An electromagnetic capture tool for the end of a space robot arm

Abstract

An electromagnetic capture tool for the end of a space manipulator belongs to the technical field of space manipulators. In order to solve the problems of insufficient capture engagement, weak traction and poor capture stability in existing space capture tools, the present application provides an electromagnetic capture tool for the end of a space manipulator, the capture tool comprising a capture module and a receiving module, the capture module being arranged at the end of the space manipulator, and the capture module being detachably connected to the space manipulator, the receiving module being arranged on the capture target, and the receiving module being detachably connected to the capture target, the capture module and the receiving module being arranged in correspondence with each other, and the capture module being detachably connected to the receiving module, the capture module comprising a base, a drive system, a locking system, an electromagnetic system, a No. 1 guide component and a modular manipulator interface, the receiving module comprising an armature, a buffer system, a No. 2 guide component and a modular object interface, the present application is mainly used for quickly capturing captured objects in space to complete dexterous operations.

Description

Technical Field

[0001] The present invention belongs to the technical field of space manipulators, and in particular relates to an electromagnetic capture tool for the end of a space manipulator. Background Art

[0002] With the continuous development of aerospace technology in various countries, single-body spacecraft have developed a variety of structures to meet different functions. However, complex single-body spacecraft have gradually encountered problems in the harsh space environment. Currently, electromagnetic docking technology is in its early stages of research. Compared with other end-capture tools, electromagnetic devices can dock and lock in a short time, simplifying the traction mechanism required in mechanical capture technology during docking, making docking easier. Therefore, introducing electromagnetic capture technology into the aerospace field for space floating capture is a new innovation and attempt. There are already some precedents in the existing art that combine the two. Patent CN104590592A discloses a new space electromagnetic docking mechanism that combines electromagnetic adsorption and space capture. However, the solution provided by this patent has the disadvantage of low controllability. While it can achieve the capture and traction of target objects, its emission is highly random, the recovery efficiency is low, and its adaptability to the space environment is poor. Patent CN103407586A discloses an electromagnetic docking system that can achieve electromagnetic capture of floating targets in space using a double-winding coil. However, the electromagnetic force provided by this structure is extremely small, and even after scaling, it requires a large space for storage. And lack of auxiliary mechanism for fixing, the structural stability is poor. Therefore, in order to solve the above problems, a new electromagnetic capture tool for the end of the space manipulator is developed to meet the actual needs. Summary of the Invention

[0003] In order to solve the problems of insufficient capture engagement, weak traction force and poor capture stability in existing space capture tools, the present invention provides an electromagnetic capture tool for the end of a space manipulator.

[0004] An electromagnetic capture tool for the end of a space manipulator, the capture tool comprising a capture module and a receiving module, the capture module being disposed at the end of the space manipulator and being detachably connected to the space manipulator, the receiving module being disposed on a capture target and being detachably connected to the capture target, the capture module and the receiving module being disposed in a corresponding manner and being detachably connected to the receiving module;

[0005] The capture module includes a base, a drive system, a locking system, an electromagnetic system, a No. 1 guide component and a modular robotic arm interface; the modular robotic arm interface is arranged at the bottom end of the base, and the modular robotic arm interface is detachably connected to the base by bolts, the drive system is arranged in the base, and the bottom of the drive system is installed on the base, the mounting part of the locking system is sleeved on the power output end of the drive system, and the locking part of the locking system extends to the outside of the base, the No. 1 guide component is arranged at the top of the base, and the No. 1 guide component is detachably connected to the base, the electromagnetic system is arranged in the No. 1 guide component, and the electromagnetic system is detachably connected to the No. 1 guide component, the top of the drive system is inserted into the bottom of the electromagnetic system, and the top of the drive system is rotatably connected to the electromagnetic system;

[0006] The receiving module includes an armature, a buffer system, a second guide component, and a modular object interface. The armature is disposed at the center of the bottom of the second guide component and is movably connected to the second guide component via the buffer system. The second guide component is disposed below the modular object interface and is detachably connected to the modular object interface.

[0007] The second guide component is arranged in conjunction with the first guide component, the capture module is adsorbed and connected to the armature through an electromagnetic system, and the capture module is detachably connected to the modular object interface through a locking system;

[0008] Furthermore, the drive system includes a drive motor stator, a drive motor rotor sleeve, a motor drive module, a drive screw, a drive nut, a No. 1 angular contact bearing and a No. 2 angular contact bearing. The drive motor stator is arranged on a middle support plate in the base, and the drive motor stator is detachably connected to the middle support plate by bolts. The drive motor rotor sleeve is inserted into the drive motor stator, and the drive motor stator and the drive motor rotor sleeve are connected by electromagnetic rotation. The motor drive module is arranged below the middle support plate, and the motor drive module is detachably connected to the modular robotic arm interface by bolts. The motor drive module is connected to the power input end of the drive motor stator and the electromagnetic system through wires. The driving screw is inserted into the driving motor rotor sleeve, and the driving screw is glued and fixed to the inner wall of the driving motor rotor sleeve. The bottom end of the driving screw extends out of the driving motor rotor sleeve and is inserted in the middle support plate, and the bottom end of the driving screw is rotatably connected to the middle support plate through a No. 1 angular contact bearing. The top end of the driving screw extends out of the driving motor rotor sleeve and is inserted in the electromagnetic system, and the top end of the driving screw is rotatably connected to the electromagnetic system through a No. 2 angular contact bearing. The driving nut is sleeved on the driving screw, and the driving nut is threadedly connected to the driving screw. The mounting portion of the locking system is sleeved on the driving nut, and the locking system is fixedly connected to the driving nut.

[0009] Furthermore, a motor stator limiting sleeve is provided at the top center of the middle support plate, and the drive motor stator is inserted in the motor stator limiting sleeve, and a plurality of No. 1 and a half slots are processed equidistantly along the circumference on the inner ring wall of the motor stator limiting sleeve, and a plurality of No. 2 and a half slots are processed equidistantly along the circumference on the outer ring wall of the drive motor stator, and each No. 2 and a half slot are arranged correspondingly to a No. 1 and a half slot, and each No. 2 and a half slot are combined with a corresponding No. 1 and a half slot to form a limiting pin hole, and a limiting pin is correspondingly inserted into each limiting pin hole, and the motor stator limiting sleeve circumferentially limits the drive motor stator through the plurality of limiting pins;

[0010] Furthermore, the locking system includes a push plate and N mechanical locking arms, where N is a positive integer. The push plate is sleeved on the drive nut and fixedly connected to the drive nut. N locking hinged arms are equidistantly provided on the outer circumferential surface of the push plate, and one end of each locking hinged arm is integrally formed with the outer circumferential wall of the push plate, and the other end of each locking hinged arm passes through a strip-shaped guide hole on the side wall of the base and extends to the outside of the base. Each mechanical locking arm is correspondingly provided on the other end of a locking hinged arm, and one end of the mechanical locking arm is hingedly provided with the other end of the locking hinged arm to which it is attached.

[0011] Furthermore, the mechanical locking arm includes a connecting rod and a locking claw, one end of the connecting rod is hingedly connected to the other end of the locking hinged arm, the locking claw is provided on the other end of the connecting rod, and the connecting end of the locking claw is hingedly connected to the other end of the connecting rod, a hinged support arm is provided on the side wall of the locking claw near the connecting end, one end of the hinged support arm and the locking claw are integrally formed, N support arm hinge ears are provided on the outer circular wall of the No. 1 guide component at equal intervals along the circumferential direction, N is a positive integer, each support arm hinge ear is correspondingly provided with a locking hinged arm up and down, the other end of the hinged support arm is correspondingly provided in a support arm hinge ear, and the other end of each hinged support arm is rotatably connected to the support arm hinge ear;

[0012] Furthermore, the electromagnetic system includes an electromagnet core and a coil winding, the electromagnet core is disposed in a first guide component, and the electromagnet core and the first guide component are detachably connected by bolts, the top of the electromagnet core is machined with an annular groove extending in the axial direction, the coil winding is installed in the annular groove, and the top of the coil winding is lower than the top of the electromagnet core, the top of the drive screw extends out of the drive motor rotor sleeve and is inserted into the electromagnet core, and the top of the drive screw is rotatably connected to the electromagnet core via a second angular contact bearing;

[0013] Furthermore, the No. 1 guide component includes a No. 1 guide ring and four No. 1 guide teeth, the electromagnet core is arranged in the No. 1 guide ring, and the electromagnet core is detachably connected to the No. 1 guide ring by bolts, the four No. 1 guide teeth are equidistantly arranged on the top of the No. 1 guide ring along the circumferential direction, and each No. 1 guide tooth is integrally formed with the No. 1 guide ring, each No. 1 guide tooth includes a No. 1 convex surface, a No. 1 concave surface, a No. 1 back arc surface and two No. 1 side transition surfaces, the No. 1 concave surface and the No. 1 back arc surface are respectively arranged on the inner and outer sides of the No. 1 convex surface, the top of the No. 1 back arc surface is connected to the outer side of the No. 1 convex surface, and the No. 1 back arc surface is connected to the outer side of the No. 1 convex surface. The bottom of the surface is connected to the top of the outer ring surface of the No. 1 guide ring, and the ring surface where the No. 1 back arc surface is located is coplanar with the outer ring surface of the No. 1 guide ring, the top of the No. 1 concave surface is connected to the inner side of the No. 1 convex surface, the bottom end of the No. 1 concave surface is connected to the top of the inner ring surface of the No. 1 guide ring, and the two No. 1 side transition surfaces are relatively arranged on the left and right sides of the No. 1 convex surface, and the top of each No. 1 side transition surface is connected to one side of the No. 1 convex surface, the bottom of the No. 1 side transition surface is connected to the top of the No. 1 guide ring, one side of the No. 1 side transition surface is connected to the No. 1 back arc surface, and the other side of the No. 1 side transition surface is connected to the No. 1 concave surface;

[0014] Furthermore, the armature is a ring-shaped structure, and an armature ring groove extending in the axial direction is processed at the center of the bottom end of the second guide component. The armature is correspondingly arranged in the armature ring groove, and the armature is movably connected to the bottom of the armature ring groove through a buffer system;

[0015] Furthermore, the buffer system includes a plurality of buffer units, which are equidistantly inserted into the bottom of the armature ring groove along the circumferential direction, and the axis of each buffer unit is arranged parallel to the axis of the armature ring groove. The top end of each buffer unit passes through the bottom of the armature ring groove and extends to the top of the second guide component. The bottom end of each buffer unit extends into the armature ring groove and is inserted into the armature, and the bottom end of each buffer unit is fixedly connected to the armature.

[0016] The buffer unit includes a guide rod, a buffer spring and a top limit block, the guide rod is inserted into the bottom of the armature ring groove, and the guide rod and the bottom of the armature ring groove are clearance-matched, the top of the guide rod passes through the bottom of the armature ring groove and extends to the top of the No. 2 guide component, the top limit block is arranged at the top of the guide rod, and the top limit block and the guide rod are integrally formed, a plurality of guide blind holes are machined on the top of the armature along the circumferential direction, the bottom end of the guide rod extends into the armature ring groove and is correspondingly inserted into a guide blind hole on the armature, and the bottom end of each guide rod is fixedly connected to the bottom of the guide blind hole, the buffer spring is correspondingly inserted in a guide blind hole, and the buffer spring is sleeved on the guide rod, the top of the buffer spring is fixedly connected to the bottom of the armature ring groove, and the bottom end of the buffer spring is fixedly connected to the bottom of the guide blind hole;

[0017] Furthermore, the No. 2 guide component includes a No. 2 guide ring and four No. 2 guide teeth. An armature ring groove is processed at the center of the bottom end of the No. 2 guide ring, and the armature ring groove is connected to the inner ring wall of the No. 2 guide ring. The four No. 2 guide teeth are equidistantly arranged at the bottom of the No. 2 guide ring along the circumferential direction, and each No. 2 guide tooth is integrally formed with the No. 2 guide ring. Each No. 2 guide tooth is matched with the gap between the two adjacent No. 1 guide teeth. Each No. 2 guide tooth includes a No. 2 convex surface, a No. 2 concave surface, a No. 2 back arc surface and two No. 2 side transition surfaces. The No. 2 concave surface and the No. 2 back arc surface are respectively arranged on the front and rear sides of the No. 2 convex surface, and the bottom of the No. 2 back arc surface The second concave surface is connected to the front side of the second convex surface, the top of the second back arc surface is connected to the bottom of the outer ring surface of the No. 2 guide ring, and the ring surface where the No. 2 back arc surface is located is coplanar with the outer ring surface of the No. 2 guide ring, the bottom end of the No. 2 concave surface is connected to the front side of the No. 2 convex surface, the top of the No. 2 concave surface is connected to the bottom of the middle ring surface of the armature ring groove, the two No. 2 side transition surfaces are relatively arranged on the left and right sides of the No. 2 convex surface, and the bottom of each No. 2 side transition surface is connected to one side of the No. 1 convex surface, the top of the No. 2 side transition surface is connected to the bottom of the No. 2 guide ring, one side of the No. 2 side transition surface is connected to the No. 2 back arc surface, and the other side of the No. 2 side transition surface is connected to the No. 2 concave surface.

[0018] The beneficial effects of this application compared to the prior art are as follows:

[0019] The present invention provides an electromagnetic capture tool for the end of a space robot arm, which divides the capture stage into three stages: traction, docking and clamping. In the traction stage, the coil winding is energized to magnetize the electromagnet core and then attract the armature located on the receiving module. Under the action of the magnetized attraction, the armature of the receiving module moves toward the electromagnet core, thereby bringing the captured object close to the electromagnetic capture tool. When the captured object is docked with the electromagnetic capture tool, the No. 1 guide component located on the capture module and the No. 2 guide component located on the receiving module cooperate to provide a guide constraint for the docking, so that the capture module and the receiving module can complete the centering docking, ensuring the accuracy of the docking between the two. Through traction and docking, the electromagnetic capture tool and the captured target are already in a pre-fixed state under the action of the adsorption force. In this state, the screw is driven to rotate by the motor in the capture module, and then the end of the locking device is driven to clamp and fix the capture module and the receiving module, thereby ensuring the stability of the capture result. After the locking device completes the clamping and fixing, the coil winding is de-energized, so that the electromagnetic device does not need to continue working during the transportation process.

[0020] The electromagnetic capture tool for the end of a space robot arm provided in the present application can provide better traction force than the existing space capture device, and can provide a certain degree of guidance for the capture path under the action of the traction force. By setting a guiding device, the engagement between the capture module and the receiving module can be improved to ensure the accuracy of the capture work. After the docking and traction work is completed, the capture module and the receiving module are clamped by the locking unit, which further improves the stability of the capture work and achieves the purpose of accurate capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a partial cross-sectional diagram of a capture module in the electromagnetic capture tool described in this application;

[0022] Figure 2 Schematic top view of the capture module in the electromagnetic capture tool described in this application;

[0023] Figure 3 This is a main cross-sectional schematic diagram of the capture module in the electromagnetic capture tool described in this application;

[0024] Figure 4 This is a C-direction schematic diagram of the capture module in the electromagnetic capture tool described in this application;

[0025] Figure 5 DD-direction schematic diagram of the capture module in the electromagnetic capture tool described in this application;

[0026] Figure 6 EE direction schematic diagram of the capture module in the electromagnetic capture tool described in this application;

[0027] Figure 7 This is a schematic diagram of the capture module in the electromagnetic capture tool described in this application from the FF direction;

[0028] Figure 8 This is a partial cross-sectional diagram of a receiving module in the electromagnetic capture tool described in this application;

[0029] Figure 9 This is a schematic top view of the receiving module in the electromagnetic capture tool described in this application;

[0030] Figure 10 Schematic diagram of the receiving module in the electromagnetic capture tool described in this application;

[0031] Figure 11 This is a BB-axis schematic diagram of the receiving module in the electromagnetic capture tool described in this application;

[0032] Figure 12 This is a working schematic diagram of the electromagnetic capture tool described in this application;

[0033] Figure 13 This is a main cross-sectional schematic diagram of the electromagnetic capture tool described in this application;

[0034] Figure 14 for Figure 13 A partial enlarged view of the H in the middle;

[0035] In the figure, 1 is the base, 2 is the drive system, 2-1 is the motor stator, 2-2 is the drive motor rotor sleeve, 2-3 is the motor drive module, 2-4 is the drive screw, 2-5 is the drive nut, 2-6-1 is the angular contact bearing No. 1, 2-6-2 is the angular contact bearing No. 2, 3 is the locking system, 3-1 is the push plate, 3-2 is the connecting rod, 3-3 is the locking claw, 4 is the electromagnetic system, 4-1 is the electromagnet core, 4-2 is the coil winding, 5 is the guide component No. 1, 5-1 is the guide ring No. 1, 5-2 is the guide tooth No. 1, 5-2 is the guide tooth No. 1, Protruding surface, 5-2-2 No. 1 recessed surface, 5-2-3 No. 1 back arc surface, 5-2-4 No. 1 side transition surface, 6 modular robotic arm interface, 7 armature, 8 buffer system, 8-1 guide rod, 8-2 buffer spring, 8-3 top limit block, 9 No. 2 guide component, 9-1 No. 2 guide ring, 9-2 No. 2 guide tooth, 9-2-1 No. 2 protruding surface, 9-2-2 No. 2 recessed surface, 9-2-3 No. 2 back arc surface, 9-2-4 No. 2 side transition surface and 10 modular object interface. DETAILED DESCRIPTION

[0036] Specific implementation method 1: Combination Figures 1 to 14 This embodiment describes an electromagnetic capture tool for the end of a space manipulator, characterized in that: the capture tool includes a capture module and a receiving module, the capture module is arranged at the end of the space manipulator, and the capture module is detachably connected to the space manipulator, the receiving module is arranged on a capture target, and the receiving module is detachably connected to the capture target, the capture module and the receiving module are correspondingly arranged, and the capture module and the receiving module are detachably connected;

[0037] The capture module includes a base 1, a drive system 2, a locking system 3, an electromagnetic system 4, a No. 1 guide component 5 and a modular robotic arm interface 6; the modular robotic arm interface 6 is arranged at the bottom end of the base 1, and the modular robotic arm interface 6 is detachably connected to the base 1 by bolts, the drive system 2 is arranged in the base 1, and the bottom of the drive system 2 is installed on the base 1, the mounting part of the locking system 3 is sleeved on the power output end of the drive system 2, and the locking part of the locking system 3 extends to the outside of the base 1, the No. 1 guide component 5 is arranged at the top of the base 1, and the No. 1 guide component 5 is detachably connected to the base 1, the electromagnetic system 4 is arranged in the No. 1 guide component 5, and the electromagnetic system 4 is detachably connected to the No. 1 guide component 5, the top of the drive system 2 is inserted into the bottom of the electromagnetic system 4, and the top of the drive system 2 is rotatably connected to the electromagnetic system 4;

[0038] The receiving module includes an armature 7, a buffer system 8, a second guide component 9, and a modular object interface 10. The armature 7 is disposed at the center of the bottom of the second guide component 9 and is movably connected to the second guide component 9 via the buffer system 8. The second guide component 9 is disposed below the modular object interface 10, and the second guide component 9 and the modular object interface 10 are detachably connected.

[0039] The second guide member 9 is provided in conjunction with the first guide member 5, and the capture module is adsorbed and connected to the armature 7 by the electromagnetic system 4, and the capture module is disassembled and connected to the modular object interface 10 by the locking system 3.

[0040] Specific implementation method 2: Combination Figures 1 to 14 Describe this embodiment. The difference between this embodiment and the specific embodiment 1 is that the drive system 2 includes a drive motor stator 2-1, a drive motor rotor sleeve 2-2, a motor drive module 2-3, a drive screw 2-4, a drive nut 2-5, a first angular contact bearing 2-6-1 and a second angular contact bearing 2-6-2. The drive motor stator 2-1 is arranged on the middle support plate in the base 1, and the drive motor stator 2-1 is detachably connected to the middle support plate by bolts. The drive motor rotor sleeve 2-2 is inserted into the drive motor stator 2-1, and the drive motor stator 2-1 and the drive motor rotor sleeve 2-2 are connected by electromagnetic rotation. The motor drive module 2-3 is arranged below the middle support plate, and the motor drive module 2-3 is detachably connected to the modular robot arm interface 6 by bolts. The motor drive module 2-3 is electrically connected to the drive motor stator 2-1 through wires. The force input end is connected to the power input end of the electromagnetic system 4. The drive screw 2-4 is inserted into the drive motor rotor sleeve 2-2 and glued and fixed to the inner wall of the drive motor rotor sleeve 2-2. The bottom end of the drive screw 2-4 extends out of the drive motor rotor sleeve 2-2 and is inserted into the middle support plate. The bottom end of the drive screw 2-4 is rotatably connected to the middle support plate via a No. 1 angular contact bearing 2-6-1. The top end of the drive screw 2-4 extends out of the drive motor rotor sleeve 2-2 and is inserted into the electromagnetic system 4. The top end of the drive screw 2-4 is rotatably connected to the electromagnetic system 4 via a No. 2 angular contact bearing 2-6-2. The drive nut 2-5 is sleeved on the drive screw 2-4 and the drive nut 2-5 is threadedly connected to the drive screw 2-4. The mounting portion of the locking system 3 is sleeved on the drive nut 2-5, and the locking system 3 is fixedly connected to the drive nut 2-5. Other components and connection methods are the same as those in the first embodiment.

[0041] Specific implementation method three: Combination Figures 1 to 14This embodiment is described. It differs from the second embodiment in that a motor stator limiting sleeve is provided at the top center of the middle support plate. The drive motor stator 2-1 is inserted into the motor stator limiting sleeve. The inner ring wall of the motor stator limiting sleeve is machined with multiple number one and a half slots equidistantly along the circumference. The outer ring wall of the drive motor stator 2-1 is machined with multiple number two and a half slots equidistantly along the circumference. Each number two and a half slot is arranged correspondingly to a number one and a half slot. Each number two and a half slot is combined with a corresponding number one and a half slot to form a limiting pin hole. A limiting pin is inserted into each limiting pin hole. The motor stator limiting sleeve circumferentially limits the drive motor stator 2-1 via the multiple limiting pins. Other components and connection methods are the same as those of the second embodiment.

[0042] Specific implementation method four: Combination Figures 1 to 14 This embodiment differs from the third embodiment in that the locking system 3 includes a push plate 3-1 and N mechanical locking arms, where N is a positive integer. The push plate 3-1 is sleeved onto the drive nut 2-5 and fixedly connected to the drive nut 2-5. N locking hinged arms are equidistantly provided on the outer circumferential surface of the push plate 3-1, with one end of each locking hinged arm integrally formed with the outer circumferential wall of the push plate 3-1. The other end of each locking hinged arm extends through a strip-shaped guide hole in the side wall of the base 1 and extends to the outside of the base 1. Each mechanical locking arm is correspondingly provided at the other end of a locking hinged arm, and one end of the mechanical locking arm is hingedly connected to the other end of the locking hinged arm to which it belongs. The other components and connection methods are the same as those of the third embodiment.

[0043] Specific implementation method five: Combination Figures 1 to 14 This embodiment differs from the fourth embodiment in that the mechanical locking arm includes a connecting rod 3-2 and a locking pawl 3-3. One end of the connecting rod 3-2 is hingedly connected to the other end of the corresponding locking hinge arm. The locking pawl 3-3 is disposed on the other end of the connecting rod 3-2, and the connecting end of the locking pawl 3-3 is hingedly connected to the other end of the connecting rod 3-2. A hinged support arm is provided on the side wall of the locking pawl 3-3 near the connecting end. One end of the hinged support arm is integrally formed with the locking pawl 3-3. N support arm hinge ears are equidistantly provided on the outer circular wall of the first guide component 5 along the circumference, where N is a positive integer. Each support arm hinge ear is disposed above and below a corresponding locking hinge arm. The other end of the hinged support arm is disposed in a corresponding support arm hinge ear, and the other end of each hinge arm is rotatably connected to the corresponding support arm hinge ear. Other components and connection methods are the same as those of the fourth embodiment.

[0044] In combination with the description of specific embodiments 2 to 5, the drive system 2 mainly has a power component as the locking system 3, which works on the motor component composed of the drive motor stator 2-1 and the drive motor rotor sleeve 2-2 through the motor drive module 2-3, and at the same time drives the drive screw 2-4 to rotate. As the drive screw 2-4 rotates, the push plate 3-1 will perform corresponding actions along with the axial movement of the drive nut 2-5. As the push plate 3-1 moves up and down, the mechanical locking arm composed of the connecting rod 3-2 and the locking claw 3-3 is driven through the hinge point to clamp and Relax. In this embodiment, the number of mechanical locking arms is generally 3 to 4. The function of the locking system 3 is to ensure the stability and reliability of the capture action. The locking grasp can make the mechanical arm and the captured target more tightly connected to avoid the capture target from being separated. Taking into account the working dead point of the mechanical locking arm, the working range of each component in the mechanical locking arm is: the distance between the drive motor stator 2-1 and the push plate 3-1 is between 2.5mm and 11.5mm, and the setting angle between the connecting rod 3-2 and the locking claw 3-3 is 88.5° to 160.5°.

[0045] Specific implementation method six: combination Figures 1 to 14 This embodiment differs from the fifth embodiment in that the electromagnetic system 4 includes an electromagnet core 4-1 and a coil winding 4-2. The electromagnet core 4-1 is disposed within the first guide member 5 and is removably connected to the first guide member 5 via bolts. The top of the electromagnet core 4-1 is machined with an annular groove extending axially. The coil winding 4-2 is mounted within the annular groove, with the top of the coil winding 4-2 lower than the top of the electromagnet core 4-1. The top of the drive screw 2-4 extends beyond the drive motor rotor sleeve 2-2 and is inserted into the electromagnet core 4-1. The top of the drive screw 2-4 is rotationally connected to the electromagnet core 4-1 via the second angular contact bearing 2-6-2. Other components and connection methods are the same as those of the fifth embodiment.

[0046] In this embodiment, theoretical calculations and simulations of the electromagnetic system show that when supplied with a 48V voltage, the current in the coil winding can reach 0.5A, resulting in an electromagnet power of 24W. The electromagnet pulls the receiving module and, when fully engaged, achieves an electromagnetic attraction of 150N. This operation can be completed within 30 seconds for objects weighing 0-60kg. Under rated operating conditions, the electromagnet temperature rises only from 25°C (room temperature) to 30.9°C, meeting the temperature rise requirements for short-term electromagnet operation.

[0047] Specific implementation method seven: combination Figures 1 to 14Describing this embodiment, the difference between this embodiment and the specific embodiment six is ​​that the No. 1 guide component 5 includes a No. 1 guide ring 5-1 and four No. 1 guide teeth 5-2, the electromagnet core 4-1 is arranged in the No. 1 guide ring 5-1, and the electromagnet core 4-1 is detachably connected to the No. 1 guide ring 5-1 by bolts, the four No. 1 guide teeth 5-2 are equidistantly arranged on the top of the No. 1 guide ring 5-1 along the circumferential direction, and each No. 1 guide tooth 5-2 is integrally formed with the No. 1 guide ring 5-1, each No. 1 guide tooth 5-2 includes a No. 1 convex surface 5-2-1, a No. 1 concave surface 5-2-2, a No. 1 back arc surface 5-2-3 and two No. 1 side transition surfaces 5-2-4, the No. 1 concave surface 5-2-2 and the No. 1 back arc surface 5-2-3 are respectively arranged on the inner and outer sides of the No. 1 convex surface 5-2-1, and the top of the No. 1 back arc surface 5-2-3 is aligned with the No. 1 convex surface 5-2-1. The outer side is connected, the bottom of the No. 1 back arc surface 5-2-3 is connected to the top of the outer ring surface of the No. 1 guide ring 5-1, and the ring surface where the No. 1 back arc surface 5-2-3 is located is coplanar with the outer ring surface of the No. 1 guide ring 5-1, the top of the No. 1 concave surface 5-2-2 is connected to the inner side of the No. 1 convex surface 5-2-1, the bottom end of the No. 1 concave surface 5-2-2 is connected to the top of the inner ring surface of the No. 1 guide ring 5-1, and the two No. 1 side transition surfaces 5-2- 4 are disposed on the left and right sides of the first convex surface 5-2-1, and the top of each first side transition surface 5-2-4 is connected to one side of the first convex surface 5-2-1, the bottom of the first side transition surface 5-2-4 is connected to the top of the first guide ring 5-1, one side of the first side transition surface 5-2-4 is connected to the first back curved surface 5-2-3, and the other side of the first side transition surface 5-2-4 is connected to the first concave surface 5-2-2. The other components and connection methods are the same as those in the sixth embodiment.

[0048] Specific implementation method eight: combination Figures 1 to 14 This embodiment differs from the seventh embodiment in that the armature 7 is annular, and an axially extending armature ring groove is machined at the center of the bottom end of the second guide member 9. The armature 7 is correspondingly positioned in the armature ring groove and is movably connected to the bottom of the armature ring groove via a buffer system 8. The remaining components and connection methods are the same as those of the seventh embodiment.

[0049] Specific implementation method nine: combination Figures 1 to 14Describing this embodiment, the difference between this embodiment and the specific embodiment eight is that the buffer system 8 includes a plurality of buffer units, and the plurality of buffer units are inserted into the bottom of the armature ring groove at equal intervals along the circumferential direction, and the axis of each buffer unit is arranged parallel to the axis of the armature ring groove, the top of each buffer unit passes through the bottom of the armature ring groove and extends to the top of the second guide component 9, the bottom end of each buffer unit extends into the armature ring groove and is inserted in the armature 7, and the bottom end of each buffer unit is fixedly connected to the armature 7; the buffer unit includes a guide rod 8-1, a buffer spring 8-2 and a top limit block 8-3, the guide rod 8-1 is inserted into the bottom of the armature ring groove, and the guide rod 8-1 is arranged to cooperate with the gap between the bottom of the armature ring groove and the guide rod The top of 8-1 passes through the bottom of the armature ring groove and extends to the top of the second guide component 9. The top limit block 8-3 is set at the top of the guide rod 8-1, and the top limit block 8-3 and the guide rod 8-1 are formed integrally. The top of the armature 7 is processed with multiple guide blind holes along the circumference. The bottom end of the guide rod 8-1 extends into the armature ring groove and is correspondingly inserted into a guide blind hole on the armature 7. The bottom end of each guide rod 8-1 is fixedly connected to the bottom of the guide blind hole. The buffer spring 8-2 is correspondingly inserted into a guide blind hole, and the buffer spring 8-2 is sleeved on the guide rod 8-1. The top of the buffer spring 8-2 is fixedly connected to the bottom of the armature ring groove, and the bottom end of the buffer spring 8-2 is fixedly connected to the bottom of the guide blind hole. Other components and connection methods are the same as those in the eighth embodiment.

[0050] In combination with the description of specific embodiments eight and nine, the purpose of setting up the buffer machine 8 is to ensure that when the capture module and the receiving module are docked, there will be no over-constraint that causes the No. 1 guide component 5 and the No. 2 guide component 9 to be unable to fit completely together, wherein the guide rod 8-1 and the bottom of the armature ring groove are clearance-matched, and the guide rod 8-1 can slide in a direction perpendicular to the bottom of the armature ring groove. One end of the guide rod 8-1 is fitted with a top limit block 8-3 for limiting, and the buffer spring 8-2 between the armature 7 and the bottom of the armature ring groove is used to play a role of buffering and reset adjustment. In normal conditions, the buffer spring 8-2 is at a normal length. At this time, there is no gap between the armature 7 and the bottom of the armature ring groove, and a gap is provided between the top limit block 8-3 and the outer bottom of the armature ring groove. When the armature 7 and the electromagnet core 4-1 are attracted to each other under the action of the electromagnetic adsorption force, when the armature 7 moves close to the electromagnet core 4-1, the buffer spring 8-2 is in an extended state, the guide rod 8-1 moves close to the electromagnet core 4-1, and the top limit block 8-3 moves downward at the same time and reaches the limit position when the bottom of the top limit block 8-3 contacts the outer bottom of the armature ring groove.

[0051] The specific relationship between the buffer unit and the armature is as follows: a threaded hole is processed at the center of the bottom of each guide blind hole in the armature 7, and the top limit block 8-3 is combined with the guide rod 8-1 to form a guide component with end limit. A connecting step hole is processed in the guide component, and the axis of the connecting step hole is collinear with the axis of the guide rod 8-1. The connecting step hole is coaxially arranged with the threaded hole at the bottom of a guide blind hole. A hexagon socket locking bolt is provided in the connecting step hole, and the threaded end of the hexagon socket locking bolt extends to the corresponding threaded hole and is fixed to the armature 7 by a threaded connection. The bolt head of the hexagon socket locking bolt remains in the connecting step hole and does not extend to the outside of the guide component.

[0052] Specific implementation method ten: Combination Figures 1 to 14 This embodiment is described. The difference between this embodiment and the specific embodiment 9 is that the second guide component 9 includes a second guide ring 9-1 and four second guide teeth 9-2. The center of the bottom end of the second guide ring 9-1 is processed with an armature ring groove, and the armature ring groove is connected to the inner ring wall of the second guide ring 9-1. The four second guide teeth 9-2 are equidistantly arranged at the bottom of the second guide ring 9-1 along the circumferential direction, and each second guide tooth 9-2 is connected to the second guide ring 9-1. 1 is formed in one piece, each No. 2 guide tooth 9-2 is matched with the gap between the two adjacent No. 1 guide teeth 5-2, and each No. 2 guide tooth 9-2 includes a No. 2 convex surface 9-2-1, a No. 2 concave surface 9-2-2, a No. 2 back arc surface 9-2-3 and two No. 2 side transition surfaces 9-2-4, the No. 2 concave surface 9-2-2 and the No. 2 back arc surface 9-2-3 are respectively arranged on the front and rear sides of the No. 2 convex surface 9-2-1, and the No. 2 back arc surface 9 -2-3 is connected to the rear side of the second convex surface 9-2-1, the top of the second back arc surface 9-2-3 is connected to the bottom of the outer ring surface of the second guide ring 9-1, and the ring surface where the second back arc surface 9-2-3 is located is coplanar with the outer ring surface of the second guide ring 9-1, the bottom end of the second concave surface 9-2-2 is connected to the front side of the second convex surface 9-2-1, the top of the second concave surface 9-2-2 is connected to the bottom of the middle ring surface of the armature ring groove, and the two second side parts are connected. Transition surfaces 9-2-4 are disposed on the left and right sides of the second convex surface 9-2-1. The bottom of each second side transition surface 9-2-4 is connected to one side of the second convex surface 9-2-1, the top of each second side transition surface 9-2-4 is connected to the bottom of the second guide ring 9-1, one side of each second side transition surface 9-2-4 is connected to the second back curved surface 9-2-3, and the other side of each second side transition surface 9-2-4 is connected to the second concave surface 9-2-2. The rest of the components and connection method are the same as those of the ninth embodiment.

[0053] In combination with the description of specific embodiment seven and specific embodiment ten, the structure of the No. 1 guide component 5 and the No. 2 guide component 9 is the same, both adopt a four-tooth structure, each tooth unit has a convex surface and a concave surface, and is connected by two transition surfaces. Through the special-shaped design of the guide part, the capture module and the receiving module can be aligned only by electromagnetic traction force within the range of 15° angle deviation and 20mm position deviation; that is, when the mismatched surfaces between the two guide parts are connected, due to the shape characteristics of the parts, the electromagnetic force will be decomposed along the surface direction and the vertical surface direction, pulling the receiving end to the correct position, so that its posture in space is uniquely determined. During operation, each No. 2 guide tooth 9-2 is matched with the gap between the two adjacent No. 1 guide teeth 5-2, and ensures that each No. 2 side transition surface 9-2-4 is tightly fitted with a No. 1 side transition surface 5-2-4.

[0054] The present invention has been disclosed as above with reference to preferred embodiments, but this is not intended to limit the present invention. Any technician familiar with the present invention can make slight changes or modifications to equivalent embodiments using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0055] How it works

[0056] When working, the present application first enters the traction stage by energizing the coil winding 4-2, so that the electromagnet core 4-1 is magnetized and attracts the armature 7 located on the receiving module, controls the captured object to approach the electromagnetic capture tool, and makes the working surface of the No. 1 guide component 5 completely fit with the working surface of the No. 2 guide component 9, and realizes the complete positioning and posture of the captured target in six degrees of freedom through the guiding ability of its special-shaped working surface, so that its posture in space is uniquely determined. After the posture is determined, it enters the locking stage. In the locking stage, the driving motor stator 2-1 drives the driving motor rotor 2-2 to rotate, drives the driving screw 2-4 to rotate, thereby drives the driving nut 2-5 to rise and fall, further drives the push plate 3-1 and the connecting rod 3-2 to move, and finally controls the opening and closing of the locking clamp 3-3. The motor-screw transmission has high precision and strong stability. When the electromagnetic system 4 does not provide suction, the trapezoidal thread driving screw 2-4 can complete self-locking through its own structural characteristics to prevent the motor from overheating and overconsumption due to long-term power-on, while also ensuring the connection stiffness of the two ends of the capture tool. A clearance adjustment shim is placed beneath the first angular contact bearing 2-6-1. By adjusting the shim's thickness multiple times, the drive screw 2-4 is prevented from moving within the capture module. The entire electromagnetic capture tool boasts a compact structure, high integrity, and a manageable temperature rise, making it suitable for space transportation and operations.

Claims

1. An electromagnetic capture tool for the end of a space robot arm, characterized by: The capture tool includes a capture module and a receiving module. The capture module is arranged at the end of the space robot arm and is detachably connected to the space robot arm. The receiving module is arranged on the capture target and is detachably connected to the capture target. The capture module and the receiving module are correspondingly arranged and detachably connected to the receiving module. The capture module comprises a base (1), a drive system (2), a locking system (3), an electromagnetic system (4), a first guide component (5) and a modular robotic arm interface (6); the modular robotic arm interface (6) is arranged at the bottom end of the base (1), and the modular robotic arm interface (6) is connected to the base (1) by bolts, the drive system (2) is arranged in the base (1), and the bottom of the drive system (2) is installed on the base (1), and the mounting portion of the locking system (3) is sleeved on the drive system. The locking portion of the locking system (3) extends to the outside of the base (1) on the power output end of the drive system (2); the first guide component (5) is arranged on the top of the base (1), and the first guide component (5) is detachably connected to the base (1); the electromagnetic system (4) is arranged in the first guide component (5), and the electromagnetic system (4) is detachably connected to the first guide component (5); the top of the drive system (2) is inserted into the bottom of the electromagnetic system (4), and the top of the drive system (2) is rotatably connected to the electromagnetic system (4); The receiving module comprises an armature (7), a buffer system (8), a second guide component (9) and a modular object interface (10), wherein the armature (7) is arranged at the center of the bottom of the second guide component (9), and the armature (7) is movably connected to the second guide component (9) through the buffer system (8), the second guide component (9) is arranged below the modular object interface (10), and the second guide component (9) is detachably connected to the modular object interface (10); The second guide component (9) is arranged in conjunction with the first guide component (5); the capture module is adsorbed and connected to the armature (7) via the electromagnetic system (4); and the capture module is detachably connected to the modular object interface (10) via the locking system (3).

2. The electromagnetic capture tool for the end of a space manipulator according to claim 1, characterized in that: The drive system (2) comprises a drive motor stator (2-1), a drive motor rotor sleeve (2-2), a motor drive module (2-3), a drive screw (2-4), a drive nut (2-5), a first angular contact bearing (2-6-1) and a second angular contact bearing (2-6-2), wherein the drive motor stator (2-1) is arranged on a middle support plate in the base (1), and the drive motor stator (2-1) is detachably connected to the middle support plate via bolts, the drive motor rotor sleeve (2-2) is inserted into the drive motor stator (2-1), and the drive motor stator (2-1) and the drive motor rotor sleeve (2-2) are connected via electromagnetic rotation, the motor drive module (2-3) is arranged below the middle support plate, and the motor drive module (2-3) is detachably connected to the modular robot arm interface (6) via bolts, and the motor drive module (2-3) is connected to the power input end of the drive motor stator (2-1) and the power input end of the electromagnetic system (4) via wires. The driving screw rod (2-4) is inserted into the driving motor rotor sleeve (2-2), and the driving screw rod (2-4) is glued and fixed to the inner wall of the driving motor rotor sleeve (2-2). The bottom end of the driving screw rod (2-4) extends out of the driving motor rotor sleeve (2-2) and is inserted into the middle support plate. The bottom end of the driving screw rod (2-4) is rotatably connected to the middle support plate through a No. 1 angular contact bearing (2-6-1). The top end of the driving screw rod (2-4) extends out of the driving motor rotor sleeve (2-2). The sub-sleeve (2-2) is inserted into the electromagnetic system (4), and the top end of the driving screw (2-4) is rotationally connected to the electromagnetic system (4) through a No. 2 angular contact bearing (2-6-2). The driving nut (2-5) is sleeved on the driving screw (2-4), and the driving nut (2-5) and the driving screw (2-4) are threadedly connected. The mounting portion of the locking system (3) is sleeved on the driving nut (2-5), and the locking system (3) and the driving nut (2-5) are fixedly connected.

3. The electromagnetic capture tool for the end of a space manipulator according to claim 2, characterized in that: A motor stator limiting sleeve is provided at the top center of the middle support plate, and the drive motor stator (2-1) is inserted into the motor stator limiting sleeve. A plurality of No. 1 half slots are processed equidistantly along the circumference on the inner ring wall of the motor stator limiting sleeve, and a plurality of No. 2 half slots are processed equidistantly along the circumference on the outer ring wall of the drive motor stator (2-1), and each No. 2 half slot is correspondingly arranged with a No. 1 half slot. Each No. 2 half slot is combined with a corresponding No. 1 half slot to form a limiting pin hole. A limiting pin is correspondingly inserted into each limiting pin hole. The motor stator limiting sleeve limits the drive motor stator (2-1) in the circumferential direction through the plurality of limiting pins. The driving system (2) further comprises a pressing ring, through which the driving motor stator (2-1) is pressed into the motor stator limiting sleeve, and the pressing ring is detachably connected to the top end of the motor stator limiting sleeve via bolts.

4. The electromagnetic capture tool for the end of a space manipulator according to claim 3, characterized in that: The locking system (3) comprises a push plate (3-1) and N mechanical locking arms, where N is a positive integer. The push plate (3-1) is sleeved on the drive nut (2-5), and the push plate (3-1) is fixedly connected to the drive nut (2-5). N locking hinged arms are equidistantly provided on the outer circumferential surface of the push plate (3-1), and one end of each locking hinged arm is integrally formed with the outer circumferential wall of the push plate (3-1). The other end of each locking hinged arm passes through a strip-shaped guide hole on the side wall of the base (1) and extends to the outside of the base (1). Each mechanical locking arm is correspondingly provided on the other end of a locking hinged arm, and one end of the mechanical locking arm is hingedly provided with the other end of the locking hinged arm to which it is attached.

5. The electromagnetic capture tool for the end of a space manipulator according to claim 4, characterized in that: The mechanical locking arm comprises a connecting rod (3-2) and a locking claw (3-3), one end of the connecting rod (3-2) is hingedly arranged with the other end of the locking hinged arm, the locking claw (3-3) is arranged on the other end of the connecting rod (3-2), and the connecting end of the locking claw (3-3) is hingedly arranged with the other end of the connecting rod (3-2), a hinged support arm is provided on the side wall of the locking claw (3-3) close to the connecting end, one end of the hinged support arm and the locking claw (3-3) are integrally formed, N support arm hinge ears are equidistantly arranged on the outer circular wall of the No. 1 guide component (5) along the circumferential direction, N is a positive integer, each support arm hinge ear is correspondingly arranged with a locking hinged arm, the other end of the hinged support arm is correspondingly arranged in a support arm hinge ear, and the other end of each hinged support arm is rotatably connected with the support arm hinge ear.

6. The electromagnetic capture tool for the end of a space manipulator according to claim 5, characterized in that: The electromagnetic system (4) includes an electromagnet core (4-1) and a coil winding (4-2). The electromagnet core (4-1) is arranged in a No. 1 guide component (5), and the electromagnet core (4-1) and the No. 1 guide component (5) are detachably connected by bolts. The top of the electromagnet core (4-1) is processed with an annular groove extending in the axial direction. The coil winding (4-2) is installed in the annular groove, and the top of the coil winding (4-2) is lower than the top of the electromagnet core (4-1). The top of the driving screw (2-4) extends out of the driving motor rotor sleeve (2-2) and is inserted into the electromagnet core (4-1). The top of the driving screw (2-4) is rotatably connected to the electromagnet core (4-1) through a No. 2 angular contact bearing (2-6-2).

7. The electromagnetic capture tool for the end of a space manipulator according to claim 6, characterized in that: The No. 1 guide component (5) comprises a No. 1 guide ring (5-1) and four No. 1 guide teeth (5-2). The electromagnet core (4-1) is arranged in the No. 1 guide ring (5-1), and the electromagnet core (4-1) is detachably connected to the No. 1 guide ring (5-1) by bolts. The four No. 1 guide teeth (5-2) are equidistantly arranged on the top of the No. 1 guide ring (5-1) along the circumferential direction, and each No. 1 guide tooth (5-2) is integrally formed with the No. 1 guide ring (5-1). The first guide tooth (5-2) comprises a first convex surface (5-2-1), a first concave surface (5-2-2), a first back arc surface (5-2-3) and two first side transition surfaces (5-2-4), wherein the first concave surface (5-2-2) and the first back arc surface (5-2-3) are respectively arranged on the inner and outer sides of the first convex surface (5-2-1), the top of the first back arc surface (5-2-3) is connected to the outer side of the first convex surface (5-2-1), and the first back arc surface The bottom of (5-2-3) is connected to the top of the outer ring surface of the No. 1 guide ring (5-1), and the ring surface where the No. 1 back arc surface (5-2-3) is located is coplanar with the outer ring surface of the No. 1 guide ring (5-1), the top of the No. 1 concave surface (5-2-2) is connected to the inner side of the No. 1 convex surface (5-2-1), the bottom of the No. 1 concave surface (5-2-2) is connected to the top of the inner ring surface of the No. 1 guide ring (5-1), and the two No. 1 side transition surfaces (5-2-4) are arranged opposite to each other. On the left and right sides of the No. 1 convex surface (5-2-1), the top of each No. 1 side transition surface (5-2-4) is connected to one side of the No. 1 convex surface (5-2-1), the bottom of the No. 1 side transition surface (5-2-4) is connected to the top of the No. 1 guide ring (5-1), one side of the No. 1 side transition surface (5-2-4) is connected to the No. 1 back arc surface (5-2-3), and the other side of the No. 1 side transition surface (5-2-4) is connected to the No. 1 concave surface (5-2-2).

8. The electromagnetic capture tool for the end of a space manipulator according to claim 7, characterized in that: The armature (7) is a ring-shaped structure, and an armature ring groove extending in the axial direction is processed at the center of the bottom end of the second guide component (9). The armature (7) is correspondingly arranged in the armature ring groove, and the armature (7) is movably connected to the bottom of the armature ring groove through the buffer system (8).

9. The electromagnetic capture tool for the end of a space manipulator according to claim 8, characterized in that: The buffer system (8) includes a plurality of buffer units, the plurality of buffer units are inserted into the bottom of the armature ring groove at equal intervals along the circumferential direction, and the axis of each buffer unit is arranged parallel to the axis of the armature ring groove, the top end of each buffer unit passes through the bottom of the armature ring groove and extends to the top of the second guide component (9), the bottom end of each buffer unit extends into the armature ring groove and is inserted into the armature (7), and the bottom end of each buffer unit is fixedly connected to the armature (7); The buffer unit comprises a guide rod (8-1), a buffer spring (8-2) and a top limit block (8-3); the guide rod (8-1) is inserted into the bottom of the armature ring groove, and the guide rod (8-1) and the bottom of the armature ring groove are arranged in a clearance fit; the top end of the guide rod (8-1) passes through the bottom of the armature ring groove and extends to the top of the second guide component (9); the top limit block (8-3) is arranged at the top end of the guide rod (8-1), and the top limit block (8-3) and the guide rod (8-1) are integrally formed and arranged; the top of the armature (7) A plurality of guide blind holes are processed along the circumferential direction of the armature, the bottom end of the guide rod (8-1) extends into the armature ring groove and is correspondingly inserted into a guide blind hole on the armature (7), and the bottom end of each guide rod (8-1) is fixedly connected to the bottom of the guide blind hole, the buffer spring (8-2) is correspondingly inserted into a guide blind hole, and the buffer spring (8-2) is sleeved on the guide rod (8-1), the top end of the buffer spring (8-2) is fixedly connected to the bottom of the armature ring groove, and the bottom end of the buffer spring (8-2) is fixedly connected to the bottom of the guide blind hole.

10. The electromagnetic capture tool for the end of a space manipulator according to claim 9, characterized in that: The second guide component (9) comprises a second guide ring (9-1) and four second guide teeth (9-2). An armature ring groove is machined at the center of the bottom end of the second guide ring (9-1), and the armature ring groove is connected to the inner ring wall of the second guide ring (9-1). The four second guide teeth (9-2) are equidistantly arranged at the bottom of the second guide ring (9-1) along the circumferential direction, and each second guide tooth (9-2) is integrally formed with the second guide ring (9-1). Each second guide tooth (9-2) is in contact with the corresponding The gaps between two adjacent No. 1 guide teeth (5-2) are arranged in a corresponding manner. Each No. 2 guide tooth (9-2) comprises a No. 2 convex surface (9-2-1), a No. 2 concave surface (9-2-2), a No. 2 back arc surface (9-2-3) and two No. 2 side transition surfaces (9-2-4). The No. 2 concave surface (9-2-2) and the No. 2 back arc surface (9-2-3) are respectively arranged on the front and rear sides of the No. 2 convex surface (9-2-1). The bottom of the No. 2 back arc surface (9-2-3) is aligned with the No. 2 convex surface (9-2-1). The second guide ring (9-1) is connected to the rear side of the second back arc surface (9-2-1), the top of the second back arc surface (9-2-3) is connected to the bottom of the outer ring surface of the second guide ring (9-1), and the ring surface where the second back arc surface (9-2-3) is located is coplanar with the outer ring surface of the second guide ring (9-1), the bottom end of the second concave surface (9-2-2) is connected to the front side of the second convex surface (9-2-1), the top of the second concave surface (9-2-2) is connected to the bottom of the middle ring surface of the armature ring groove, and the two second side transition surfaces (9-2- 4) are relatively arranged on the left and right sides of the No. 2 convex surface (9-2-1), and the bottom of each No. 2 side transition surface (9-2-4) is connected to one side of the No. 2 convex surface (9-2-1), the top of the No. 2 side transition surface (9-2-4) is connected to the bottom of the No. 2 guide ring (9-1), one side of the No. 2 side transition surface (9-2-4) is connected to the No. 2 back arc surface (9-2-3), and the other side of the No. 2 side transition surface (9-2-4) is connected to the No. 2 concave surface (9-2-2).

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