A multifunctional end integrated with capturing, locking, driving output, and power supply

Abstract

The application provides a multifunctional end integrated with capturing, locking, driving output, power supply, comprising: a capturing and locking module, a driving output module and a positioning module; the capturing and locking module and the driving output module both adopt a structure with parallel input and output shaft systems, the capturing and locking module converts the input of a motor into parallel movement output, drives the gripper of the end to realize coarse positioning of a target to be captured and back pulling of the target to be captured during the whole capturing process; the positioning module is used for realizing medium positioning and fine positioning of the target to be captured after coarse positioning and capturing of the gripper, and providing locking force to the captured target together with the capturing and locking module when capturing is completed; the driving output module is used for providing output of power supply, rotating speed and torque to the captured target according to requirements after capturing is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of integrated capture, locking and driving output, power integrated multifunctional terminal, belong to industrial technology, space robot field, can be used for satellite and other space targets are captured, locking and in-orbit maintenance, life extension etc., realize the capture of space target, maintenance operation and takeover control, improve the in-orbit control capability of space robot to space target, adapt to the demand of space asset maintenance service. BACKGROUND

[0002] With the vigorous development of space exploration technology, the number of spacecraft launch increases day by day. Due to the impact of space debris, solar sail failure, fuel depletion and other failure conditions, the performance of spacecraft is declining, out of control or even scrapped, resulting in a large number of space orbital resource occupation, space asset loss and continuous potential threat to the normal operation of the remaining spacecraft. If the in-orbit service technology is used to capture, take over control and successfully repair the faulty spacecraft, the above problems can be solved to a large extent.

[0003] To achieve takeover control and in-orbit maintenance of in-orbit target, it should first realize accurate capture and reliable locking of the target. In-orbit targets are in a floating state, and generally have a rocking and irregular rotational motion. The residual linear and angular velocities pose high requirements on capture tolerance, positioning strategy and locking stiffness. In addition, due to the diversity of in-orbit operation and maintenance tasks, new demands are put forward for the replaceable extension capability of the end repair tool. SUMMARY

[0004] The technical problem solved by the present application is that based on the above-mentioned demand, an integrated capture, locking and driving output, power integrated multifunctional terminal is designed, which can realize accurate capture positioning and high stiffness locking of space floating target, and by configuring power output and electrical output interface, it has the extension capability of realizing multiple types of repair tools.

[0005] The technical solution of the present application is: an integrated capture, locking and driving output, power integrated multifunctional terminal, comprising: a capture and locking module, a driving output module and a positioning module.

[0006] The capture and locking module and the driving output module both adopt the structure of parallel shaft system, the capture and locking module converts the input of motor into parallel output, drives the gripper of the terminal to realize coarse positioning of the captured target and pull back the captured target during the entire capture process;

[0007] The positioning module is used to realize medium positioning and fine positioning of the captured target after coarse positioning and capture of the gripper, and provide locking force to the captured target together with the capture and locking module when the capture is in place;

[0008] The driving output module is used to provide the output of external electricity, rotating speed and torque according to the requirement after the capturing.

[0009] Preferably, the capturing locking module comprises a shell, a capturing locking motor, a capturing pinion, a capturing gear, a ball screw, a nut, a claw installation base, a claw, a root pin, a track pin;

[0010] The ball screw forms a support shaft system in the shell through the ball screw angular contact ball bearings and the ball screw deep groove ball bearings on both sides, the capturing locking motor is fixedly connected inside the shell and the output shaft is fixedly connected with the capturing pinion, the capturing pinion is engaged with the capturing gear, the capturing locking motor outputs the rotating speed and torque and transmits them to the ball screw through the capturing pinion and the capturing gear, the axis of the capturing locking motor is parallel to the support shaft system; the claws are multiple and arranged in a central symmetry, the roots of the claws are installed on the claw installation base through the root pins, the claw installation base is fixedly connected with the nut, and the nut is installed on the ball screw; hollow guide grooves are processed on the claws, and the claws are opened, folded and pulled back under the action of the track pins and the root pins installed on the shell.

[0011] Preferably, the number and shape of the claws are determined according to the shape of the capturing position of the target to be captured, and the rough constraint of five relative degrees of freedom except the axial movement is realized through the claw.

[0012] Preferably, the driving output module comprises a driving output motor, a floating electrical connector seat, a driving pinion, a driving gear, a driving shaft angular contact ball bearing, a driving output shaft, a driving tool, a driving gear box, a docking panel, a floating electrical connector head and an adapter unit.

[0013] The output shaft of the driving output motor is installed on the end cover of the side wall of the shell and is fixedly connected with the driving pinion, the driving output motor outputs the rotating speed and torque which are transmitted to the driving output shaft through the driving pinion and the driving gear, the driving output shaft forms a support shaft system in the driving gear box through the driving shaft angular contact ball bearing and is fixedly connected with the driving tool, the driving tool is connected with the adapter unit installed on the target to be captured after the capturing is completed, and the rotating speed and torque output to the outside are realized; the output shaft of the driving output motor is parallel to the support shaft system; one end of the driving gear box is connected with the end cover, the other end is installed with the docking panel, the floating electrical connector seat is installed on the end cover and is used to cooperate with the floating electrical connector head installed on the target to be captured to realize the external electricity 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 body with a central cavity, which is installed at the captured target end through an angular contact ball bearing of the power shaft, a return spring is placed at the bottom of the central cavity, and an adapter tool is placed on the central cavity and integrally installed with the power shaft through a positioning pin, one end of the adapter tool outside the central cavity is shaped to match the shape of the driving tool, and the other end is reserved for a matching stop and a mechanical flat mouth; the return spring is used to provide a pushing force for the insertion and matching of the adapter tool and the driving tool

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

[0017] Preferably, the key groove of the driving tool and the spline of the adapter tool are connected.

[0018] Preferably, the positioning module includes a positioning pin, a driven end arc tooth, a disc spring assembly, a home switch, a target adapter, and a passive end arc tooth.

[0019] The adapter base is used to install the target adapter fixed to the captured target; the adapter base is used to cooperate with the gripper to achieve coarse positioning during the capturing process; the adapter base is provided with a pin hole for cooperating with the positioning pin installed on the end cover to achieve intermediate positioning; the passive end arc tooth is installed on the adapter base and is used to mesh with the driven end arc tooth installed on the docking panel to achieve fine positioning during the capturing process; the disc spring assembly and the home switch are installed on the docking panel, the disc spring assembly is used to contact and press the adapter base during the capturing process, and a home signal is given by the home switch as a criterion for capturing and locking in place.

[0020] Preferably, the home switch gives a home signal at the same time as the capturing and locking motor reaches the current limit value, and both are used as a criterion for capturing and locking in place, the capturing and locking motor is de-energized and braked, and the disc spring assembly is used to achieve continuous application of target locking force.

[0021] A capturing method using the integrated multifunctional end, comprising:

[0022] The capturing and locking motor is controlled to work, driving the gripper mounting base to move forward along the axis, and the gripper is opened under the action of the guide groove, the track pin shaft, and the root pin shaft to achieve the capturing envelope of the adapter base.

[0023] The control captures the reverse rotation of the locking motor, drives the gripper to gradually close and pull back, and completes the coarse positioning of the target; the gripper continues to pull back, the positioning pin enters the pin hole of the adapter base to realize the middle positioning, the arc teeth of the active end mesh with the arc teeth of the passive end to realize the fine positioning of the capturing process, at the same time, the adapter base contacts and presses the disc spring assembly, and the in-place switch gives a guide signal in the process, and the capturing locking motor reaches the current limit value, and the two cooperate to jointly provide the criterion for the capturing locking in place;

[0024] After the capturing locking in place criterion is met, the capturing locking motor is de-energized to brake, and the disc spring assembly is used to jointly realize the continuous application of the target locking force, and the target capturing is completed.

[0025] When it is necessary to provide an external driving torque, the driving output motor is controlled to rotate, the reset spring is popped up during the rotation of the driving output motor and makes the adapter tool inserted into the driving tool to complete the insertion cooperation, and the output rotation speed and torque of the driving output motor are transmitted to the power shaft.

[0026] Compared with the prior art, the present application has the following beneficial effects:

[0027] A high-integration integrated end with capturing, locking and driving and power output functions mainly comprises a capturing and locking module, a driving output module and a positioning module. Through the capturing and locking module, the opening and closing actions of the gripper are realized, the target adapter is enveloped, positioned and reliably locked in combination with the positioning module, and through the driving output module, the power output and the electric output to the outside are realized in combination with the target adapter shaft system, and the present application has the advantages of large capturing tolerance, high positioning precision and strong tool expansion capability.

[0028] The present application adopts a parallel driving shaft system layout, arranges the capturing and locking and driving output shaft systems in the housing at the same time, has a compact structure and high integration, and realizes the multifunctional and miniaturized design of the end;

[0029] The present application adopts a standardized target adapter, can realize the large-tolerance and high-precision capturing of the on-orbit floating target, sets a standard mechanical and electric output interface, can adapt to multiple types of operation tools, and realizes the on-orbit operation of the operation tools through the active output of the end.

[0030] The present application adopts a structure assignment, pin hole cooperation and arc tooth meshing to realize the positioning strategy from coarse to fine, gradually constrains the degrees of freedom of the floating target, reduces the difficulty of target capturing and positioning, and improves the success rate of on-orbit target capturing;

[0031] The present application adopts the mode of end redundant in-place switches and motor current limiting to simultaneously realize the position judgment of the target and the judgment of the locking force application, combines the motor de-energization braking and the flexible disc spring assembly to realize the continuous application and de-energization retention of the target locking force.

[0032] The application corrects the alignment error of the driving transmission shaft system in the circumferential direction by designing the spline and keyway between the driving transmission shaft system and combining the self-adaptive design of the reset spring, so that the blind docking operation of the driving output is realized, and the alignment accuracy requirement is greatly reduced. BRIEF DESCRIPTION OF DRAWINGS

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

[0034] Figure 2 is a sectional view of a driving output module;

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

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

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

[0038] The application will be further described below in combination with the accompanying Figures 1-5 and examples.

[0039] The application provides an integrated multifunctional end tool for capturing, locking, driving output and power supply, which mainly comprises a capturing locking module, a positioning module and a driving output module.

[0040] The capturing locking module mainly comprises a shell 1, a capturing locking motor 2, a capturing pinion 3, a capturing gear 4, a screw angular contact ball bearing 5, a ball screw 6, a nut 7, a pawl mounting base 8, a pawl 9, a track pin 10, a root pin 11, a screw deep groove ball bearing 12 and the like. The input and output of the capturing locking module are parallel shaft system structures, and the pawl is arranged in a 3-center symmetrical manner. The capturing locking motor 2 is fixedly connected inside the shell 1 and the output shaft is fixedly connected with the capturing pinion 3. The output rotation speed and torque of the capturing locking motor 2 are transmitted to the ball screw 6 through the capturing pinion 3 and the capturing gear 4. The ball screw 6 forms a support shaft system through the screw angular contact ball bearing 5 and the screw deep groove ball bearing 12, drives the pawl mounting base 8 to move back and forth along the axis, and the pawl 9 is processed with a hollow guide groove to realize the actions of opening, closing and pulling back under the action of the track pin 10 and the root pin 11.

[0041] The driving output module is mainly composed of a driving output motor 13, a floating electrical connector seat 14, a driving pinion 15, a driving gear 16, a driving shaft angular contact ball bearing 17, a driving output shaft 18, a driving tool 19, a driving gear box 20, a docking panel 21, an end cover 22, a floating electrical connector head 27, an adapter tool 30, a power shaft angular contact ball bearing 31, a reset spring 32, a power shaft 33, a positioning pin 34 and the like. The input and output of the driving output module are parallel shaft structures. The driving output motor 13 is fixedly connected to the inner side of the end cover 22, and the output shaft is fixedly connected with the driving pinion 15. The output speed and torque of the driving output motor 2 are transmitted to the driving output shaft 18 through the driving pinion 15 and the driving gear 16. The driving output shaft 18 is supported by the driving shaft angular contact ball bearing 17, and is fixedly connected with the driving tool 19, so as to realize the output of the speed and torque to the outside. 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 inserted and connected, so as to realize the electrical output to the outside. The key groove of the driving tool 19 is connected with the spline of the adapter tool 30. The bottom reset spring 32 is used for adapting the circumferential alignment error of the two. In the rotating process of the driving output motor 13, the adapter tool 30 can be popped up to complete the insertion and cooperation with the driving tool 19. The positioning pin 34 realizes the torque transmission between the adapter tool 30 and the power shaft 33, and the power shaft 33 is supported by the power shaft angular contact ball bearing 31.

[0042] The positioning module is mainly composed of a positioning pin 23, a driving end arc tooth 24, a disc spring assembly 25, a to-position switch 26, an adapter base 28, a passive end arc tooth 29 and the like. The positioning module includes coarse positioning, intermediate positioning and fine positioning steps. The locking to position can be realized by the to-position switch and the motor current limiting. The gripper 9 and the adapter base 28 are captured to realize the coarse constraint of five relative degrees of freedom except the axial movement, so as to ensure that the positioning pin 23 can enter the pin hole of the adapter base 28 to realize the intermediate positioning. With the continuous pullback of the gripper 9, the driving end arc tooth 24 is engaged with the passive end arc tooth 29 to realize the fine positioning in the capturing process. At the same time, the adapter base 28 is in contact with and pressed by the disc spring assembly 25. In the process, the to-position switch 26 gives a guide signal. At the same time, the capturing and locking motor 2 reaches the current limiting value. The two are matched to jointly serve as the criterion for capturing and locking to position. The capturing and locking motor 2 is de-energized and braked, and the disc spring assembly 25 is used to realize the continuous application of the target locking force.

[0043] The integrated multifunctional end is mounted on the distal end of the mechanical arm, the target adapter is fixedly connected with the captured target, the integrated multifunctional end enters the target adapter capture domain under the planning of the mechanical arm, the capture locking motor 2 outputs a forward rotating speed and torque, which are transmitted to the ball screw 6 through the capture pinion 3 and the capture gear 4, the ball screw 6 forms a support shaft system through the screw angular contact ball bearing 5 and the screw deep groove ball bearing 12, and drives the claw mounting base 8 to move forward along the axis, the claw 9 is opened under the action of the track pin 10 and the root pin 11 along the guide groove, and the adapter base 28 is captured in the envelope.

[0044] After the target is captured, the floating electrical connector seat 14 and the floating electrical connector head 27 are connected, and external electrical output is realized; the key groove of the driving tool 19 and the spline of the adapter tool 30 are connected, the bottom reset spring 32 is used for adapting the circumferential alignment error, and the adapter tool 30 can be popped up to complete the insertion cooperation with the driving tool 19 in the rotating process of the driving output motor 13. The driving output motor 2 outputs a rotating speed and torque, which are transmitted to the driving output shaft 18, the driving tool 19, the adapter tool 30, the positioning pin 34 and the power shaft 33 through the driving pinion 15 and the driving gear 16. The power shaft 33 is provided with a matching stop and a mechanical flat mouth, and can adapt to the driving torque transmission of different driving tools.

[0045] After the capture and operation task is completed, the capture locking motor 2 rotates forward, and the claw 9 moves forward along the straight line segment of the guide groove, the adapter base 28 and the disc spring assembly 25 are separated from each other under the action of the disc spring pre-pressure, the in-place switch 26 gives a disconnecting signal, the claw 9 continuously moves forward until it is separated from the adapter base 28, and the release separation operation of the target is completed.

[0046] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the technical solutions of the present application shall fall within the protection scope of the technical solutions of the present application.

Claims

1. A multifunctional terminal integrating capturing, locking and driving output, power supply, characterized in that The application relates to a capturing and locking module, a driving output module and a positioning module. The capturing and locking module and the driving output module adopt a parallel shaft structure, the capturing and locking module converts the input of a motor into parallel output, drives the gripper at the end to realize rough positioning of a target to be captured and back pulling of the target to be captured during the whole capturing process. The positioning module is used for realizing medium positioning and fine positioning of the target to be captured after rough positioning and capturing of the gripper, and provides locking force for the captured target together with the capturing and locking module when the capturing is completed. The driving output module is used for providing output of external electricity, rotating speed and torque after the capturing is completed. The positioning module comprises a positioning pin, a driving end arc-shaped tooth, a disc spring assembly, a position switch, a target adapter and a passive end arc-shaped tooth. The adapter base is used for being mounted on the target adapter fixedly connected to the captured target. The adapter base is used for cooperating with the gripper to realize rough positioning during the capturing process. The passive end arc-shaped tooth is mounted on the adapter base and is used for being engaged with the driving end arc-shaped tooth mounted on the docking panel to realize fine positioning during the capturing process. The disc spring assembly and the position switch are mounted on the docking panel.

2. The integrated multifunctional tip of claim 1, wherein: The disc spring assembly is used for being contacted with the adapter base and being pressed during the capturing process. The position switch gives a guide communication signal as a criterion for judging whether the capturing and locking are completed. The capturing and locking motor reaches a current limiting value when the position switch gives the guide communication signal.

3. The integrated multifunctional tip of claim 2, wherein: The capturing and locking motor is de-energized and braked to realize continuous application of the locking force together with the disc spring assembly.

4. The integrated multifunctional tip of claim 2, wherein: The capturing and locking module comprises a shell, a capturing and locking motor, a capturing pinion, a capturing gear, a ball screw, a nut, a gripper mounting base, a gripper, a root pin shaft and a track pin shaft. The ball screw forms a support shaft system in the shell through ball screw angular contact ball bearings and ball screw deep groove ball bearings. The capturing and locking motor is fixedly connected to the inside of the shell and the output shaft is fixedly connected to the capturing pinion. The capturing pinion is engaged with the capturing gear. The capturing and locking motor outputs rotating speed and torque and transmits the rotating speed and torque to the ball screw through the capturing pinion and the capturing gear. The axis of the capturing and locking motor is parallel to the support shaft system. The gripper is centrally symmetrically arranged and the root thereof is mounted on the gripper mounting base through the root pin shaft. The gripper mounting base is fixedly connected to the nut which is mounted on the ball screw. The hollow guide groove is formed on the gripper. The track pin shaft and the root pin shaft mounted on the shell realize opening and closing and back pulling of the gripper. The number and shape of the gripper are determined according to the shape of the capturing position of the target to be captured. The gripper realizes rough constraint of five relative degrees of freedom except axial movement during the capturing process. The driving output module comprises a driving output motor, a floating electric connector seat, a driving pinion, a driving gear, a driving shaft angular contact ball bearing, a driving output shaft, a driving tool, a driving gear box, a docking panel, a floating electric connector head and a switching unit. The output shaft of the driving output motor is installed on the end cover of the side wall of the shell and is fixedly connected with the driving pinion, and the output rotating speed and torque of the driving output motor are transmitted to the driving output shaft through the driving pinion and the driving gear, the driving output shaft is supported by the driving shaft angular contact ball bearing in the driving gear box to form a support shaft system, and is fixedly connected with the driving tool, the driving tool is connected with the adapter unit installed on the captured target after the capturing is completed, and the rotating speed and torque of the external environment are output; the output shaft of the driving output motor is parallel to the support shaft system; one end of the driving gear box is connected with the end cover, and the other end is installed with a docking panel, and a floating electrical connector seat is installed on the end cover, which is used for cooperating with the floating electrical connector head installed on the captured target to realize the external electrical output.

5. The integrated multifunctional tip of claim 4, wherein: The adapter unit comprises an adapter tool, a power shaft angular contact ball bearing, a reset spring, a power shaft and a positioning pin. The power shaft is a shaft body with a central cavity, which is installed at the end of the captured target through the power shaft angular contact ball bearing, the reset spring is placed at the bottom of the central cavity, the adapter tool is placed on the central cavity, and the adapter tool is integrally installed with the power shaft through the positioning pin, one end of the adapter tool outside the central cavity is shaped to match the shape of the driving tool, and the other end is reserved with a matching stop and a mechanical flat mouth; the reset spring is used to provide a pushing force for the insertion and cooperation of the adapter tool and the driving tool.

6. The integrated multifunctional tip of claim 5, wherein: The positioning shaft and the power shaft angular contact ball bearing form a shaft support, which is on the same axis as the support shaft system formed in the driving gear box.

7. The integrated multifunctional tip of claim 5, wherein: The key groove of the driving tool is connected with the spline of the adapter tool.

8. A capture method using the integrated multifunctional end of claim 5, characterized by It comprises: controlling the operation of the capturing and locking motor to drive the jaw mounting base to move forward along the axis, and the jaws are opened under the action of the guide groove, the track pin shaft and the root pin shaft to capture the adapter base; controlling the capturing and locking motor to reverse rotation to drive the jaws to gradually close and pull back to complete the coarse positioning of the target; the positioning pin enters the pin hole of the adapter base to realize the fine positioning of the capturing process, the active end arc tooth is engaged with the passive end arc tooth, the adapter base is contacted and pressed with the disc spring assembly, the process is given a guide signal by the in-place switch, the capturing and locking motor reaches the current limit value, and the two cooperate to provide the criterion for the capturing and locking in place; after the capturing and locking criterion is met, the capturing and locking motor is de-energized and braked to realize the continuous application of the target locking force with the disc spring assembly, and the target capturing is completed.

9. The method of claim 8, wherein: When the driving torque needs to be provided to the outside, the driving output motor is controlled to rotate, the reset spring pops up the adapter tool during the rotation of the driving output motor and makes the adapter tool complete the insertion cooperation with the driving tool, and the output rotating speed and torque of the driving output motor are transmitted to the power shaft.

Images