CN104908980A - Flexible capturing connection device and capturing connection method thereof - Google Patents
Flexible capturing connection device and capturing connection method thereof Download PDFInfo
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- CN104908980A CN104908980A CN201510234679.5A CN201510234679A CN104908980A CN 104908980 A CN104908980 A CN 104908980A CN 201510234679 A CN201510234679 A CN 201510234679A CN 104908980 A CN104908980 A CN 104908980A
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Abstract
The invention discloses a flexible capturing connection device and a capturing connection method of the device. The device comprises a driving capturing connection unit and a driven capturing connection unit. The driving capturing connection unit comprises an upper connecting rod, a flange disc, a spherical head shaft, lead springs, a capturing rod, a guide head and a lock tongue, and the upper connecting rod is connected with the spherical head end of the spherical head shaft through the flange disc; the lead springs are in the pretightening state and are connected between the spherical head shaft and the flange disc; the spherical head shaft is connected with the capturing rod which is connected with the guide head; the lock tongue is arranged on the outer side, close to one end of the guide head, of the capturing rod; and the driven capturing connection unit comprises a conical opening and a lock hook, and the lock hook is arranged at the conical end of the conical opening. When capturing is completed, the guide head enters the conical opening, and the lock hook and the lock tongue are in contact for compressing. The method comprises the steps that the guide head enters the conical opening; the lock tongue and the lock hook generate spring lock capturing; a shifting rod rotates to trigger a sensor; and the driving capturing connection unit moves upwards, and the lock tongue and the lock hook are in contact for compressing. The device and method are simple in structure, small in mass and large in capturing range.
Description
Technical field
The present invention relates to space industry, particularly a kind of flexibility is caught connecting device and is caught method of attachment.
Background technology
Along with the fast development of space flight mechanism, can realize between two aircraft reliably catching and being connected the establishment directly having influence on space station.But, owing to being subject to the impact of space environment and mechanism controls precision, two aircraft must realize catching and being connected in the environment that position deviation and jerk are large, this just required the mechanism of this function to meet large deviation is caught, large attachment force, high precision and the requirement that resets in time.
The problem such as existing for catching in the mechanism of connection, ubiquity complex structure (as docking mechanism), quality is large with volume, capture range is little, be connected and hold facility is low.
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, propose a kind of flexibility and catch connecting device and catch method of attachment, solve and existingly catch that quality in bindiny mechanism is large with volume, capture range is little, be connected and the problem such as hold facility is low.
For solving the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The invention provides a kind of flexibility and catch connecting device, it comprises: initiatively catch linkage unit and passively catch linkage unit;
Described linkage unit of initiatively catching comprises: go up connecting rod, flange, ball head, sheet spring, catch bar guide head and dead bolt, wherein: one end of described flange is connected with described upper connecting rod, and the other end is connected with the bulb end of described ball head; One end of described spring is connected on described ball head, and the other end is connected to the edge of described flange, and described spring is in Pre strained state; The other end of described ball head is connected with described one end of catching bar; The described other end of catching bar is hollow structure, is connected with described guide head; The outside of one end of the close described guide head of bar is caught described in described dead bolt is arranged at;
Described passive linkage unit of catching comprises: bell, latch hook, wherein: described latch hook is arranged at the conical end of described bell; When complete catch time, described guide head enters described bell, and described latch hook contacts with described dead bolt and compresses.
Flexibility of the present invention catches connecting device, rod member and spring is adopted to realize catching connection, structure is simple, quality and volume little, and upper connecting rod is connected to the bulb end of ball head by flange, ball head can around upper connecting rod universal swing, after having caught, reset under the effect of sheet spring, thus the deviation that can realize in a big way is caught.
Preferably, described spring comprises at least two, and described at least two sheet springs are oppositely arranged, and no matter which upper connecting rod swing towards, can return quickly and accurately.
Preferably, between described spring and described flange and described guide head and described catching between bar be connected by screw, not only stable connection, and easy disassembly.
Preferably, described active capturing unit also comprises: dished spring assembly, is arranged at the outside of the lower semisection of described ball head, reduces the rigidity between each parts, prevents external factor from causing the sudden change of attachment force, thus plays the maintenance effect of attachment force.
Preferably, described dished spring assembly comprises: disc spring, disc spring cover, adapter sleeve, the first nut and platen; Wherein: described disc spring is annular disc spring, be installed in described disc spring cover, be located on the outside of the lower semisection of described ball head; Described adapter sleeve is arranged on described disc spring and puts; Described first nut and described adapter sleeve are threaded connection, and contact with described platen and compress; The position of described platen regulates by the up-and-down movement of described nut, thus regulates the predetermincd tension of described disc spring.Complete after catching, disc spring is out of shape under the effect of thrust, can prevent external factor from causing the sudden change of attachment force, reduce the rigidity between each link, strengthens the attachment force hold facility of catching connecting device.
Preferably, described dished spring assembly is fixed on described ball head by the second nut and the 3rd nut; Described second nut contacts with described first nut and compresses, and described 3rd nut contacts with described second nut and compresses.Second nut contacts with the first nut and compresses, and can prevent the first nut from producing and loosen, the 3rd nut contacts with the second nut and compresses, can prevent from the second nut from producing to loosen, by double nuts pretension, dished spring assembly is fixed on ball head, connects more stable, be not easy generation and loosen.
Preferably, described disc spring cover is provided with draw-in groove with the junction of described adapter sleeve, can limit relatively rotating between disc spring cover and adapter sleeve, make structure more stable by draw-in groove.
Preferably, described disc spring cover is connected by screw with described bar of catching, and make whole apparatus integration, structure is more stable.
Preferably, described active capturing unit also comprises: sensor and driving lever; Catch described in described sensor is installed in bar, near described guide head; Described driving lever is installed on described sensor attachment, one end is caught outside bar described in stretching out, when described guide head enters the conical end of described bell, described driving lever rotates under the effect of described bell, press the binary pair of described sensor, can judge whether to catch according to the signal that sensor sends, trapped state has been detected.
Preferably, described passive linkage unit of catching also comprises housing, and described latch hook is fixing on the housing.Be fixed on by latch hook on housing, housing can be fixed in other structures, facilitates passively to catch the fixing of linkage unit.
The present invention also provides a kind of flexibility to catch method of attachment, and it comprises the following steps:
S111: the guide head of initiatively catching linkage unit enters passive bell of catching linkage unit;
S112: initiatively catch the dead bolt of linkage unit and passive latch hook of catching linkage unit and produce spring lock and catch;
S113: the binary pair of driving lever rotary push sensor, triggers described sensor;
S114: initiatively catch linkage unit upward movement, described dead bolt contacts with described latch hook and compresses.
Preferably, also step is comprised after step S114:
S121: the disc spring of initiatively catching linkage unit is out of shape under thrust effect.
Compared to prior art, the present invention has the following advantages:
(1) flexibility provided by the invention is caught connecting device and is adopted rod member to complete to catch with the combination of spring and is connected and resets, structure simply, quality and volume little;
(2) upper connecting rod is connected to the bulb end of ball head by flange, can realize universal swing, after having caught, reset under the effect of sheet spring, and capture range is large, can realize large-scale flexible deviation and catch;
(3) flexibility of the present invention is caught connecting device and is also comprised disc spring, and disc spring is out of shape under the effect of thrust, can prevent external factor from causing the change of attachment force, and play the maintenance effect of attachment force, attachment force hold facility is strong.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, embodiments of the present invention are described further:
Fig. 1 is the structure cutaway view of flexibility of the present invention when catching the deviation trapped state of connecting device;
Fig. 2 is that flexibility of the present invention catches the structure cutaway view of connecting device when sensor-triggered;
Fig. 3 is the structure cutaway view of flexibility of the present invention when catching the coupled condition of connecting device;
Fig. 4 is the diagram of circuit that flexibility of the present invention catches method of attachment.
The upper connecting rod of label declaration: 101-, 102-flange, 103-ball head, 104-sheet spring, 105-screw, 106-disc spring, 107-disc spring cover, 108-adapter sleeve, 109-first nut, 110-platen, 111-second nut, 112-the 3rd nut, 113-catches bar, 114-driving lever, 115-dead bolt, 116-guide head;
201-bell, 202-latch hook, 203-housing.
Detailed description of the invention
Elaborate to embodiments of the invention below, the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
embodiment 1:
Composition graphs 1-Fig. 3, the present embodiment is described flexibility of the present invention in detail and is caught connecting device, this device is by initiatively catching linkage unit and passive linkage unit two parts of catching form, and two parts combined action realizes that deviation on a large scale of the present invention is caught, attachment force keeps and trapped state monitoring.
Initiatively catch linkage unit and comprise connecting rod 101, flange 102, ball head 103, sheet spring 104, catch bar 113, dead bolt 116 and guide head 117, upper connecting rod 101 is connected to the bulb end of ball head 103 by flange 102, sheet spring 104 is in Pre strained state, one end is connected on ball head 103, the other end is connected to the edge of flange 102, ball head 103 can around upper connecting rod 101 universal swing, upper connecting rod 101 can reset under the effect of sheet spring 104, the present embodiment comprises four sheet springs 104, four sheet springs 104 are relative between two, be arranged on ball head 103 uniformly around, no matter ball head 103 whichaway swings, can under the effect of sheet spring 104 rapidly, reset exactly.The other end of ball head 103 connects catches bar 113, and the other end of catching bar 113 is hollow structure, and connect guide head 116, dead bolt 115 is arranged on the outside of catching bar 113, is positioned at the one end near guide head 116.Sheet spring 104 and flange 102 and guide head 116 are connected by screw 105 with catching between bar 113, stable connection, easy accessibility.
Passive linkage unit of catching comprises: bell 201, latch hook 202 and housing 203, latch hook 202 is connected to the conical end of bell 201, latch hook 202 is fixed on housing 203, and housing 203 can be fixed in other structures, facilitates passively to catch the fixing of linkage unit.
In the present embodiment, initiatively catch linkage unit also to comprise: dished spring assembly, i.e. attachment force holding unit, it is by disc spring 106, disc spring cover 107, adapter sleeve 108, first nut 109 and platen 110 form, disc spring 106 is annular, be arranged in disc spring cover 107, adapter sleeve 108 to be arranged on disc spring cover 107 and relatively rotating both being limited by draw-in groove, first nut 108 is threaded connection with adapter sleeve 108 and contacts with platen 110 and compresses, by rotating the upper-lower position of the first nut 109 adjustable platen 110 and then adjusting the predetermincd tension of disc spring 106, disc spring 106 can realize independent pretightening in attachment force holding unit.Disc spring cover 107 is connected on ball head 103 by the second nut 111 and the 3rd nut 112, and the 3rd nut 112 contacts with the second nut 111 and compresses, and prevent the second nut 111 from producing and loosen, adopt double nuts pretension, structure is more stable.Meanwhile, the second nut 111 contacts with the first nut 109 and compresses, and can prevent the first nut 109 from producing and loosen.
Sensor and the driving lever 114 for trigger sensor is also comprised in the present embodiment, sensor is arranged on catches in bar 113 (for drawing in figure), be positioned at the one end near guide head 116, driving lever 114 is arranged near sensor, one end is exposed and is caught outside bar 113, the binary pair of the rotatable contact pickup of driving lever 114, trigger sensor.
Structure cutaway view when Fig. 1 is deviation trapped state of the present invention, initiatively catch linkage unit under the directional tagging of guide head 116, enter passive bell 201 of catching linkage unit, the contact action that both produce makes ball head 103, around upper connecting rod 101, beat occur, the carrying of four sheet springs 104 also changes thereupon, when external force is eliminated, ball head 103 can reset under the effect of sheet spring 104.
Structure cutaway view when Fig. 2 is sensor-triggered of the present invention, along with guide head 116 progressively enters the conical end of bell 201, dead bolt 115 and latch hook 202 produce spring lock and catch, after postponing a period of time, driving lever 114 rotates under the effect of the conical end of bell 201, the binary pair of compression sensor 114, trigger sensor, acquisition procedure completes.
Structure cutaway view when Fig. 3 is coupled condition of the present invention, after acquisition procedure completes, linkage unit upward movement is initiatively caught under the effect of external drive, dead bolt 115 contacts with latch hook 202 and compresses, disc spring 106 is out of shape under the effect of thrust, disc spring 106 can prevent external factor from causing the sudden change of attachment force by distortion, thus plays the maintenance effect of attachment force.
It is that a kind of reset of universal swing, sheet spring, structure locking, disc spring of adopting is out of shape the structure realizing catching connection that the flexibility of the present embodiment catches connecting device, and provide and catch monitoring function, structure is simple, quality is little, capture range is large, attachment force hold facility is strong.
embodiment 2:
Composition graphs 4, the present embodiment is described flexibility of the present invention in detail and is caught method of attachment, and it comprises the following steps:
S111: the guide head of initiatively catching linkage unit enters passive bell of catching linkage unit;
S112: initiatively catch the dead bolt of linkage unit and passive latch hook of catching linkage unit and produce spring lock and catch;
S113: the binary pair of driving lever rotary push sensor, trigger sensor, acquisition procedure completes;
S114: initiatively catch linkage unit upward movement, dead bolt contacts with latch hook and compresses, and connection procedure completes.
Wherein: after described step S114, also comprise step:
S121: the disc spring of initiatively catching linkage unit is out of shape under thrust effect.
Disclosed herein is only the preferred embodiments of the present invention, and this specification sheets is chosen and specifically described these embodiments, and being to explain principle of the present invention and practical application better, is not limitation of the invention.The modifications and variations that any those skilled in the art do within the scope of specification sheets, all should drop in scope that the present invention protects.
Claims (12)
1. flexibility catches a connecting device, it is characterized in that, comprising: initiatively catch linkage unit and passively catch linkage unit;
Described linkage unit of initiatively catching comprises: go up connecting rod, flange, ball head, sheet spring, catch bar, guide head and dead bolt, wherein:
One end of described flange is connected with described upper connecting rod, and the other end is connected with the bulb end of described ball head;
One end of described spring is connected on described ball head, and the other end is connected to the edge of described flange, and described spring is in Pre strained state;
The other end of described ball head is connected with described one end of catching bar;
The described other end of catching bar is hollow structure, is connected with described guide head;
The outside of one end of the close described guide head of bar is caught described in described dead bolt is arranged at;
Described passive linkage unit of catching comprises: bell, latch hook, wherein:
Described latch hook is arranged at the conical end of described bell;
When complete catch time, described guide head enters described bell, and described latch hook contacts with described dead bolt and compresses.
2. flexibility according to claim 1 catches connecting device, it is characterized in that, described spring at least comprises two, and described at least two sheet springs are oppositely arranged.
3. flexibility according to claim 1 catches connecting device, it is characterized in that, between described spring and described flange and described guide head and described catching between bar be connected by screw.
4. flexibility according to claim 1 catches connecting device, it is characterized in that, described active capturing unit also comprises: dished spring assembly, is arranged at the outside of the lower semisection of described ball head.
5. flexibility according to claim 3 catches connecting device, it is characterized in that, described dished spring assembly comprises: disc spring, disc spring cover, adapter sleeve, the first nut and platen; Wherein:
Described disc spring is annular disc spring, is installed in described disc spring cover, is located on the outside of the lower semisection of described ball head;
Described adapter sleeve is arranged on described disc spring and puts;
Described first nut and described adapter sleeve are threaded connection, and contact with described platen and compress;
Described platen up-and-down movement under the effect of described nut, in order to regulate the predetermincd tension of described disc spring.
6. flexibility according to claim 5 catches connecting device, it is characterized in that, described dished spring assembly is fixed on described ball head by the second nut and the 3rd nut;
Described second nut contacts with described first nut and compresses, and described 3rd nut contacts with described second nut and compresses.
7. flexibility according to claim 5 catches connecting device, it is characterized in that, described disc spring cover is provided with draw-in groove, relatively rotating of both restrictions with the junction of described adapter sleeve.
8. flexibility according to claim 5 catches connecting device, it is characterized in that, described disc spring cover is connected by screw with described bar of catching.
9. flexibility according to claim 1 catches connecting device, it is characterized in that, described active capturing unit also comprises: sensor and driving lever;
Catch described in described sensor is installed in bar, near described guide head;
Described driving lever is installed near described sensor, one end stretch out described in catch outside bar, when described guide head enters the conical end of described bell, described driving lever rotates under the effect of described bell, presses the binary pair of described sensor.
10. flexibility according to claim 1 catches connecting device, it is characterized in that, described passive linkage unit of catching also comprises housing, and described latch hook is fixing on the housing.
11. 1 kinds of flexibilities catch method of attachment, it is characterized in that, comprise the following steps:
S111: the guide head of initiatively catching linkage unit enters passive bell of catching linkage unit;
S112: initiatively catch the dead bolt of linkage unit and passive latch hook of catching linkage unit and produce spring lock and catch;
S113: the binary pair of driving lever rotary push sensor, triggers described sensor;
S114: initiatively catch linkage unit upward movement, described dead bolt contacts with described latch hook and compresses.
12. flexibilities according to claim 11 catch method of attachment, it is characterized in that, also comprise step after step S114:
S121: the disc spring of initiatively catching linkage unit is out of shape under thrust effect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234679.5A CN104908980B (en) | 2015-05-11 | 2015-05-11 | A kind of flexible capture attachment means and capture method of attachment thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510234679.5A CN104908980B (en) | 2015-05-11 | 2015-05-11 | A kind of flexible capture attachment means and capture method of attachment thereof |
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| CN104908980A true CN104908980A (en) | 2015-09-16 |
| CN104908980B CN104908980B (en) | 2016-12-07 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416615A (en) * | 2015-11-12 | 2016-03-23 | 哈尔滨工业大学 | Microsatellite separating device |
| CN106143953A (en) * | 2016-07-07 | 2016-11-23 | 哈尔滨工程大学 | Automatically controlled elastic point type segregation apparatus |
| CN108488518A (en) * | 2018-05-04 | 2018-09-04 | 中国人民解放军国防科技大学 | Interface device for butt joint of gas-liquid filling pipeline and gas-liquid filling pipeline assembly |
| CN109050992A (en) * | 2018-09-17 | 2018-12-21 | 哈尔滨工业大学 | A kind of stop formula multimode collaboration is flexible to bore rod-type docking mechanism and its working method |
| CN110002011A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of spacecraft module flexible docking mechanism |
| CN112319869A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Large-space-tolerance butt joint device and locking method |
| CN113401375A (en) * | 2021-06-17 | 2021-09-17 | 哈尔滨工业大学 | Self-adaptive space manipulator suitable for capturing various non-cooperative satellites |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416615A (en) * | 2015-11-12 | 2016-03-23 | 哈尔滨工业大学 | Microsatellite separating device |
| CN105416615B (en) * | 2015-11-12 | 2017-07-14 | 哈尔滨工业大学 | A Microsatellite Separation Device |
| CN106143953A (en) * | 2016-07-07 | 2016-11-23 | 哈尔滨工程大学 | Automatically controlled elastic point type segregation apparatus |
| CN106143953B (en) * | 2016-07-07 | 2018-04-17 | 哈尔滨工程大学 | Automatically controlled elasticity point type separator |
| CN108488518A (en) * | 2018-05-04 | 2018-09-04 | 中国人民解放军国防科技大学 | Interface device for butt joint of gas-liquid filling pipeline and gas-liquid filling pipeline assembly |
| CN109050992A (en) * | 2018-09-17 | 2018-12-21 | 哈尔滨工业大学 | A kind of stop formula multimode collaboration is flexible to bore rod-type docking mechanism and its working method |
| CN110002011A (en) * | 2019-04-18 | 2019-07-12 | 哈尔滨工业大学 | A kind of spacecraft module flexible docking mechanism |
| CN110002011B (en) * | 2019-04-18 | 2022-07-05 | 哈尔滨工业大学 | Flexible docking mechanism of spacecraft module |
| CN112319869A (en) * | 2020-11-06 | 2021-02-05 | 哈尔滨工业大学 | Large-space-tolerance butt joint device and locking method |
| CN112319869B (en) * | 2020-11-06 | 2022-03-15 | 哈尔滨工业大学 | A large space tolerance docking device and locking method |
| CN113401375A (en) * | 2021-06-17 | 2021-09-17 | 哈尔滨工业大学 | Self-adaptive space manipulator suitable for capturing various non-cooperative satellites |
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|---|---|
| CN104908980B (en) | 2016-12-07 |
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