Scissor type bionic adhesion two-dimensional mobile telescopic actuator

Abstract

The application discloses a scissor type bionic adhesion two-dimensional moving telescopic actuating mechanism and belongs to the technical field of spacecraft ground test, which comprises a system main body arranged on the upper end of a spacecraft main body, wherein the system main body comprises a cover plate, a foldable mechanism, a moving mechanism, a probe and an adhesion device; the cover plate is arranged on the spacecraft main body; the moving mechanism is arranged on the cover plate; the foldable mechanism is arranged on the moving mechanism; the adhesion device is arranged on the foldable mechanism; and the probe is arranged at the central position of the cover plate. The application has the characteristics of simple and reliable structure, pure mechanical and high precision, can realize reliable and stable adhesion of a bionic adhesion material to a target surface, and can be applied to space mechanism docking, catching, adsorption and other working conditions.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of spacecraft ground test, in particular to a scissor type bionic adhesion two-dimensional mobile telescopic actuator. BACKGROUND

[0002] With the continuous development of space technology and the increasing demand for outer space exploration, the basic technology of human space entry and space utilization is also constantly breaking through. As outer space competition gradually becomes a new strategic commanding point, countries are working to build space forces, and in the process, various space operation technologies need to be studied in depth. At present, the problem of stable adhesion in the space microgravity environment has become one of the common key problems faced by manned spaceflight.

[0003] Based on the special space environment of spacecraft, the microgravity condition makes it very difficult for solid stable contact (gravity makes solid locking, friction keeps the stable position) and friction-driven movement (gravity makes solid locking, friction realizes driving or braking) on the ground. And because the spacecraft in orbit is in a vacuum environment, and the properties of the adhesion target material are complex and diverse, adhesion technologies based on magnetic force and vacuum adhesion cannot be applied. Under this problem, bionic adhesion technology has received widespread attention in the field of space applications, which is suitable for the manipulation needs between space interfaces and is a key technology for future space applications. NASA has tried to apply bionic gecko adhesion technology to space on-orbit services since 2008, and has started preliminary ground tests since 2013, using adhesion coupling mechanisms to replace traditional rigid coupling mechanisms. Bionic adhesion materials may provide a simple and repeatable adhesion and fixation capability similar to the Earth environment for space mechanisms, and are expected to improve the efficiency of space operations of space mechanisms.

[0004] However, the space operation dynamics process is very complex, and for the problem of stable adhesion in the space microgravity environment, the present application proposes a scissor type bionic adhesion two-dimensional mobile telescopic actuator. SUMMARY

[0005] The purpose of the present application is to provide a scissor type bionic adhesion two-dimensional mobile telescopic actuator, which has the characteristics of simple and reliable structure, pure mechanical and high precision, can realize reliable and stable adhesion of bionic adhesion materials to target surfaces, and can be applied to space mechanism docking, capture, adhesion and other working conditions.

[0006] In order to achieve the above object, the application provides a scissor type bionic adhesion two-dimensional mobile telescopic actuator, which comprises a system body arranged on the upper end of an aircraft body, wherein the system body comprises a cover plate, a foldable mechanism, a moving mechanism, a probe and an adhesion device, the cover plate is arranged on the aircraft body, the moving mechanism is arranged on the cover plate, the foldable mechanism is arranged on the moving mechanism, the adhesion device is arranged on the foldable mechanism, and the probe is arranged at the central position of the cover plate.

[0007] Preferably, the moving mechanism and the foldable mechanism are symmetrically arranged in two, the moving mechanism comprises a horizontal guide rail and a first linear module, the horizontal guide rail and the first linear module are arranged in parallel, one side of the first linear module is connected with a stepping motor, the first linear module is provided with a first sliding block, and the foldable mechanism is arranged on the first sliding block of the horizontal guide rail and the first linear module.

[0008] Preferably, the foldable mechanism comprises a driving module, a follow-up module and a scissor type telescopic mechanism, the driving module comprises a driving motor and a second linear module connected with the driving motor, and the second linear module is provided with two second sliding blocks moving in opposite directions.

[0009] Preferably, the bottom of the scissor type telescopic mechanism is fixed on the two second sliding blocks, the scissor type telescopic mechanism is composed of a driving connecting rod and a high-temperature-resistant ceramic bearing, and the upper end of the scissor type telescopic mechanism is arranged at the bottom of the follow-up module.

[0010] Preferably, the upper end of the follow-up module is provided with a load mounting interface, and the adhesion device is arranged on the load mounting interface.

[0011] Preferably, the adhesion device is composed of a mechanical ball joint bearing, a terminal swing frame, an adhesion material and a ball bearing support, the lower end of the terminal swing frame is provided with the adhesion material, the upper end of the terminal swing frame is provided with the ball bearing support, the mechanical ball joint bearing is arranged on the ball bearing support, and three spring cylindrical pins are arranged at the two ends of the ball bearing support, so that the swing frame is kept stable by the elastic force, and the terminal swing frame can passively swing within a certain angle range according to the adhesion plane contact reaction force in the adhesion process, so as to adapt to the adhesion action with different angle target to be adhered.

[0012] Preferably, the first linear module is provided with an encoder.

[0013] Therefore, the scissor type bionic adhesion two-dimensional mobile telescopic actuator has the following beneficial effects:

[0014] (1) The present application is aimed at the stable adhesion problem in the space microgravity environment, and the reliable stable adhesion of the simulated adhesion material to the target surface is realized through the cooperation of the foldable mechanism and the moving mechanism. The two-dimensional moving execution mechanism provides reliable support for the ground test of the bionic adhesion material, and the design itself takes into account the influence of the space harsh environment. In the future, it is expected to be applied in the true in-orbit environment.

[0015] (2) In the present application, the main load is carried by the aircraft body, and the adhesion device is installed with adhesion material to realize the adhesion function to the target star. The foldable mechanism is lowered and retracted under the action of the driving motor to realize radial movement, and the step motor drives the foldable mechanism to adjust the lateral distance between the two adhesion devices to meet the needs of different working conditions. After the adhesion material is adhered to the target star through the cooperation of the foldable mechanism and the moving mechanism, the probe is contacted with the target star surface by the contraction of the foldable mechanism, and the detection of the target star surface is realized.

[0016] The technical solutions of the present application will be further described below through the drawings and examples. BRIEF DESCRIPTION OF DRAWINGS

[0017] Fig. 1 It is a structural schematic diagram of the embodiment of the present application.

[0018] Fig. 2 It is a top view of the embodiment of the present application.

[0019] Fig. 3 It is a structural schematic diagram of the foldable mechanism of the embodiment of the present application.

[0020] Reference signs:

[0021] 1, aircraft body; 2, cover plate; 3, foldable mechanism; 4, moving mechanism; 401, horizontal guide rail; 402, first linear module; 403, step motor; 404, first sliding block; 5, probe; 6, adhesion device; 7, driving module; 701, driving motor; 702, second linear module; 703, second sliding block; 8, follow-up module; 9, scissor type telescopic mechanism; 901, driving connecting rod; 902, high temperature resistant ceramic bearing. DETAILED DESCRIPTION

[0022] The technical solutions of the present application will be further described below through the drawings and examples.

[0023] In order to make the purpose, technical scheme and advantages of the embodiment of the present application more clear, the technical scheme in the embodiment of the present application will be described clearly and completely below in combination with the drawings in the embodiment of the present application. Obviously, the described embodiment is a part of the embodiments of the present application, not all the embodiments.

[0024] EMBODIMENT

[0025] As Figs. 1-3 shown, the present application provides a scissor type bionic adhesion two-dimensional mobile telescopic actuator, including a system body arranged on the upper end of the aircraft body 1, the system body including a cover plate 2, a foldable mechanism 3, a moving mechanism 4, a probe 5 and an adhesion device 6, the cover plate 2 is installed on the aircraft body 1, the cover plate 2 not only can protect the internal load of the aircraft, also can be used for installing other parts of the design.

[0026] The moving mechanism 4 is arranged on the cover plate 2, the foldable mechanism 3 is arranged on the moving mechanism 2, the adhesion device 6 is arranged on the foldable mechanism 3, the probe 5 is arranged at the center position of the cover plate 2, the cover plate 2 must not exceed the thickness of the probe 5, otherwise the probe 5 will lose its function, the reliable and stable adhesion of the simulation adhesion material to the target surface is realized through the cooperation of the foldable mechanism 3 and the moving mechanism 4.

[0027] The moving mechanism 4 and the foldable mechanism 3 are symmetrically arranged as two, the moving structure 4 includes a horizontal guide rail 401 and a first linear module 402, the horizontal guide rail 401 and the first linear module 402 are arranged in parallel, one side of the first linear module 402 is connected with a stepping motor 403, a first sliding block 404 is arranged on the first linear module 402, the first sliding block 404 on the first linear module 402 is driven by the stepping motor 403 to realize the horizontal movement, an encoder is arranged on the first linear module 402, which is used for collecting the relative position information of the horizontal movement.

[0028] The foldable mechanism 3 is arranged on the horizontal guide rail 401 and the first slider 403 of the first linear module 402, and is used to realize the telescopic movement of the adhesion device 6. The foldable mechanism 3 comprises a driving module 7, a follow-up module 8 and a scissor type telescopic mechanism 9. The driving module 7 comprises a driving motor 701 and a second linear module 702 connected with the driving motor 701. Two second sliders 703 moving in opposite directions are arranged on the second linear module 702, so as to realize the synchronous driving of the double sliders rotating left and right. The bottom of the scissor type telescopic mechanism 9 is fixed on the two second sliders 703. The second sliders 703 on the second linear module 702 are driven to move by the driving motor 701, so as to realize the telescopic movement of the scissor type telescopic mechanism 9. The scissor type telescopic mechanism 9 is composed of driving connecting rods 901 and high-temperature-resistant ceramic bearings 902. The driving connecting rods 901 are arranged in a scissor type structure, and the adjacent driving connecting rods 901 are connected by the high-temperature-resistant ceramic bearings 902. The upper end of the scissor type telescopic mechanism 9 is arranged on the bottom of the follow-up module 8. The upper end of the follow-up module 8 is provided with a load mounting interface. The adhesion device 6 is mounted on the load mounting interface. The high-temperature-resistant ceramic bearings 902 are arranged at the connecting points of each driving connecting rod 901, so as to ensure the relative free rotation of the driving connecting rods 901 and provide necessary support and stability. When the second sliders 703 move, the driving connecting rods 901 hinged thereto are driven to produce relative rotation with the adjacent driving connecting rods 901. The driving force is transmitted between the driving connecting rods 901 through the high-temperature-resistant ceramic bearings 902, so that the scissor type telescopic mechanism expands or shrinks as a whole.

[0029] The adhesion device 6 is composed of a mechanical ball joint bearing, a terminal swing frame, an adhesion material and a ball bearing support. The lower end of the terminal swing frame is provided with the adhesion material. The upper end of the terminal swing frame is provided with the ball bearing support. The mechanical ball joint bearing is arranged on the ball bearing support. Three spring cylindrical pins are arranged at the two ends of the ball bearing support. The swing frame is kept stable by the elastic force. During the adhesion process, the terminal swing frame can passively swing within a certain angle range according to the adhesion plane contact reaction force, so as to adapt to the adhesion action between the target to be adhered and different angles.

[0030] In the application, the aircraft body 1 carries the main load. The adhesion device 6 is provided with the adhesion material on the surface to realize the adhesion function to the target star. The foldable mechanism 3 can realize the telescopic reciprocating movement in the axial direction under the driving of the driving motor 701. The radial movement of the two foldable mechanisms 3 is realized by the stepping motor 403 driving the moving mechanism 4, so as to adjust the transverse distance between the two adhesion devices to meet the needs of different working conditions. After the adhesion material is adhered to the target star by the cooperation of the foldable mechanism 3 and the moving mechanism 4, the probe 5 is contacted with the surface of the target star by the contraction of the foldable mechanism 3, so as to realize the detection of the surface of the target star.

[0031] Therefore, the scissor type bionic adhesive two-dimensional moving telescopic actuator has the characteristics of simple and reliable structure, pure mechanical and high precision, can realize reliable and stable adhesion of bionic adhesive material to the target surface, and can be applied to space mechanism docking, capture, adsorption and other working conditions.

[0032] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit them, although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that: its still can be modified or equivalent to replace the technical scheme of the present application, and these modifications or equivalent replacements also cannot make the modified technical scheme deviate from the spirit and scope of the technical scheme of the present application.

Claims

1. A scissor-type biomimetic adhesive two-dimensional mobile telescopic actuator, characterized in that: The system includes a main body disposed on the upper part of the aircraft body. The main body includes a cover plate, a foldable mechanism, a moving mechanism, a probe, and an adhesion device. The cover plate is mounted on the aircraft body. The moving mechanism is disposed on the cover plate. The foldable mechanism is disposed on the moving mechanism. The adhesion device is disposed on the foldable mechanism. The probe is disposed at the center position of the cover plate. The moving mechanism and the foldable mechanism are symmetrically arranged in two parts. The moving mechanism includes a horizontal guide rail and a first linear module. The horizontal guide rail and the first linear module are arranged parallel to each other. A stepper motor is connected to one side of the first linear module. A first slider is provided on the first linear module. The foldable mechanism is arranged on the horizontal guide rail and the first slider of the first linear module. The stepper motor drives the moving mechanism to realize the radial movement of the two lateral foldable mechanisms and adjust the lateral distance between the two adhesion devices. The foldable mechanism includes a drive module, a follower module, and a scissor telescopic mechanism. The drive module includes a drive motor and a second linear module connected to the drive motor. The second linear module is provided with two second sliders that move in opposite directions. The bottom of the scissor telescopic mechanism is hinged to two second sliders. The scissor telescopic mechanism consists of a drive link and a high-temperature resistant ceramic bearing. The upper end of the scissor telescopic mechanism is located at the bottom of the follow-up module. The adhesion device consists of a mechanical ball joint bearing, a terminal swing frame, an adhesion material, and a ball bearing bracket. The lower end of the terminal swing frame is provided with the adhesion material, and the upper end of the terminal swing frame is provided with the ball bearing bracket. The mechanical ball joint bearing is mounted on the ball bearing bracket. Three spring cylindrical pins are provided at both ends of the ball bearing bracket. The elastic force keeps the swing frame stable and allows it to passively swing at a certain angle according to the contact reaction force of the adhesion plane during the adhesion process, so as to adapt to the adhesion action with the target at different angles.

2. The scissor-type biomimetic adhesive two-dimensional mobile telescopic actuator according to claim 1, characterized in that: The upper end of the follow-up module is provided with a load mounting interface, and the adhesion device is mounted on the load mounting interface.

3. The scissor-type biomimetic adhesive two-dimensional mobile telescopic actuator according to claim 1, characterized in that: An encoder is installed on the first linear module.

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