper annular surface of the driving disc 34 outside the annular mounting groove 3401 is threaded. The brushless DC motor 7 is installed in the shaft support housing 4. The bottom end of the rotating shaft 33 is fixedly connected to the power output end of the brushless DC motor 7 and is rotatably mounted on the shaft support housing 4 through the second bearing assembly 10. The upper end of the rotating shaft 33 passes through the clutch in sequence. The device supports the shell 3 and the stepped flange 2 and is inserted into the central through hole of the driving disk 34. The inner annular wall of the driving disk 34 is key-connected to the rotating shaft 33 to transmit the rotational torque of the DC brushless motor 7; the mounting sleeve 103 is inserted into the annular mounting groove 3401 of the driving disk 34, and is rotationally connected to the inner annular wall of the annular mounting groove 3401 close to the central through hole side of the driving disk 34 through the fifth bearing assembly 35; the outer annular wall of the mounting sleeve 103 and the inner annular wall of the annular mounting groove 3401 away from the central through hole side of the driving disk 34 are clearance-fitted to ensure smooth rotation of the driving disk 34.

[0101] See also Figure 14 The clamping mechanism B includes three clamping assemblies 6, which are evenly arranged circumferentially and are respectively slidably connected to the slide groove of the clamping support shell 1; each clamping assembly 6 includes a clamping jaw 601 and a clamping jaw sliding base 602, and the clamping jaw 601 is fixedly installed on the upper surface of the clamping jaw sliding base 602 and is above the clamping jaw support shell 1; the clamping jaw sliding base 602 is slidably connected in the slide groove Ⅰ101 of the clamping jaw support shell 1, and the clamping jaw sliding base 602 is a rectangular parallelepiped. The lower surface of the clamping jaw sliding base 602 is threaded and engages with the thread on the upper surface of the drive disk 34 to realize the movement of the clamping jaw sliding base 602 along the radial direction of the clamping jaw support shell 1.

[0102] For further information, see Figure 11 The fifth bearing assembly 35 includes a bearing inner spacer III3501, a bearing outer spacer III3502, a bearing locking nut III3503 and a bearing II3504; the bearing locking nut III3503, the bearing outer spacer III3502, the bearing II3504 and the bearing inner spacer III3501 are arranged on the rotating shaft 33 from top to bottom, and the bearing locking nut III3503 is screwed together with the rotating shaft 33; the bearing outer spacer III3502 abuts against the outer ring of the bearing II3504, and the bearing inner spacer III3501 abuts against the inner ring of the bearing II3504.

[0103] In this embodiment, the drive and transmission mechanism C realizes the conversion from rotational motion to linear motion through the cooperation of the drive disk 34 and the thread of the clamping claw sliding base 602. Specifically, the DC brushless motor provides power, the rotating shaft 33 rotates around its own central axis, and drives the drive disk 34 to rotate. The thread on the drive disk 34 generates a radial driving force on the clamping claw sliding base 602, causing the clamping claw sliding base 602 to generate radial movement, thereby realizing the opening and closing of the clamping mechanism.

[0104] Example 4:

[0105] This embodiment provides a multifunctional screwing method adapted to precise operations on-orbit in space based on the screwing device in Example 3. The specific operation process is as follows:

[0106] S1, space target acquisition phase:

[0107] When the clutch coil 14 in the clutch mechanism D is energized, the electromagnetic attraction force generated attracts the clutch rotating friction disc 17, causing the clutch rotating friction disc 17 to move upward along the axis of the stepped flange 2 and overcome the elastic force of the compression spring 15 under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc 16 and the friction surface of the clutch rotating friction disc 17 are in contact and generate a certain pressure. The clutch rotating friction disc 17 remains stationary. At this time, the compression spring 15 is in a compressed state and stores a certain preload force. The DC brushless motor in the drive and transmission mechanism C provides power, and the rotating shaft 33 rotates around its own central axis, driving the drive disc 34 to rotate. The threads on the drive disc 34 generate a radial driving force on the clamping claw sliding base 602, causing the clamping claw sliding base 602 to move radially inward, thereby enabling the clamping claw mechanism to capture the space target. Since the friction surfaces of the brake rotating friction disc 18 and the clutch rotating friction disc 17 are disengaged, only the brake rotating friction disc 18 rotates with the rotating shaft 33, and the clamping claw mechanism does not produce a twisting action.

[0108] S2, the twisting phase of the space target:

[0109] The clutch coil 14 in the clutch mechanism D is de-energized, and the electromagnetic attraction force disappears. The clutch rotating friction disc 17 moves downward along the axis of the stepped flange 2 under the preload of the compression spring 15. The friction surface of the clutch rotating friction disc 17 and the friction surface of the brake rotating friction disc 18 contact and generate a certain pressure. The DC brushless motor in the drive and transmission mechanism C provides power, and the rotating shaft 33 rotates about its own central axis. The brake rotating friction disc 18 rotates along with the rotating shaft 33. The clutch rotating friction disc 17 drives the stepped flange 2 to rotate under the friction force of the brake rotating friction disc 18. The stepped flange 2 transmits the rotational torque to the clamp support housing 1 and the clamp mechanism B in sequence. The clamp mechanism B rotates along with the rotating shaft 33. Since the clamp sliding base 602 in the clamp mechanism B rotates synchronously with the drive disc 34, the drive disc 34 does not generate radial pushing force or pulling force on the clamp sliding base 602. The rotation of the clamp mechanism B realizes the screwing of the operation target.

[0110] S3, space target release phase:

[0111] The clutch coil 14 in the clutch mechanism D is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disc 17, so that the clutch rotating friction disc 17 moves upward along the axial direction of the stepped flange 2 and overcomes the elastic force of the compression spring 15 under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc 16 and the friction surface of the clutch rotating friction disc 17 are in contact and generate a certain pressure. The clutch rotating friction disc 17 remains stationary. At this time, the compression spring 15 is in a compressed state and stores a certain preload force; the DC brushless motor in the drive and transmission mechanism C provides power, and the rotating shaft 33 rotates in the opposite direction around its own central axis. Since the friction surfaces of the brake rotating friction disc 18 and the clutch rotating friction disc 17 are disengaged, only the brake rotating friction disc 18 rotates in the opposite direction with the rotating shaft 33, and the thread on the drive disc 34 generates a radial driving force on the clamp sliding base 602, causing the clamp sliding base 602 to move radially outward, thereby realizing the release of the clamp mechanism to the spatial target.

[0112] This application realizes the capture, screwing and release of space targets under the coordinated action of the rotating support shell A, the clamping mechanism B, the driving and transmission mechanism C and the clutch mechanism D, thereby completing the space operation task.

[0113] The capture, screwing and release actions of space targets in this application are completed by only one DC brushless motor, which reduces the overall volume and weight of the device; at the same time, this application adopts a clutch mechanism D with smaller volume and mass, and utilizes the suction force of the electromagnetic clutch to make the clutch rotating friction disk 17 have the freedom to move up and down, and utilizes the friction between the clutch rotating friction disk 17 and the clutch fixed friction disk 16 and the friction between the clutch rotating friction disk 18 and the brake rotating friction disk 18, so that the clamping claws in the clamping claw mechanism B complete the two-degree-of-freedom actions of planar movement and rotation; the entire device has the effects of few degrees of freedom, low power consumption and simple control.

[0114] The driving and transmission mechanism C of the present application adopts a trapezoidal screw nut transmission or a threaded transmission between the driving disk and the clamp sliding base 602, which can achieve self-locking, does not require an additional brake component, has a small weight and high reliability.

[0115] This application adopts a modular electromechanical interface, has the ability to dock with a space robot or a space robotic arm, and has the ability to be replaced on orbit, which greatly expands the application scope of on-orbit precision operations.

[0116] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A multifunctional screwing device suitable for precise operations on-orbit in space, characterized by: It includes a rotating support housing (A), a clamping mechanism (B), a driving and transmission mechanism (C) and a clutch mechanism (D); The rotating support housing (A) comprises a clamping jaw support housing (1), a stepped flange (2), a clutch support housing (3) and a shaft support housing (4) which are coaxially connected in sequence from top to bottom; the clamping jaw support housing (1) is fixedly connected to the stepped flange (2); the stepped flange (2) is partially inserted into the clutch support housing (3) and is rotatably connected to the clutch support housing (3); the clutch support housing (3) and the shaft support housing (4) are fixedly connected; The claw end of the clamping mechanism (B) is located above the clamping support shell (1), and the power input end of the clamping mechanism (B) is located in the accommodating cavity formed by the stepped flange (2) and the clamping support shell (1); The driving and transmission mechanism (C) includes a motor, a rotating shaft and a power output member, wherein the motor is mounted in a shaft support housing (4), the bottom end of the rotating shaft is fixedly connected to the power output end of the motor and is rotatably mounted on the shaft support housing (4), and the upper end of the rotating shaft passes through the clutch support housing (3) and the stepped flange (2) in sequence and is rotatably mounted on the clamp support housing (1); the power output member is mounted on the rotating shaft and is connected to the power input end of the clamp assembly (6) to drive the clamp assembly (6) to realize an opening or closing action; The clutch mechanism (D) is an annular structure and is installed in an annular mounting groove formed by the stepped flange (2) and the clutch support housing (3); the clutch mechanism (D) includes a clutch housing (13), a clutch coil (14), a compression spring (15), a clutch fixed friction disc (16), a clutch rotating friction disc (17), a brake rotating friction disc (18) and a limit flange (19); the lower annular surface of the clutch housing (13) is provided with a circle of grooves (1301), and the clutch coil (14) is located in the grooves (1301); the clutch housing (13) and the clutch rotating friction disc (17) are sequentially sleeved on the lower section of the stepped flange (2) from top to bottom, and an annular groove (1302) is formed between the clutch housing (13) and the stepped flange (2); the compression spring (15) is sleeved on the stepped flange (2) and is located in the annular groove (1302), and one end of the compression spring (15) abuts against the step surface of the stepped flange (2). The other end of (15) abuts against the clutch rotating friction disc (17); the clutch rotating friction disc (17) and the outer ring wall of the stepped flange (2) are key-connected and axially movable, and the limit flange (19) is sleeved on the rotating shaft and fixedly connected to the bottom end surface of the stepped flange (2) for limiting the upward and downward movement of the clutch rotating friction disc (17); the brake rotating friction disc (18) is sleeved on the rotating shaft and fixedly connected to the shaft shoulder of the rotating shaft; the clutch fixed friction disc (16) is sleeved on the clutch housing (13) and fixedly mounted on the shaft shoulder of the inner ring wall of the clutch support housing (3); the contact surfaces of the lower ring surface of the clutch fixed friction disc (16) and the upper ring surface of the clutch rotating friction disc (17) are friction surfaces, and braking is achieved by contact between the two friction surfaces; the contact surfaces of the lower ring surface of the clutch rotating friction disc (17) and the upper ring surface of the brake rotating friction disc (18) are friction surfaces, and braking is achieved by contact between the two friction surfaces.

2. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 1 is characterized in that: The clamping mechanism (B) comprises a plurality of clamping assemblies (6), wherein the plurality of clamping assemblies (6) are evenly arranged in the circumferential direction and are radially slidably connected to the clamping support housing (1).

3. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 2 is characterized in that: The clamping jaw support shell (1) is provided with a plurality of sliding grooves I (101) extending through the upper and lower surfaces. The sliding direction of each sliding groove I (101) is consistent with the radial direction of the clamping jaw support shell (1), and a clamping jaw assembly (6) is slidably connected in each sliding groove I (101).

4. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 3 is characterized in that: Each clamping jaw assembly (6) includes a clamping jaw (601), a clamping jaw sliding base (602) and a clamping jaw driving base (603), wherein the clamping jaw (601) is fixedly mounted on the clamping jaw sliding base (602) and is located above the clamping jaw supporting shell (1); the clamping jaw sliding base (602) is slidably connected in the slide groove I (101) of the clamping jaw supporting shell (1); the clamping jaw driving base (603) is wedge-shaped, and the wedge-shaped surface of the clamping jaw driving base (603) is the driven surface. The top end surface of the clamping jaw driving base (603) is fixedly connected to the lower end surface of the clamping jaw sliding base (602) and is located in the accommodating cavity formed by the stepped flange (2) and the clamping jaw supporting shell (1); The driving and transmission mechanism (C) is a screw nut pair, the rotating axis is the screw shaft (8), the power output member is a truncated cone-shaped screw nut (9), the screw nut (9) is screwed onto the screw shaft (8), and a plurality of sliding grooves II (901) are opened on the outer wall of the screw nut (9) in the circumferential direction, and the sliding direction of the sliding groove II (901) is the same as the slope direction of the screw nut (9); the clamping jaw driving base (603) is in the sliding groove II (901) and is slidably connected to the screw nut (9).

5. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 4 is characterized in that: The power output member is a circular drive disc (34), the upper ring surface of the drive disc (34) is threaded, and the inner ring wall of the drive disc (34) is connected to the rotating shaft by a key; Each clamping jaw assembly (6) includes a clamping jaw (601) and a clamping jaw sliding base (602), wherein the clamping jaw (601) is fixedly mounted on the upper surface of the clamping jaw sliding base (602) and is located above the clamping jaw support shell (1); the clamping jaw sliding base (602) is slidably connected in the slide groove I (101) of the clamping jaw support shell (1), and the lower surface of the clamping jaw sliding base (602) is threaded and engages with the thread on the upper surface of the driving disk (34), thereby realizing the movement of the clamping jaw sliding base (602) along the radial direction of the clamping jaw support shell (1).

6. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 5 is characterized in that: A concentric annular mounting groove (3101) is formed on the upper annular surface of the driving disc (34); A mounting sleeve (103) is coaxially arranged on the lower surface of the clamping jaw supporting housing (1); the mounting sleeve (103) is inserted into the annular mounting groove (3101) of the driving disc (34) and is rotatably connected to the annular mounting groove (3101).

7. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 4 or 6, characterized in that: The upper annular surface of the clutch rotating friction disk (17) is coaxially provided with a circle of annular protrusions I (1701), the annular protrusions I (1701) are arranged opposite to the clutch fixed friction disk (16), and the upper end surface of the annular protrusions I (1701) is a friction surface; the lower annular surface of the clutch rotating friction disk (17) is coaxially provided with a circle of annular protrusions II (1702), and the lower end surface of the annular protrusions II (1702) is a friction surface; The upper annular surface of the brake rotating friction disc (18) is coaxially provided with a circle of annular protrusions III (1801), the annular protrusions III (1801) and the annular protrusions II (1702) are arranged opposite to each other, and the upper end surface of the annular protrusions III (1801) is a friction surface.

8. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 7 is characterized in that: The motor is a brushless DC motor (7), which comprises a motor rotor shaft (701), a motor rotor magnetic steel fixing flange (702), a motor rotor magnetic steel (703), a motor stator coil (704), and a motor axial retaining ring (705); the motor rotor shaft (701), the motor rotor magnetic steel fixing flange (702), the motor rotor magnetic steel (703), and the motor stator coil (704) are arranged in sequence from the inside to the outside, the motor rotor shaft (701) is key-connected to the motor rotor magnetic steel fixing flange (702), and the motor rotor magnetic steel (703) is fixedly connected to the motor rotor magnetic steel fixing flange (702) by gluing; the motor stator coil (704) is axially supported in a shaft support housing (4) by the motor axial retaining ring (705), and is key-connected to the inner ring wall of the shaft support housing (4); the bottom end of the rotating shaft is key-connected to the motor rotor shaft (701).

9. The multifunctional screwing device adapted for precise on-orbit operation in space according to claim 8, characterized in that: The screwing device further comprises a sensor (E), a controller (F), a driver (J) and a robotic arm interface (H); the sensor (E), controller (F), driver (J) and robotic arm interface (H) are coaxially mounted in sequence and fixedly connected to the bottom of the rotating support housing (A) via the sensor (E); The sensor (E) comprises a magnetic ring fixing plate (20), a magnetic ring (21), an angular position sensor processing circuit board (22) and an angular position sensor fixing bracket (23) which are arranged in sequence from top to bottom; the magnetic ring fixing plate (20) is fixedly connected to the lower end surface of the motor rotor shaft (701), the magnetic ring (21) is fixed on the magnetic ring fixing plate (20), the angular position sensor processing circuit board (22) is fixedly connected to the angular position sensor fixing bracket (23), and the angular position sensor fixing bracket (23) is installed at the lower end of the shaft support housing (4) and seals the lower end of the shaft support housing (4); The controller (F) includes a control panel bracket (24) and a control panel (25), wherein the control panel bracket (24) is fixedly mounted on the lower surface of the angular position sensor fixing bracket (23), and the control panel (25) is fixedly connected to the control panel bracket (24); The driver (J) includes a driving plate (26) and a driving plate bracket (27), wherein the driving plate bracket (27) is fixedly mounted on the lower surface of the control plate bracket (24), and the driving plate (26) is fixedly mounted on the driving plate bracket (27); The robot arm interface (H) includes a base flange (28), a protective cover (29) and a replacement interface (30), as well as an insulating gasket (31) and an electrical connector (32) arranged in sequence from top to bottom; the base flange (28) is installed on the lower surface of the drive plate bracket (27), the protective cover (29) is arranged below the base flange (28), and a gap is left at the edge between the two, and is sealed by an insulating gasket (31); the replacement interface (30) is installed on the protective cover (29), and the electrical connector (32) is installed on one side of the replacement interface (30).

10. A multifunctional screwing method adapted to precise operations in orbit, characterized by: The multifunctional screwing device adapted to precise in-orbit operation in space according to any one of claims 1 to 9 has the following specific operation process: S1, space target acquisition phase: The clutch coil (14) in the clutch mechanism (D) is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disc (17), so that the clutch rotating friction disc (17) moves upward along the axial direction of the stepped flange (2) and overcomes the elastic force of the compression spring (15) under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc (16) and the friction surface of the clutch rotating friction disc (17) are in contact and generate a certain pressure. The clutch rotating friction disc (17) remains fixed and motionless. At this time, the compression spring (15) is in a compressed state and stored. A certain preload force; the motor in the drive and transmission mechanism (C) provides power, and the rotating shaft rotates around its own central axis. Since the friction surfaces of the brake rotating friction disc (18) and the clutch rotating friction disc (17) are separated, only the brake rotating friction disc (18) rotates along with the rotating shaft. The clamping mechanism (B) is fixed in the circumferential direction and the axial direction. The power output member generates a force on the power input end of the clamping mechanism (B) driven by the rotating shaft, so that the grasping aperture formed by the claw end gradually decreases, thereby realizing the grasping of the space target by the clamping mechanism; S2, the twisting phase of the space target: The clutch coil (14) in the clutch mechanism (D) is powered off, the electromagnetic attraction force disappears, and the clutch rotating friction disc (17) moves downward along the axis of the stepped flange (2) under the preload of the compression spring (15). The friction surface of the clutch rotating friction disc (17) and the friction surface of the brake rotating friction disc (18) fit together and generate a certain pressure. The DC brushless motor in the drive and transmission mechanism (C) provides power, the rotating shaft rotates around its own central axis, the brake rotating friction disc (18) rotates along with the rotating shaft, and the clutch rotating friction disc (17) is in the brake. The actuator rotates the friction disk (18) and, under the action of the friction force, drives the stepped flange (2) to rotate together. The stepped flange (2) transmits the rotational torque to the clamping claw support housing (1) and the clamping claw mechanism (B) in sequence. The clamping claw mechanism (B) rotates along with the rotating shaft. Since the clamping claw mechanism (B) and the power output member in the driving and transmission mechanism (C) rotate synchronously, the power output member does not generate a driving force on the power input end of the clamping claw mechanism (B), and the gripping caliber of the clamping claw mechanism (B) does not change. The rotation of the clamping claw mechanism (B) realizes the screwing of the operation target. S3, space target release phase: The clutch coil (14) in the clutch mechanism (D) is energized, and the electromagnetic attraction force generated attracts the clutch rotating friction disc (17), so that the clutch rotating friction disc (17) moves upward along the axial direction of the stepped flange (2) and overcomes the elastic force of the compression spring (15) under the action of the electromagnetic attraction force. The friction surface of the clutch fixed friction disc (16) and the friction surface of the clutch rotating friction disc (17) are in contact and generate a certain pressure. The clutch rotating friction disc (17) remains fixed and motionless. At this time, the compression spring (15) is in a compressed state and stores a certain amount of pressure. The motor in the drive and transmission mechanism (C) provides power, and the rotating shaft rotates in the opposite direction around its own central axis. Since the friction surfaces of the brake rotating friction disc (18) and the clutch rotating friction disc (17) are disengaged, only the brake rotating friction disc (18) rotates in the opposite direction along with the rotating shaft. The clamping mechanism (B) is fixed in the circumferential direction and the axial direction. The power output member generates a force on the power input end of the clamping mechanism (B) driven by the rotating shaft, so that the grasping aperture formed by the claw end gradually increases, thereby realizing the release of the space target by the clamping mechanism.

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