Multifunctional terminal integrating capturing, locking, driving output and power supply

Abstract

The invention provides a multifunctional terminal integrating capturing, locking, driving output and power supply. The multifunctional terminal comprises a capturing and locking module, a driving output module and a positioning module, the capture locking module and the drive output module both adopt a structure with parallel shafting input and output, and the capture locking module converts the input of a motor into translational output and drives a gripper at the tail end to realize coarse positioning of a target to be captured and pullback of the target to be captured in the whole capture process; the positioning module is used for realizing middle positioning and fine positioning of a to-be-captured target after coarse positioning and capturing of the gripper, and providing a locking force for the captured target together with the capturing and locking module when the target is captured in place; and the driving output module is used for providing power supply, rotating speed and torque output for the captured target according to requirements after the target is captured in place.

Description

Technical Field

[0001] The present invention relates to a multifunctional terminal integrating capture, locking, drive output and power supply, which belongs to the field of industrial technology and space robots. The terminal can be used for the capture, locking, on-orbit maintenance and life extension of space targets such as satellites, and realizes the capture, connection, maintenance operation and takeover control of space targets, improves the on-orbit control capability of space robots over space targets, and meets the needs of space asset maintenance services. Background Art

[0002] With the vigorous development of space exploration technology, the number of spacecraft launches is increasing day by day. There are more and more cases of spacecraft performance degradation, loss of control, or even scrapping due to space debris collision, solar sail failure, fuel exhaustion, and other faults, resulting in the occupation of a large amount of space orbital resources, loss of space assets, and a continuous potential threat to the normal operation of other spacecraft. If the faulty spacecraft can be captured, controlled, and successfully repaired through on-orbit service technology, the above problems can be solved to a large extent.

[0003] To achieve takeover control and on-orbit maintenance of on-orbit targets, accurate capture and reliable locking should be achieved first. On-orbit targets are in a floating state, and generally have shaking and irregular rotational motion. The residual linear velocity and angular velocity put forward high requirements for capture tolerance, positioning strategy and locking stiffness. In addition, due to the diversity of on-orbit operation and maintenance tasks, new requirements are also put forward for the replaceable and expandable capabilities of terminal maintenance tools. Summary of the invention

[0004] The technical problem solved by the present invention is: based on the above-mentioned needs, a multifunctional terminal integrating capture, locking, drive output and power supply is designed, which can realize the precise capture and positioning of floating targets in space and high-rigidity locking. At the same time, by configuring power output and electrical output interfaces, it has the ability to expand to realize multiple types of maintenance tools.

[0005] The technical solution of the present invention is: a multifunctional terminal integrating capture, locking, drive output and power supply, including: a capture and locking module, a drive output module and a positioning module;

[0006] The capture and locking module and the drive output module both adopt a structure in which the input and output are parallel shaft systems. The capture and locking module converts the input of the motor into a translational output, driving the end gripper to achieve rough positioning of the target to be captured and pull back the target to be captured during the entire capture process.

[0007] The positioning module is used to achieve intermediate positioning and fine positioning of the target to be captured after the gripper roughly positions and captures it, and provides a locking force for the captured target together with the capture locking module when the capture is in place;

[0008] The drive output module is used to provide output of external power, rotation speed and torque according to demand after being captured.

[0009] Preferably, the capture and locking module includes a housing, a capture and locking motor, a capture pinion, a capture gear, a ball screw, a nut, a gripper mounting base, a gripper, a root pin, and a track pin;

[0010] The ball screw forms a supporting shaft system in the housing through the screw angular contact ball bearings and the screw deep groove ball bearings on both sides. The capture and locking motor is fixedly connected inside the housing and the output shaft is fixedly connected to the capture pinion, the capture pinion is meshed with the capture gear, the capture and locking motor output speed and torque are transmitted to the ball screw through the capture pinion and the capture gear, and the axis of the capture and locking motor is parallel to the supporting shaft system; there are multiple claws and they are arranged symmetrically, and their roots are installed on the claw mounting base through the root pin shaft, the claw mounting base is fixedly connected to the nut, and the nut is installed on the ball screw; a hollow guide groove is processed on the claw, and the opening, closing and pulling back actions are realized under the action of the track pin shaft and the root pin shaft installed on the housing.

[0011] Preferably, the number and shape of the grippers are determined according to the shape of the capture position of the target to be captured, and the rough constraints of the five relative degrees of freedom in the capture process except the axial movement are achieved through the shaping of the grippers.

[0012] Preferably, the drive output module includes a drive output motor, a floating electrical connector seat, a drive pinion, a drive gear, a drive shaft angular contact ball bearing, a drive output shaft, a drive tool, a drive gear box, a docking panel, a floating electrical connector head, and a transfer unit;

[0013] The output shaft of the drive output motor is installed on the end cover of the side wall of the shell and is fixedly connected to the drive pinion. The output speed and torque of the drive output motor are transmitted to the drive output shaft through the drive pinion and the drive gear. The drive output shaft forms a supporting shaft system in the drive gear box by the drive shaft angular contact ball bearing and is fixedly connected to the drive tool. After the capture is completed, the drive tool is connected to the adapter unit installed on the captured target to realize the output of speed and torque to the outside world; the output shaft of the drive output motor is parallel to the supporting shaft system; one end of the drive gear box is connected to the end cover, and the other end is installed with a docking panel, and the floating electrical connector seat is installed on the end cover, which is used to cooperate with the floating electrical connector head installed on the captured target to realize external electrical output.

[0014] Preferably, the adapter unit comprises an adapter tool, a power shaft angular contact ball bearing, a return spring, a power shaft, and a positioning pin;

[0015] The power shaft is a shaft with a central cavity, which is installed on the captured target end through a power shaft angular contact ball bearing, a reset spring is placed at the bottom of the central cavity, and the adapter tool is placed on the central cavity and is installed integrally with the power shaft through a positioning pin. The shape of one end of the adapter tool placed outside the central cavity is adapted to the shape of the drive tool, and a matching stop and a mechanical flat mouth are reserved at the other end; the reset spring is used to provide thrust for the insertion and matching of the adapter tool and the drive tool

[0016] Preferably, the positioning shaft and the power shaft angular contact ball bearing form a shaft system support, and the shaft system support and the support shaft system formed in the driving gear box are on the same axis.

[0017] Preferably, the keyway of the driving tool is connected to the spline of the adapter tool.

[0018] Preferably, the positioning module includes a positioning pin, an active end arc-shaped tooth, a disc spring assembly, an in-position switch, a target adapter, and a passive end arc-shaped tooth;

[0019] The adapter base is used to be installed on the target adapter fixed to the captured target; the adapter base is used to cooperate with the claw to achieve rough positioning during the capture process; a pin hole is set on the adapter base, which is used to cooperate with the positioning pin installed on the end cover to achieve intermediate positioning; the passive end arc teeth are installed on the adapter base, which are used to engage with the active end arc teeth installed on the docking panel to achieve precise positioning during the capture process; the disc spring assembly and the in-place switch are both installed on the docking panel, and the disc spring assembly is used to contact and press with the adapter base during the capture process, and the in-place switch gives a conduction signal as a criterion for whether the capture is locked in place.

[0020] Preferably, the in-position switch gives a conduction signal while the capture locking motor reaches the current limiting value. The two work together as a criterion for capturing and locking in place, and the capture locking motor is powered off and braked, and together with the disc spring assembly, the target locking force is continuously applied.

[0021] A capture method using the integrated multifunctional terminal comprises:

[0022] The capture and locking motor is controlled to work, driving the gripper mounting base to move forward along the axis, and the gripper opens along the guide groove under the action of the track pin and the root pin, thereby capturing and enveloping the adapter base;

[0023] The capture and locking motor is controlled to rotate in the opposite direction, driving the claw to gradually close and pull back, thus completing the rough positioning of the target; the claw continues to pull back, the positioning pin enters the pin hole of the adapter base to achieve the intermediate positioning, the active end arc-shaped teeth mesh with the passive end arc-shaped teeth, thus achieving the precise positioning of the capture process, and at the same time, the adapter base contacts and presses the disc spring assembly, during which the in-position switch gives a conduction signal, and at the same time the capture and locking motor reaches the current limiting value, and the two cooperate to provide the criterion for the capture and locking to be in place;

[0024] After the capture and locking criteria are met, the capture and locking motor is powered off and braked, and together with the disc spring assembly, the target locking force is continuously applied, and the target capture is completed.

[0025] Preferably, when a driving torque needs to be provided externally, the driving output motor is controlled to rotate, and the reset spring pops up the adapter tool during the rotation of the driving output motor and enables it to be inserted and matched with the driving tool, and the output speed and torque of the driving output motor are transmitted to the power shaft.

[0026] The beneficial effects of the present invention compared with the prior art are:

[0027] A highly integrated terminal with capture, locking, driving and power output functions, which mainly includes three parts: capture and locking module, drive output module and positioning module. Through the capture and locking module, the opening and closing of the claws are realized, and the positioning module is combined to achieve envelopment, positioning and reliable locking of the target adapter. Through the drive output module, the target adapter shaft system is combined to achieve external power output and electrical output. It has the advantages of large capture tolerance, high positioning accuracy, and strong tool expansion capabilities.

[0028] The present invention adopts a parallel drive shaft system layout, and arranges the capture locking and drive output shaft systems inside the housing at the same time, which has a compact structure and high integration, and realizes a multifunctional and miniaturized design of the terminal.

[0029] The present invention adopts a standardized target adapter, which can realize large tolerance and high precision capture and takeover of floating targets on orbit, sets standard mechanical and electrical output interfaces, can adapt to multiple types of operating tools, and realizes on-orbit operation of operating tools through active output of electricity and torque at the end;

[0030] The present invention adopts structural shaping, pin-hole matching and arc-shaped tooth meshing to realize a coarse-to-fine positioning strategy, which gradually constrains the degree of freedom of floating targets, reduces the difficulty of target capture and positioning, and improves the success rate of target capture on orbit;

[0031] The present invention adopts the method of end redundant in-position switch and motor current limiting to realize the target position judgment and locking force application judgment at the same time, and combines the motor power-off brake and flexible disc spring assembly to realize the continuous application of the target locking force and power-off retention;

[0032] The present invention corrects the alignment error of the drive transmission shaft system in the circumferential direction through the spline and keyway design between the drive transmission shaft system and the adaptive design of the reset spring, realizes the blind docking operation of the drive output, and greatly reduces the alignment accuracy requirement. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a cross-sectional view of a capture and locking module;

[0034] Figure 2 is a cross-sectional view of the drive output module;

[0035] Figure 3 It is the three-dimensional view of the positioning module;

[0036] Figure 4 It is a cross-sectional view of the target adapter and a schematic diagram of the external electrical output and mechanical connection interface;

[0037] Figure 5 It is a three-dimensional process diagram of the integrated multifunctional end tool capturing the target adapter and realizing the power output connection and electrical connection. DETAILED DESCRIPTION

[0038] The following is combined with Figure 1-5 The present invention is further described with reference to the accompanying drawings and embodiments.

[0039] The present invention provides a multifunctional terminal integrating capture, locking, drive output and power supply. The device mainly comprises three parts: a capture and locking module, a positioning module and a drive output module.

[0040] The capture and locking module is mainly composed of a housing 1, a capture and locking motor 2, a capture pinion 3, a capture gear 4, a screw angular contact ball bearing 5, a ball screw 6, a nut 7, a gripper mounting base 8, a gripper 9, a track pin 10, a root pin 11, a screw deep groove ball bearing 12, etc. The input and output of the capture and locking module are parallel shaft structures, and the gripper is arranged symmetrically at three centers. The capture and locking motor 2 is fixedly connected to the housing 1 and the output shaft is fixedly connected to the capture pinion 3. The output speed and torque of the capture and locking motor 2 are transmitted to the ball screw 6 through the capture pinion 3 and the capture gear 4. The ball screw 6 forms a supporting shaft system through the screw angular contact ball bearing 5 and the screw deep groove ball bearing 12, driving the gripper mounting base 8 to move forward and backward along the axis. The gripper 9 is processed with a hollow guide groove, and the opening, closing, and pulling back actions are realized under the action of the track pin 10 and the root pin 11.

[0041] The drive output module is mainly composed of a drive output motor 13, a floating electrical connector seat 14, a drive pinion 15, a drive gear 16, a drive shaft angular contact ball bearing 17, a drive output shaft 18, a drive tool 19, a drive gear box 20, a docking panel 21, an end cover 22, a floating electrical connector head 27, a switching tool 30, a power shaft angular contact ball bearing 31, a reset spring 32, a power shaft 33, and a positioning pin 34. The input and output of the drive output module are parallel shaft system structures. The drive output motor 13 is fixedly connected to the inner side of the end cover 22, and the output shaft is fixedly connected to the drive pinion 15. The output speed and torque of the drive output motor 2 are transmitted to the drive output shaft 18 through the drive pinion 15 and the drive gear 16. The drive output shaft 18 is supported by the drive shaft angular contact ball bearing 17 and is fixedly connected to the drive tool 19 to achieve the output of speed and torque to the outside world. After the gripper 9 captures and locks the adapter base 28, the floating electrical connector seat 14 and the floating electrical connector head 27 are plugged in to realize external electrical output; the keyway of the drive tool 19 is connected with the spline of the adapter tool 30, and the bottom reset spring 32 is used to adapt to the circumferential alignment error between the two. During the rotation of the drive output motor 13, the adapter tool 30 can be bounced up to complete the insertion and matching with the drive tool 19. The positioning pin 34 realizes the torque transmission between the adapter tool 30 and the power shaft 33 and can be axially moved and positioned. The positioning shaft 33 forms a shaft system support through the power shaft angular contact ball bearing 31.

[0042] The positioning module is mainly composed of a positioning pin 23, an active end arc-shaped tooth 24, a disc spring assembly 25, an in-position switch 26, an adapter base 28, a passive end arc-shaped tooth 29, etc. The positioning module includes steps such as rough positioning, intermediate positioning and fine positioning, and locking in place can be achieved by combining the in-position switch and the motor current limiting. The gripper 9 and the adapter base 28 are captured to achieve the rough constraint of the five relative degrees of freedom except the axial movement, ensuring that the positioning pin 23 can enter the pin hole of the adapter base 28 to achieve intermediate positioning. As the gripper 9 continues to pull back, the active end arc-shaped tooth 24 and the passive end arc-shaped tooth 29 are engaged to achieve the fine positioning of the capture process. At the same time, the adapter base 28 and the disc spring assembly 25 are contacted and pressed together. During the process, the in-position switch 26 gives a conduction signal, and the capture locking motor 2 reaches the current limiting value. The two cooperate together as the criterion for the capture locking in place, and the capture locking motor 2 is powered off and braked, and the target locking force is continuously applied together with the disc spring assembly 25.

[0043] The integrated multifunctional end is installed at the far end of the robotic arm, and the target adapter is fixedly connected to the captured target. The integrated multifunctional end enters the capture domain of the target adapter under the planning of the robotic arm. The capture locking motor 2 outputs positive speed and torque and transmits it to the ball screw 6 through the capture pinion 3 and the capture gear 4. The ball screw 6 forms a supporting shaft system through the screw angular contact ball bearing 5 and the screw deep groove ball bearing 12, driving the gripper mounting base 8 to move forward along the axis. The gripper 9 opens along the guide groove under the action of the track pin 10 and the root pin 11, and realizes the capture envelope of the adapter base 28. Subsequently, the locking motor 2 rotates in the opposite direction, driving the claw 9 to gradually retract and pull back along the hollow track and enter the straight part of the guide groove of the claw 9, completing the rough positioning of the target; the claw 9 continues to pull back, and the positioning pin 23 enters the pin hole of the adapter base 28 to achieve the middle positioning, and the active end arc teeth 24 engage with the passive end arc teeth 29 to achieve the precise positioning of the capture process. At the same time, the adapter base 28 and the disc spring assembly 25 are in contact and pressed together. During the process, the in-position switch 26 gives a conduction signal, and the capture locking motor 2 reaches the current limiting value at the same time. The two cooperate to provide a criterion for the capture and locking in place; subsequently, the capture locking motor 2 is powered off and braked, and together with the disc spring assembly 25, the target locking force is continuously applied, and the target capture is completed.

[0044] After the target is captured, the floating electrical connector seat 14 and the floating electrical connector head 27 are plugged in to realize external electrical output; the keyway of the drive tool 19 is connected to the spline of the adapter tool 30, and the bottom reset spring 32 is used to adapt to the circumferential alignment error between the two. During the rotation of the drive output motor 13, the adapter tool 30 can be popped up to complete the insertion and matching with the drive tool 19. The output speed and torque of the drive output motor 2 are transmitted to the drive output shaft 18, the drive tool 19 fixed connection, the adapter tool 30, the positioning pin 34 and the power shaft 33 through the drive pinion 15 and the drive gear 16. The power shaft 33 is reserved with a matching stop and a mechanical flat mouth to adapt to the transmission of the drive torque of different drive tools.

[0045] After the capture and operation tasks are completed, the capture locking motor 2 rotates forward, and the same as the specific implementation plan one, the claw 9 moves forward along the straight section of the guide groove, the adapter base 28 and the disc spring assembly 25 are disengaged under the action of the disc spring pre-pressure, and the in-position switch 26 gives a disconnect signal. The claw 9 continues to move forward until it is out of contact with the adapter base 28, completing the release and separation operation of the target.

[0046] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, 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 shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A multifunctional terminal integrating capture, locking, drive output and power supply, characterized in that include: Capture locking module, drive output module and positioning module; The capture and locking module and the drive output module both adopt a structure in which the input and output are parallel shaft systems. The capture and locking module converts the input of the motor into a translational output, driving the end gripper to achieve rough positioning of the target to be captured and pull back the target to be captured during the entire capture process. The positioning module is used to achieve intermediate positioning and fine positioning of the target to be captured after the gripper roughly positions and captures it, and provides a locking force for the captured target together with the capture locking module when the capture is in place; The drive output module is used to provide output of external power, rotation speed and torque according to demand after being captured.

2. The integrated multifunctional terminal according to claim 1, characterized in that: The capture and locking module includes a housing, a capture and locking motor, a capture pinion, a capture gear, a ball screw, a nut, a gripper mounting base, a gripper, a root pin, and a track pin; The ball screw forms a supporting shaft system in the housing through the screw angular contact ball bearings and the screw deep groove ball bearings on both sides. The capture locking motor is fixedly connected inside the housing and the output shaft is fixedly connected to the capture pinion gear. The capture pinion gear is meshed with the capture gear. The capture locking motor outputs a rotation speed and a torque and is transmitted to the ball screw through the capture pinion gear and the capture gear. The axis of the capture locking motor is parallel to the supporting shaft system. There are multiple grippers that are arranged symmetrically around the center, and their roots are mounted on a gripper mounting base via a root pin. The gripper mounting base is fixedly connected to a nut, and the nut is mounted on the ball screw. A hollow guide groove is machined on the gripper, and opening, closing and pulling back actions are achieved under the action of a track pin and a root pin mounted on the outer shell.

3. The integrated multifunctional terminal according to claim 2, characterized in that: The number and shape of the grippers are determined according to the shape of the capture position of the target to be captured, and the rough constraints of the five relative degrees of freedom in the capture process except the axial movement are realized by shaping the grippers.

4. The integrated multifunctional terminal according to claim 2, characterized in that: The drive output module includes a drive output motor, a floating electrical connector seat, a drive pinion, a drive gear, a drive shaft angular contact ball bearing, a drive output shaft, a drive tool, a drive gear box, a docking panel, a floating electrical connector head, and a transfer unit; The output shaft of the drive output motor is installed on the end cover of the side wall of the shell and is fixedly connected to the drive pinion. The output speed and torque of the drive output motor are transmitted to the drive output shaft through the drive pinion and the drive gear. The drive output shaft forms a supporting shaft system in the drive gear box by the drive shaft angular contact ball bearing and is fixedly connected to the drive tool. After the capture is completed, the drive tool is connected to the adapter unit installed on the captured target to realize the output of speed and torque to the outside world; the output shaft of the drive output motor is parallel to the supporting shaft system; one end of the drive gear box is connected to the end cover, and the other end is installed with a docking panel, and the floating electrical connector seat is installed on the end cover, which is used to cooperate with the floating electrical connector head installed on the captured target to realize external electrical output.

5. The integrated multifunctional terminal according to claim 4, characterized in that: The transfer unit comprises a transfer tool, a power shaft angular contact ball bearing, a return spring, a power shaft, and a positioning pin; The power shaft is a shaft body with a central cavity, which is installed on the captured target end through an angular contact ball bearing of the power shaft. The reset spring is placed at the bottom of the central cavity. The adapter tool is placed on the central cavity and is installed as a whole with the power shaft through positioning pins. The shape of one end of the adapter tool placed outside the central cavity is adapted to the shape on the driving tool, and the other end is reserved for a matching stop and a mechanical flat mouth; the reset spring is used to provide thrust for the insertion and matching of the adapter tool and the driving tool.

6. The integrated multifunctional terminal according to claim 5, characterized in that: The positioning shaft and the power shaft angular contact ball bearing form a shaft system support, and the shaft system support and the support shaft system formed in the driving gear box are on the same axis.

7. The integrated multifunctional terminal according to claim 5, characterized in that: The keyway of the drive tool and the spline of the adapter tool complete the connection.

8. The integrated multifunctional terminal according to claim 5, characterized in that: The positioning module includes a positioning pin, an active end arc-shaped tooth, a disc spring assembly, an in-position switch, a target adapter, and a passive end arc-shaped tooth; The adapter base is used to be mounted on a target adapter that is fixedly connected to the captured target; The adapter base is used to cooperate with the gripper to achieve rough positioning during the capture process; a pin hole is set on the adapter base, which is used to cooperate with the positioning pin installed on the end cover to achieve intermediate positioning; the passive end arc teeth are installed on the adapter base, which are used to engage with the active end arc teeth installed on the docking panel to achieve fine positioning during the capture process; the disc spring assembly and the in-place switch are both installed on the docking panel, and the disc spring assembly is used to contact and press with the adapter base during the capture process, and the in-place switch gives a conduction signal as a criterion for whether the capture is locked in place.

9. The integrated multifunctional terminal according to claim 8, characterized in that: When the in-position switch gives a conduction signal, the capture locking motor reaches the current limit value. The two work together as the criterion for capturing and locking in place. The capture locking motor is powered off and braked, and together with the disc spring assembly, the target locking force is continuously applied.

10. A capture method using the integrated multifunctional terminal of claim 8, characterized in that include: The capture and locking motor is controlled to work, driving the gripper mounting base to move forward along the axis, and the gripper opens along the guide groove under the action of the track pin and the root pin, thereby capturing and enveloping the adapter base; The capture and locking motor is controlled to rotate in the opposite direction, driving the claw to gradually close and pull back, thus completing the rough positioning of the target; the claw continues to pull back, the positioning pin enters the pin hole of the adapter base to achieve the intermediate positioning, the active end arc-shaped teeth mesh with the passive end arc-shaped teeth, thus achieving the precise positioning of the capture process, and at the same time, the adapter base contacts and presses the disc spring assembly, during which the in-position switch gives a conduction signal, and at the same time the capture and locking motor reaches the current limiting value, and the two cooperate to provide the criterion for the capture and locking to be in place; After the capture and locking criteria are met, the capture and locking motor is powered off and braked, and together with the disc spring assembly, the target locking force is continuously applied, and the target capture is completed.

11. The method according to claim 10, characterized in that: When it is necessary to provide driving torque to the outside, the driving output motor is controlled to rotate. During the rotation of the driving output motor, the reset spring pops up the adapter tool and enables it to be inserted and matched with the driving tool. The output speed and torque of the driving output motor are transmitted to the power shaft.

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