Self-adaptive butt joint ring two-finger flexible capturing tool

Abstract

The invention provides a self-adaptive butt joint ring two-finger flexible capturing tool. The self-adaptive butt joint ring two-finger flexible capturing tool comprises a capturing locking assembly, a self-adaptive yielding assembly and a self-adaptive disc spring assembly. The capturing and locking assembly comprises a shell, a shell end cover, a transmission mechanism and two paws; the shell and the shell end cover are used for installing the transmission mechanism, and the transmission mechanism is connected with the two paws and used for achieving linear motion and opening and closing actions of the two paws. The self-adaptive receding assembly is installed on the outer end face of the paw, the self-adaptive disc spring assembly is installed on the inner end face of the paw on the outer side, and clamping of the inner surface and the outer surface of the butt joint ring and initial correction are achieved through the self-adaptive receding assembly. The self-adaptive disc spring assembly is in flexible contact with the upper surface of the butt joint ring and adapts to the difference of the butt joint ring structure through compression deformation.

Description

TECHNICAL FIELD

[0001] The present application relates to a two-finger flexible capturing tool that can adapt to different docking rings, belonging to the field of industrial technology and space robots, and can be used in the process of capturing and preventing escape of space targets such as satellites, adaptive locking, etc., to achieve adaptive locking and fastening of space targets, improve the on-orbit control and service capability of space targets, and provide an implementation basis for subsequent takeover control, maintenance, and life extension of space targets. BACKGROUND

[0002] With the deepening of space exploration, space targets such as satellites may face problems such as failure or fuel depletion during on-orbit operation, which may lead to task interruption and affect data acquisition and the stability of space infrastructure. In order to cope with these challenges, on-orbit service technologies such as takeover control and subsequent life extension of the above-mentioned failed satellites are particularly important. Through on-orbit service technology, the failed satellite can be reliably captured and locked, and then through on-orbit maintenance and on-orbit refueling technology, the life of the failed satellite can be extended, which can greatly reduce the cost of repeated launch and improve the service life of on-orbit satellites.

[0003] The satellite-rocket docking ring has a standard structure, strong structural strength and stiffness, and can be used as the preferred part for on-orbit capture of satellites. Due to the update iteration of the docking ring interface standard and the fact that the structure of the non-cooperative target docking ring cannot be accurately predicted, there are significant differences in the structure (diameter, thickness, inclination angle, etc.) of the docking ring. The traditional conformal design cannot meet the requirements of capturing and locking for multiple types and differentiated satellite docking rings. In addition, on-orbit floating satellites generally have residual velocity and are accompanied by complex motion such as rotation, which puts forward higher requirements for the adaptive and flexible capturing function of the capturing tool. SUMMARY

[0004] The technical problem solved by the present application is to overcome the shortcomings of the prior art and provide a two-finger flexible capturing tool that can adapt to docking rings.

[0005] The technical solution of the present application is a two-finger flexible capturing tool that can adapt to docking rings, comprising a capturing and locking assembly, an adaptive retreat assembly, and an adaptive disc spring assembly.

[0006] The capturing and locking assembly comprises a housing, a housing end cover, a transmission mechanism, and two claws. The housing and the housing end cover are used to install the transmission mechanism, the transmission mechanism is connected with the two claws, and is used to realize the linear motion, opening and closing actions of the two claws. The adaptive retreat assembly is installed on the outer end surface of the claw, and realizes the holding of the inner and outer surfaces of the docking ring and the initial correction, the closing and pulling back process of the inner and outer claws of the docking ring through the adaptive retreat assembly. The adaptive disc spring assembly is installed on the inner end surface of the outer claw, and realizes the flexible contact with the upper surface of the docking ring and the compression deformation to adapt to the differences in the structure of the docking ring.

[0007] Preferably, the transmission mechanism comprises a pair of angular contact ball bearings, a trapezoidal screw, a nut, a jaw base, a jaw pin, a track pin, and a deep groove ball bearing.

[0008] One end of each of the two jaws is connected to the jaw base through the jaw pin, the jaw base is fixed to the nut, the trapezoidal screw is installed on the housing and the housing end cover through the pair of angular contact ball bearings and the deep groove ball bearing; the inside of the jaw has a straight and inclined continuous guide groove, the track pin is fixed on the housing and placed in the guide groove, the external driving force drives the trapezoidal screw to rotate forward or backward, driving the nut and the jaw base to move forward and backward, and the jaw realizes linear motion, opening and closing action under the joint action of the jaw pin and the track pin.

[0009] Preferably, the two jaws are arranged symmetrically at 180°.

[0010] Preferably, a plurality of self-adaptive retreat components are installed on the outer end surface of each jaw.

[0011] Preferably, the self-adaptive retreat component comprises a base, a guide rod, a roller bracket, a spring, a limiting plate, a roller shaft, and a roller.

[0012] The base is fixed to the top end of the jaw, i.e. the outer end surface, the guide rod is fixed to the base, the roller bracket is sleeved on the guide rod, and the two can slide relative to each other, the spring is installed in the cavity formed between the guide rod and the roller bracket, the roller is installed on the roller bracket through the roller shaft, and the limiting plate is fixed to the roller bracket and used to limit the position of the roller bracket along the extension direction of the guide rod; when the jaw moves from the open state to the closed state, the roller is in contact with the inner / outer surface of the docking ring under pressure, and under the action of pressure, the roller bracket drives the spring to realize self-adaptive compression; during the closing and pulling back of the jaw, the roller rolls along the inner / outer surface of the docking ring, reducing the contact friction force.

[0013] Preferably, a boss is arranged on the guide rod, and the limiting is realized by cooperation of the boss and the limiting plate.

[0014] Preferably, the direction of the force of the self-adaptive disc spring component is perpendicular to the direction of the force of the self-adaptive retreat component.

[0015] Preferably, the self-adaptive disc spring component comprises a spherical disc spring guide rod 12 and a self-adaptive disc spring 13.

[0016] The inner end face of the outer gripper is provided with a groove, and the adaptive disc spring is sleeved on the spherical disc spring guide rod and installed in the groove, the size of the spherical disc spring guide rod is lower than the inner surface of the inner gripper, here, lower is understood as that, with the continuous pullback of the gripper, the spherical disc spring guide rod contacts the target star docking ring first, the adaptive disc spring starts to deform and compress under the pressure of the spherical disc spring guide rod, until the spherical disc spring guide rod and the inner gripper both contact the target star docking ring and complete locking.

[0017] Preferably, it also comprises a docking panel, the docking panel is installed on the shell end cover, a position switch and a locking disc spring are installed on the docking panel, when locking, the position switch installed on the upper surface of the docking panel is triggered, the trapezoidal screw rod is self-locked, after the external driving torque stops acting, the locking disc spring is compressed due to force, and the continuous application of the locking force to the target is realized.

[0018] The beneficial effects of the present application compared with the prior art are:

[0019] A two-finger flexible capturing tool with an adaptive non-cooperative target docking ring structure is designed, the target deflection caused by the residual motion of the target can be corrected and stabilized, the docking rings with different structural parameters such as diameter, thickness and inclination angle can be adaptively captured and locked, and the tool has the characteristics of large capturing tolerance, strong structural adaptability and small locking impact. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a sectional view of the capturing and locking assembly;

[0021] Figure 2 is a three-dimensional view of the capturing and locking assembly;

[0022] Figure 3 is a sectional view of the adaptive retreat assembly;

[0023] Figure 4 is a three-dimensional process diagram of the two-finger flexible capturing tool capturing the docking ring. DETAILED DESCRIPTION

[0024] The present application will be further described below in combination with embodiments.

[0025] The device mainly comprises a capturing and locking assembly, an adaptive retreat assembly and an adaptive disc spring assembly.

[0026] The capture and locking assembly includes a housing, a housing end cap, a transmission mechanism, and two grippers. The housing and housing end cap are used to mount the transmission mechanism, which is connected to the two grippers to realize the linear movement, opening, and closing actions of the grippers. The adaptive retraction assembly is installed on the outer end face of the grippers. Through the adaptive retraction assembly, it achieves the clamping with the inner and outer surfaces of the docking ring and realizes the initial correction and the closing and pulling back process of the inner and outer grippers of the docking ring. The adaptive disc spring assembly is installed on the inner end face of the outer gripper. The adaptive disc spring assembly achieves flexible contact with the upper surface of the docking ring and adapts to the differences in the docking ring structure through compression deformation.

[0027] like Figure 1 As shown, in a preferred embodiment of the present invention, the capturing and locking assembly mainly consists of a housing 1, a housing end cap 10, an outer gripper 7-1, an inner gripper 7-2, a docking panel 11, a positioning switch 14, a locking disc spring 15, and a transmission mechanism. The transmission mechanism includes paired diagonal contact ball bearings 2, a trapezoidal lead screw 3, a lead screw nut 4, a gripper base 5, a gripper pin 6, a track pin 8, and a deep groove ball bearing 9. The adaptive disc spring assembly includes a spherical disc spring guide rod 12 and an adaptive disc spring 13. The adaptive retraction assembly mainly consists of a base 16, a guide rod 17, a roller bracket 18, a spring 19, a roller shaft 20, a roller 21, and a limiting plate 22.

[0028] The outer gripper 7-1 and inner gripper 7-2 of the capture and locking assembly are arranged symmetrically at 180°. The outer gripper 7-1 and inner gripper 7-2 are respectively mounted on the outer casing 1 and gripper base 5 via gripper pin 6 and track pin 8. The gripper pin 6 is fixedly connected to the lead screw 4. The trapezoidal lead screw 3 is mounted on the outer casing 1 and outer casing end cover 10 via paired diagonal contact ball bearings 2 and deep groove ball bearings 9. The trapezoidal lead screw 3 rotates in both directions via external driving force, thereby driving the lead screw 4 and gripper base 5 to move back and forth. The outer gripper 7-1 and inner gripper 7-2 have continuous straight and oblique guide grooves inside, which, under the combined action of the gripper pin 6 and track pin 8, allow the lead screw 4 and gripper base 5 to achieve linear movement, opening, and closing actions of the outer gripper 7-1 and inner gripper 7-2. The spherical disc spring guide rod 12 is smaller than the inner surface of the opposite gripper 7. As the outer gripper 7-1 and the inner gripper 7-2 continue to pull back, the spherical disc spring guide rod 12 on the outer gripper 7-1 contacts the target satellite docking ring before the inner gripper 7-2. The adaptive disc spring 13 begins to deform and compress under the pressure of the spherical disc spring guide rod 12 until both the spherical disc spring guide rod 12 and the inner gripper 7-2 contact the target satellite docking ring and complete the locking. During locking, the position switch 14 installed on the upper surface of the docking panel 11 is triggered, the trapezoidal lead screw 3 can self-lock, and after the external driving torque stops, the locking disc spring 15 is compressed due to the force, which can continuously apply the locking force to the target. The base 16 of the adaptive yielding component is fixedly connected to the top of the outer gripper 7-1 and the inner gripper 7-2. The guide rod 17 is fixedly connected to the base 16. The spring 19 is installed between the guide rod 17 and the roller bracket 18. The roller 21 is installed on the roller bracket 18 through the roller shaft 20. The limiting plate 22 is fixedly connected to the roller bracket 18, which can realize the extension limit along the guide rod 17. Figure 3 In the design, the boss on 17 and 22 form a mechanical limit for the rightward movement of 18, and the mechanical limit for the leftward movement of 18 is achieved through the contact between the bottom surface of the inner hole of 18 and the top surface of 17. When the outer gripper 7-1 and the inner gripper 7-2 move from the open state to the closed state, the roller 21 contacts and is pressed against the inner and outer surfaces of the docking ring. Under the pressure, the roller support 18 drives the spring 19 to achieve adaptive compression. During the retraction process of the outer gripper 7-1 and the inner gripper 7-2, the roller 21 can roll along the inner and outer surfaces of the docking ring, reducing the contact friction. The four sets of adaptive retraction components can contact the inner and outer surfaces of the docking ring respectively and generate a correction torque to stabilize the attitude of the target star.

[0029] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A self-adapting docking ring two-finger flexible capture tool, characterized in that The application relates to a locking assembly, an adaptive yielding assembly and an adaptive disc spring assembly. The adaptive yielding assembly is installed on the outer end surface of the hand claw, and the adaptive yielding assembly is used for realizing the holding of the inner and outer surfaces of the target star docking ring and the initial correction and the retraction of the hand claws on the inner and outer sides of the target star docking ring.

2. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: The transmission mechanism comprises a pair of angular contact ball bearings, a trapezoidal screw, a nut, a hand claw base, a hand claw pin shaft, a track pin shaft and a deep groove ball bearing. One end of each hand claw is connected with the hand claw base through the hand claw pin shaft, the hand claw base is fixedly connected with the nut, the trapezoidal screw is installed on the outer shell and the outer shell end cover through the pair of angular contact ball bearings and the deep groove ball bearing, the hand claw has straight and inclined continuous guide grooves in the interior, the track pin shaft is fixed on the outer shell and arranged in the guide grooves, and the external driving force drives the trapezoidal screw to rotate in the positive direction or the reverse direction, drives the nut and the hand claw base to move forward and backward, and drives the hand claw to realize the straight movement, the opening and the closing movement under the joint action of the hand claw pin shaft and the track pin shaft.

3. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: The two hand claws are arranged in 180-degree symmetry.

4. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: A plurality of adaptive yielding assemblies are installed on the outer end surface of each hand claw.

5. The self-adapting docking ring two-finger flexible capture tool of claim 1 or 4, wherein: The adaptive yielding assembly comprises a base, a guide rod, a roller support, a spring, a limiting plate, a roller rotating shaft and a roller. The base is fixedly connected with the top end of the hand claw, that is, the outer end surface, the guide rod is fixedly connected with the base, the roller support is sleeved on the guide rod and can slide relative to the guide rod, the spring is installed in the cavity formed between the guide rod and the roller support, the roller is installed on the roller support through the roller rotating shaft, the limiting plate is fixedly connected with the roller support and is used for limiting the position of the roller support along the extension direction of the guide rod, when the hand claw moves from the opening state to the closing state, the roller is in contact with the inner / outer surface of the target star docking ring and is pressed, the roller support drives the spring to realize adaptive compression under the action of the pressure, and the roller rolls along the inner / outer surface of the target star docking ring during the retraction process of the hand claw, so that the contact friction is reduced.

6. The self-adapting docking ring two-finger flexible capture tool of claim 5, wherein: The guide rod is provided with a boss, and the boss is matched with the limiting plate to realize the limiting.

7. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: The force direction of the adaptive disc spring assembly is perpendicular to the force direction of the adaptive yielding assembly.

8. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: The adaptive disc spring assembly comprises a spherical disc spring guide rod 12 and an adaptive disc spring 13. The inner end surface of the outer hand claw is provided with a groove, the adaptive disc spring is sleeved on the spherical disc spring guide rod and installed in the groove, the size of the spherical disc spring guide rod is lower than that of the inner surface of the inner hand claw, the lower here means that the spherical disc spring guide rod is in contact with the target star docking ring earlier than the inner hand claw during the continuous retraction of the hand claw, the adaptive disc spring starts to deform and compress under the pressure of the spherical disc spring guide rod, and the spherical disc spring guide rod and the inner hand claw are in contact with the target star docking ring and the locking is completed.

9. The self-adapting docking ring two-finger flexible capture tool of claim 1, wherein: Also include the docking panel, the docking panel is installed on the shell end cover, the docking panel is installed to the position switch and the locking disc spring, when locking, the surface of the docking panel is triggered, the trapezoidal screw is self-locking, and the external driving torque stops acting. After the action, the locking disc spring is compressed due to stress, and the continuous application of the target locking force is realized.

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