A rigid locking device and method for a spherical spatial mechanism

Abstract

The application relates to a rigid locking device and method for a space spherical mechanism, which comprises a protective cap, an inner hexagonal screw, a spring, a base and a flexible gasket, wherein the protective cap is installed on the base; the base comprises a bottom and a cylindrical cavity, the inner hexagonal screw and the spring are sealedly installed in the cylindrical cavity of the base through the protective cap; the inner hexagonal screw and the spring are cooperatively installed; and the flexible gasket is installed on the bottom surface of the base. The rigid locking device and method for the space spherical mechanism guarantee that the space spherical mechanism can resist the mechanical vibration environment during launching without being damaged. In addition, a layer of self-lubricating flexible material is filled in the gap between the protective cover and the front cover plate of the space spherical mechanism during locking, so that the structural deformation caused by the gap during locking is avoided, and the friction and abrasion of the surfaces of the two structures are avoided.

Description

Technical Field

[0001] This invention relates to the field of space mechanism technology, and more specifically, to a rigid locking device and method for a space spherical mechanism. Background Technology

[0002] The space spherical mechanism has three rotational degrees of freedom, used to operate the three rotational degrees of freedom of the space robotic arm. During product launch, the space spherical mechanism will be subjected to an extremely harsh mechanical vibration environment. Currently, the main approach is to increase the strength of each component to withstand the mechanical environment during launch, which increases the size and weight of the mechanism, severely affecting the comfort of the astronaut's operating handle and reducing the spacecraft's ability to bear space loads. Therefore, a rigid locking device specifically designed for the space spherical mechanism is needed to rigidly lock the mechanism during launch and unlock it after the product enters orbit, protecting the mechanism while maintaining its original state and ensuring it passes the mechanical environment test during the flight phase. Summary of the Invention

[0003] This application provides a rigid locking device and method for a spatial spherical mechanism. To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general description, nor is it intended to identify key / important components or describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0004] In a first aspect, embodiments of this application provide a rigid locking device for a spatial spherical mechanism. The device includes: a protective cap, an internal hexagonal screw, a spring, a base, and a flexible washer, wherein:

[0005] The protective cap is mounted on the base;

[0006] The base includes a bottom and a cylindrical cavity, and the hexagonal socket screw and the spring are sealed in the cylindrical cavity of the base by the protective cap;

[0007] The internal hex screw is fitted with the spring for installation;

[0008] The flexible gasket is installed on the bottom surface of the base.

[0009] According to a preferred embodiment, the protective cap has an internal thread inside, and the base has an external thread outside, and the protective cap and the base are connected by threads.

[0010] According to a preferred embodiment, the spring is a cylindrical spring that passes through the threaded section of the internal hexagonal screw, with one end abutting the screw head of the internal hexagonal screw and the other end abutting the bottom surface of the cylindrical cavity of the base.

[0011] According to a preferred embodiment, the protective cap has a round hole at its top, and an Allen wrench is inserted through the round hole into the hexagonal groove of the Allen screw to operate the Allen screw.

[0012] According to a preferred embodiment, the flexible gasket is bonded to the bottom surface of the base using epoxy adhesive.

[0013] According to a preferred embodiment, a through hole is provided at the bottom of the base and the middle position of the flexible gasket. When locked, the hexagonal socket screw passes through the through hole at the bottom of the base and the through hole in the flexible gasket and connects to the protective cover of the spatial spherical mechanism.

[0014] According to a preferred embodiment, the bottom surface shape of the base is consistent with the arc shape of the front cover plate of the spatial spherical mechanism, so that the rigid locking device of the spatial spherical mechanism can be installed on the spatial spherical mechanism.

[0015] According to another aspect of a preferred embodiment, this application provides a rigid locking method for a spatial spherical mechanism, the method comprising:

[0016] Step 1: Align the screw hole at the center of the bottom of the base with the through hole on the front cover plate, and simultaneously fit the bottom surface of the base with the front cover plate of the spatial spherical mechanism.

[0017] Step 2: Bend the flexible gasket bonded to the base and insert it into the gap between the front cover plate of the spatial spherical mechanism and the protective cover;

[0018] Step 3: Use the hex wrench to pass through the through hole at the top of the protective cap and insert it into the hexagonal groove at the top of the hex screw, so that the hex screw compresses the cylindrical spring and passes through the through hole at the bottom of the base, the through hole of the front cover plate of the spatial spherical mechanism, and the through hole of the flexible gasket to reach the protective cover of the spatial spherical mechanism.

[0019] Step 4: Gently rotate the protective cover to adjust the position of the protective cover of the spatial spherical mechanism so that the internal hex screw can be inserted into the corresponding threaded hole on the protective cover of the spatial spherical mechanism;

[0020] Step 5: Use the hex wrench to turn the hex screw clockwise so that the hex screw is screwed into the threaded hole of the space spherical mechanism protective cover until it is tightened and locked.

[0021] The technical solutions provided in this application embodiment may include the following beneficial effects:

[0022] In this embodiment, a rigid locking device for a spatial spherical mechanism includes: a protective cap, a hexagonal socket screw, a spring, a base, and a flexible washer, wherein: the protective cap is mounted on the base; the base includes a bottom and a cylindrical cavity, the hexagonal socket screw and the spring are sealed in the cylindrical cavity of the base through the protective cap; the hexagonal socket screw and the spring are fitted together; and the flexible washer is mounted on the bottom surface of the base. A rigid locking method for a spatial spherical mechanism includes: Step 1, aligning the screw hole at the center of the bottom of the base with the through hole on the front cover plate, and simultaneously fitting the bottom surface of the base against the front cover plate of the spatial spherical mechanism; Step 2, bending and inserting the flexible washer bonded to the base into the gap between the front cover plate of the spatial spherical mechanism and the protective cover; Step 3, using a hexagonal wrench to pass through the through hole at the top of the protective cap and insert it into the hexagonal groove at the top of the hexagonal socket screw, causing the hexagonal socket screw to compress the cylindrical cavity. The spring then passes sequentially through the through hole at the bottom of the base, the through hole in the front cover of the spatial spherical mechanism, and the through hole in the flexible gasket to reach the protective cover of the spatial spherical mechanism; Step 4, gently rotate the protective cover to adjust its position so that the hexagonal socket screw can be inserted into the corresponding threaded hole on the protective cover of the spatial spherical mechanism; Step 5, use the hexagonal socket wrench to turn the hexagonal socket screw clockwise so that it is screwed into the threaded hole of the protective cover of the spatial spherical mechanism until it is tightened and locked. The rigid locking device and method for a spatial spherical mechanism described in this application rigidly locks the rotating mechanism protective cover (rotatable part) and the front cover plate (fixed part) of the spatial spherical mechanism to prevent the protective cover from rotating freely under vibration environment, which would cause damage to the rotating mechanism. In addition, when locking, the device fills the gap between the rotating mechanism protective cover and the front cover plate of the spatial spherical mechanism with a layer of self-lubricating flexible material, which can buffer the deformation of the front cover plate and the rotating mechanism protective cover during the tightening process. The flexible gasket not only avoids excessive structural deformation caused by the gap during locking, but also ensures that the two structural surfaces will not generate friction and wear.

[0023] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0024] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0025] Figure 1These are axonometric and cross-sectional schematic diagrams of a rigid locking device for a spatial spherical mechanism provided in this application embodiment;

[0026] Figure 2 This is a schematic diagram of the installation cross-sectional structure of a rigid locking device for a spatial spherical mechanism provided in an embodiment of this application;

[0027] Figure 3 This is an isometric view of the installation of a rigid locking device for a spatial spherical mechanism provided in an embodiment of this application;

[0028] Figure 4 This is a schematic diagram of the structure of a protective cap for a rigid locking device of a spatial spherical mechanism provided in an embodiment of this application;

[0029] Figure 5 This is a schematic diagram of the base of a rigid locking device for a spatial spherical mechanism provided in an embodiment of this application;

[0030] Figure 6 This is a schematic diagram of the structure of a flexible gasket for a rigid locking device of a spatial spherical mechanism provided in an embodiment of this application;

[0031] Figure 7 This is a schematic flowchart of a rigid locking method for a spatial spherical mechanism provided in an embodiment of this application.

[0032] Figure description: 1-Protective cap; 2-Hex socket screw; 3-Spring; 4-Base; 5-Flexible washer. Detailed Implementation

[0033] The following description and accompanying drawings fully illustrate specific embodiments of the invention to enable those skilled in the art to practice them.

[0034] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0035] In the following description, when referring to the accompanying drawings, the same numbers in different drawings denote the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of systems and methods consistent with some aspects of the invention as detailed in the appended claims.

[0036] In the description of this invention, it should be understood that the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances. Furthermore, in the description of this invention, unless otherwise stated, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0037] The following will be combined with the appendix Figure 1 - Appendix Figure 7 This application provides a detailed description of a rigid locking device and method for a spatial spherical mechanism.

[0038] Please see Figure 1 This application provides an isometric view and a cross-sectional view of a rigid locking device for a spatial spherical mechanism, as shown in the embodiments of this application. Figure 1 As shown, the rigid locking device for a spatial spherical mechanism described in this application embodiment may include: a protective cap (1), an internal hexagonal screw (2), a spring (3), a base (4), and a flexible washer (5), wherein:

[0039] The protective cap (1) is installed on the base (4);

[0040] The base (4) includes a bottom and a cylindrical cavity, and the internal hexagonal screw (2) and spring (3) are sealed in the cylindrical cavity of the base (4) by a protective cap (1);

[0041] The internal hex screw (2) is installed in conjunction with the spring (3);

[0042] The flexible gasket (5) is installed on the bottom surface of the base (4).

[0043] Specifically, in the embodiments of this application, such as Figure 3 , Figure 4As shown, the protective cap (1) has an internal thread, and the base (4) has an external thread. The protective cap (1) and the base (4) are connected by threads. The top of the protective cap (1) has a round hole. An internal hex wrench is inserted through the round hole into the hexagonal slot of the internal hex screw (2) to operate the internal hex screw (2). The spring (3) is a cylindrical spring. The cylindrical spring (3) passes through the threaded section of the internal hex screw (2), with one end pressing against the screw head of the internal hex screw (2) and the other end abutting against the bottom surface of the cylindrical cavity of the base (4). The flexible four-piece (5) is bonded to the bottom surface of the base (4) with epoxy glue. The flexible gasket (5) needs to be The material used is similar to polytetrafluoroethylene, which has good flexibility and a certain self-lubricating effect; the bottom of the base (4) and the middle position of the flexible pad (5) are provided with through holes. When locked, the hexagonal screw (2) passes through the through hole at the bottom of the base (4) and the through hole in the flexible pad (5) and connects with the protective cover of the rotating mechanism of the space spherical mechanism; the bottom surface shape of the base (4) is consistent with the arc surface shape of the front cover plate of the space spherical mechanism, so that the rigid locking device of the space spherical mechanism can be installed on the space spherical mechanism to rigidly lock the protective cover of the rotating mechanism and the front cover plate of the space spherical mechanism, preventing the protective cover from rotating freely under vibration environment, which would cause damage to the rotating mechanism.

[0044] Please see Figure 7 This application provides a schematic flowchart of a rigid locking method for a spatial spherical mechanism. Figure 7 As shown, the method in this application embodiment may include the following steps:

[0045] Step 1: Align the screw hole at the middle position of the bottom of the base (4) with the through hole on the front cover plate of the space spherical mechanism, and at the same time, fit the bottom surface of the base (4) with the front cover plate of the space spherical mechanism.

[0046] Step 2 involves bending the flexible gasket (5) bonded to the base (4) and inserting it into the gap between the front cover plate and the protective cover of the space spherical mechanism. Step 2 includes:

[0047] This causes the flexible pad (5) to be pressed tightly against the front cover plate of the space spherical mechanism, while the through hole in the middle of the flexible pad (5) is aligned with the through hole on the base (4) and the through hole on the front cover plate of the space spherical mechanism.

[0048] Step 3: Use an internal hex wrench to pass through the through hole at the top of the protective cap (1) and insert it into the hexagonal groove at the top of the internal hex screw (2), so that the internal hex screw (2) compresses the cylindrical spring (3) and then passes through the through hole at the bottom of the base (4), the through hole of the front cover plate of the spatial spherical mechanism and the through hole of the flexible gasket (5) to reach the protective cover of the spatial spherical mechanism.

[0049] Step 4: Gently rotate the protective cover to adjust the position of the protective cover of the spatial spherical mechanism so that the internal hex screw (2) can be inserted into the corresponding threaded hole on the protective cover of the spatial spherical mechanism;

[0050] Step 5: Use an Allen wrench to turn the Allen screw (2) clockwise so that the Allen screw (2) is screwed into the threaded hole of the space spherical mechanism protective cover until it is tightened and locked.

[0051] When the locking device needs to be unlocked, use an Allen wrench to turn the Allen screw (2) counterclockwise so that the Allen screw (2) comes out of the threaded hole of the rotating mechanism protective cover of the spatial spherical mechanism. At this time, under the restoring force of the cylindrical spring (3), the Allen screw (2) is lifted up, and the threaded column part of the Allen screw (2) retracts from the through hole on the front cover plate into the cylindrical cavity of the base (2) of the locking device. Then, the locking device is removed from the front cover plate of the spatial spherical mechanism to complete the unlocking of the locking device.

[0052] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0053] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A rigid locking device for a spatial spherical mechanism, characterized in that, include: Protective cap, hex socket screw, spring, base, flexible washer, among which: The protective cap is mounted on the base; The base includes a bottom and a cylindrical cavity, and the hexagonal socket screw and the spring are sealed in the cylindrical cavity of the base by the protective cap; The internal hex screw is fitted with the spring for installation; The flexible pad is installed on the bottom surface of the base; The protective cap has an internal thread, and the base has an external thread; the protective cap and the base are connected by threads. The spring is a cylindrical spring that passes through the threaded section of the internal hexagon screw, with one end abutting the screw head of the internal hexagon screw and the other end abutting the bottom surface of the cylindrical cavity of the base. The protective cap has a round hole at the top. An internal hex wrench is inserted through the round hole into the hexagonal slot of the internal hex screw to operate the internal hex screw. The flexible gasket is bonded to the bottom surface of the base with epoxy adhesive; Both the bottom of the base and the middle position of the flexible gasket are provided with through holes. When locked, the internal hexagon screw passes through the through hole at the bottom of the base and the through hole in the flexible gasket and connects with the protective cover of the spatial spherical mechanism. The bottom surface shape of the base is consistent with the arc shape of the front cover plate of the spatial spherical mechanism, so that the rigid locking device of the spatial spherical mechanism can be installed on the spatial spherical mechanism.

2. A rigid locking method for a spatial spherical mechanism, characterized in that, A rigid locking device for a spatial spherical mechanism according to claim 1, comprising: Step 1: Align the screw hole at the center of the bottom of the base with the through hole on the front cover plate, and simultaneously fit the bottom surface of the base with the front cover plate of the spatial spherical mechanism. Step 2: Bend the flexible gasket bonded to the base and insert it into the gap between the front cover plate of the spatial spherical mechanism and the protective cover; Step 3: Use the hex wrench to pass through the through hole at the top of the protective cap and insert it into the hexagonal groove at the top of the hex screw, so that the hex screw compresses the cylindrical spring and passes through the through hole at the bottom of the base, the through hole of the front cover plate of the spatial spherical mechanism, and the through hole of the flexible gasket to reach the protective cover of the spatial spherical mechanism. Step 4: Gently rotate the protective cover to adjust the position of the protective cover of the spatial spherical mechanism so that the internal hex screw can be inserted into the corresponding threaded hole on the protective cover of the spatial spherical mechanism; Step 5: Use the hex wrench to turn the hex screw clockwise so that the hex screw is screwed into the threaded hole of the space spherical mechanism protective cover until it is tightened and locked.

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