阅读说明：本技术 一种面向航天应用的终端驱动索并联运载装置 (Terminal driving cable parallel carrying device for aerospace application ) 是由 唐晓强 孙海宁 李东兴 侯森浩 王禹衡 张荣侨 于 2021-08-30 设计创作，主要内容包括：本申请实施例公开一种面向航天应用的终端驱动索并联运载装置,包括：支撑主体、安装于支撑主体上的驱动机构和弹射机构；驱动机构能够安装绳索并能够对绳索进行收绳和放绳；弹射机构可将连接在绳索末端的附着机构弹射一端距离,进而吸附于外部环境；驱动机构和弹射机构安装于装置本体,大大降低对外部环境的依赖,任意改变附着块的位置就能实现装置构型的快速改变,提高了面向航天应用的终端驱动索并联运载装置的迁移性。(The embodiment of the application discloses terminal drive cable parallel carrying device for aerospace application, including: the ejection mechanism comprises a support main body, a driving mechanism and an ejection mechanism, wherein the driving mechanism and the ejection mechanism are arranged on the support main body; the driving mechanism can be used for installing a rope and can be used for winding and unwinding the rope; the ejection mechanism can eject one end of the attachment mechanism connected to the tail end of the rope for a distance so as to be adsorbed to the external environment; the driving mechanism and the ejection mechanism are arranged on the device body, dependence on external environment is greatly reduced, the configuration of the device can be rapidly changed by randomly changing the position of the attachment block, and the mobility of the terminal driving cable parallel carrying device for aerospace application is improved.)

1. A terminal drive cable parallel carrying device for aerospace application is characterized by comprising: the ejection mechanism comprises a support main body, a driving mechanism and an ejection mechanism, wherein the driving mechanism and the ejection mechanism are arranged on the support main body; the terminal driving cable parallel carrying device for aerospace application further comprises a rope wound on the driving mechanism, and an attachment mechanism is arranged at the tail end of the rope; the driving mechanism can be used for winding and unwinding the rope, and the ejection mechanism can eject the attachment mechanism for a certain distance so as to attach to the external environment.

2. An end drive cable parallel carrier for aerospace applications as claimed in claim 1, wherein: the attachment mechanism is made of at least one material: magnetic material, magnetic conductivity material and viscidity material; or the attachment mechanism is at least one of: electromagnetic chuck, viscidity adsorption part, buckle, couple.

3. An end-drive cable parallel carrier for aerospace applications according to claim 1 or 2, wherein: the support main body comprises a first mounting table and a second mounting table which are arranged at intervals in the height direction of the terminal driving cable parallel carrying device facing the aerospace application, the driving mechanism and the ejection mechanism are respectively mounted on the first mounting table and the second mounting table, and the driving mechanism and the ejection mechanism are correspondingly arranged in the height direction.

4. An end drive cable parallel carrier for aerospace applications as claimed in claim 3, wherein: the driving mechanism comprises a first mounting base plate which is matched with the first mounting table, a first power device which is mounted and supported on the first mounting base plate, and a roller which is matched with the first power device, and the rope is wound on the roller.

5. An end drive cable parallel carrier for aerospace applications as claimed in claim 4, wherein: the first power device comprises a first motor, a speed reducer connected with the first motor, a coupling and a bearing.

6. An end drive cable parallel carrier for aerospace applications as claimed in claim 3, wherein: the ejection mechanism comprises a second mounting base plate and an ejection assembly, the second mounting base plate is matched with the second mounting platform for mounting, the ejection assembly is mounted on the second mounting base plate, the ejection mechanism and the second mounting platform are obliquely mounted, so that the emission direction of the ejection assembly is outwards expanded, and the second mounting base plate and the second mounting platform are obliquely mounted.

7. An end drive cable parallel carrier for aerospace applications as claimed in claim 6, wherein: the ejection mechanism comprises an ejection table arranged on the second mounting substrate, a swing rod matched with the ejection table and a second power assembly driving the swing rod to move.

8. An end drive cable parallel carrier for aerospace applications as claimed in claim 7, wherein: the ejection table is provided with an emission opening matched with the attachment mechanism, and the attachment mechanism and the ejection table are mutually adsorbed and positioned.

9. An end drive cable parallel carrier for aerospace applications as claimed in claim 7, wherein: the second power assembly comprises a second motor, a first gear and a second gear, wherein the first gear is connected with the second motor, and the second gear is an incomplete gear.

10. An end drive cable parallel carrier for aerospace applications as claimed in claim 3, wherein: the ejection mechanism includes a plurality of ejection mechanisms arranged in a circumferential direction of the support body, and the drive mechanism includes a plurality of ejection mechanisms arranged in the circumferential direction of the support body and provided in correspondence with the plurality of ejection mechanisms in a height direction.

Technical Field

The embodiment of the application relates to the field of carrying robot equipment, and more particularly relates to a terminal drive cable parallel carrying device for aerospace application.

Background

In the maintenance process of the in-orbit space station, equipment or devices in the cabin need to be carried, assembled and butted in a large range, and a spacecraft needs to carry out human-computer interaction and cooperation.

The existing cable-driven parallel mechanism has the characteristics of small structural mass, easy manufacture and assembly and the like, and is widely applied to space stations. Theoretically, the rope can be wound on a winding drum in the rope outlet mechanism in an infinite circle, so that the working space of the rope driving parallel mechanism is large, and the rope driving parallel mechanism has wide application prospects in the fields of aerospace, wind tunnel tests and long-stroke tracking shooting.

However, the mechanism has the common problems that the driving mechanism is separated from the end moving platform, is statically arranged in the external environment and is difficult to move, the working space of the whole mechanism is limited, and the installed driving mechanism needs to be replaced by the installation position if the inherent working space is changed, so that the operation is complicated.

Disclosure of Invention

The embodiment of the application also provides a terminal drive cable parallel carrying device for aerospace application, which is simple in configuration, low in manufacturing cost, easy to migrate, free of gravity constraint and suitable for zero-gravity or microgravity environments of in-orbit space stations.

The terminal drive cable parallel carrying device for aerospace application in the embodiment of the application comprises: the ejection mechanism comprises a support main body, a driving mechanism and an ejection mechanism, wherein the driving mechanism and the ejection mechanism are arranged on the support main body; the driving mechanism can be used for installing a rope and can be used for winding and unwinding the rope; the ejection mechanism can be installed in cooperation with the end of the rope connected with the external environment and can launch the end outwards.

Compared with the prior art, the parallel carrying device of the embodiment of the application has the advantages that the driving mechanism and the supporting main body form a complete whole, so that the parallel carrying device is a tail end platform and a driving source, the driving mechanism is provided with the rope with the attachment mechanism, the parallel carrying device is only connected with the external environment through a plurality of attachment points, the configuration of the device can be rapidly changed by randomly changing the positions of the attachment points, and the device has high mobility. Greatly reduces the dependence on the external environment and improves the mobility.

Additional features and advantages of the application will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the application. The objectives and other advantages of the application may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

Drawings

The accompanying drawings are included to provide a further understanding of the claimed subject matter and are incorporated in and constitute a part of this specification, illustrate embodiments of the subject matter and together with the description serve to explain the principles of the subject matter and not to limit the subject matter.

Fig. 1 is a schematic perspective view of a terminal drive cable parallel carrier device for aerospace applications according to an embodiment of the present disclosure;

fig. 2 is a schematic view of a driving device of a terminal driving cable parallel carrier device for aerospace applications according to an embodiment of the present application;

fig. 3 is a schematic view of an ejection mechanism of a terminal drive cable parallel carrier device for aerospace applications according to an embodiment of the present application;

fig. 4 is a schematic view of an attachment mechanism of a terminal drive cable parallel carrier device for aerospace application according to an embodiment of the present application in an emission state;

fig. 5 is a schematic state diagram of an implementation manner of attaching the attachment mechanism of the terminal drive cable parallel carrier device for aerospace applications to the external environment according to the embodiment of the present application;

fig. 6 is a schematic state diagram of another implementation manner of attaching the attachment mechanism of the terminal drive cable parallel carrier device for aerospace applications to the external environment according to the embodiment of the present application.

Detailed Description

Hereinafter, embodiments of the present application will be described with reference to the drawings. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

The embodiment of the application provides a terminal drive cable parallel carrying device 100 for aerospace application, which can be applied to a ground environment or a space environment. The device can be used for daily maintenance of an on-orbit space station, large-range carrying, assembling and butt joint of equipment or devices, human-computer interaction and cooperation with astronauts and the like in a space environment, and the terminal drive cable parallel carrying device 100 for aerospace application in the space environment is not constrained by gravity. In this embodiment, the parallel carrier device 100 according to the embodiment of the present invention is explained by taking a gravity-free environment such as a space capsule as an example.

As shown in fig. 1 to 6, a parallel carrier 100 according to an embodiment of the present invention includes: the ejection mechanism comprises a support body 1, a driving mechanism 2 and an ejection mechanism 3, wherein the driving mechanism 2 and the ejection mechanism 3 are installed on the support body 1. The end drive cable parallel carrier 100 for aerospace applications also includes a cable 20 (shown in fig. 5 and 4) wound around the drive mechanism 2. The drive mechanism 2 can reel in and reel out the rope 20. The end of the rope 20 is provided with an attachment mechanism 201 (see fig. 5 and 6), the driving mechanism 2 can take up and pay off the rope 20, and the ejection mechanism 3 can eject the attachment mechanism 201 for a certain distance and further attach to the external environment.

The attachment mechanism 201 is made of at least one material selected from: the material with magnetism, magnetic conductivity material, the material with viscidity, or, attachment mechanism 201 is one of them at least: electromagnetic chuck, viscidity adsorb piece, buckle, couple to it can be convenient for adhere to in the external environment to adhere to mechanism 201.

As shown in fig. 4 and 5, in one embodiment of the present invention, the attachment mechanism 201 is a magnetic electromagnetic adsorption member, and the ejection mechanism 3 can automatically adsorb the attachment mechanism 201 to the external environment by emitting the attachment mechanism 201 outward. The external environment in this embodiment may refer to a wall of the capsule, and since the wall of the capsule is generally made of metal, the operation of the parallel carrier 100 can be realized without changing the external environment. The attachment mechanism 201 can be attached to the wall of the space capsule to change the direction of travel.

In another embodiment of the present application, as shown in fig. 6, the attachment mechanism 201 is in the form of a hook, so that it is necessary to manually assist the installation after the attachment mechanism 201 is shot out for a certain distance.

In the parallel carrying device 100 according to the embodiment of the present application, the driving mechanism 2 is fixed to the support body 1 and serves as a terminal moving platform together, and the driving mechanism 2 changes the pose of the terminal moving platform by winding and unwinding the rope. The ejection mechanism 2 can eject the attachment mechanism 201 by a distance, the attachment mechanism 201 can be adsorbed in the external environment, and one end of the rope of the driving mechanism 2 is connected to the attachment mechanism 201. The dependence on the external environment can be greatly reduced, the configuration of the device can be rapidly changed by randomly changing the position of the attachment mechanism 201, and the mobility of the parallel carrying device 100 is improved. Under the zero gravity environment in the cabin, the strong adhesion with the external environment can be realized, the gravity constraint is avoided, and the precise assembly and butt joint can be realized.

As shown in fig. 1, the support body 1 includes a first mounting table 11 and a second mounting table 12 which are spaced up and down. The first mounting table 11 has a plate shape, and the second mounting table 12 has a fan-like shape including a plurality arranged in a plurality of directions in a circumferential direction. The drive mechanism 2 includes a plurality of units arranged in a plurality of directions along the circumference of the first mount table 11. The drive structure 2 in the present embodiment includes three and is arranged along the circumferential direction of the first mount table 11. The ejection mechanism 3 includes a plurality of ejection mechanisms 3 arranged in a plurality of directions along the circumferential direction of the support body 1, and the ejection mechanism 3 includes three ejection mechanisms 3a, 3b, and 3c, respectively, in the present embodiment. The plurality of driving mechanisms 1 and the plurality of ejection mechanisms 2 are provided in the support body 1 in a vertical direction.

As shown in fig. 2, the driving mechanism 2 includes a first mounting board 21 mounted in cooperation with the first mounting table 11, a first power unit 22 mounted on and supported by the first mounting board 21, and a roller 23 mounted in cooperation with the first power unit 22. The rope 20 is wound on the drum 23, and the first power device 22 can drive the drum 23 to move so as to take up or pay off the rope 20.

The first power unit 22 includes a first motor 220, a reducer 221, a coupling 222, and a bearing 223. When the first motor 220 is operated, the motion is transmitted to the drum 23 through the reducer 221 and the coupling 222, so that the extension and contraction of the rope 20 are controlled, and the change of the attitude of the intermodal transportation device 100 is realized.

As shown in fig. 3, the ejector mechanism 3 is mounted to the second mounting table 12 in an inclined manner, and includes a second mounting board 30 mounted to be engaged with the second mounting table 12, and an ejector unit 31 mounted to the second mounting board 30. Wherein the ejection mechanism 3 is obliquely installed with the second installation table 12, and the oblique installation enables the emission direction of the ejection assembly 31 to be expanded outwards, thereby being capable of emitting the attachment mechanism 201 of the rope 20 for a longer distance. The ejection mechanism 31 includes an ejection table 310 disposed on the second mounting substrate 30, a swing rod 311 disposed in cooperation with the ejection table 310, and a second power assembly 312 driving the swing rod 311 to move.

The ejection table 310 is provided with a launch opening 3101 which is mounted in cooperation with the attachment mechanism 201, and the attachment mechanism 201 can be mounted on the launch opening 3101 and positioned with the ejection table 310 by means of mutual attraction. The second power assembly 312 includes a first gear 3120, a second gear 3121 engaged with the first gear 3120, and a second motor 3122. The second gear 3121 is an incomplete gear. When the second motor 3122 is operated, the swing link 311 completes the rotation and force accumulation through the transmission of the first gear 3120 and the second gear 3121 under the driving of the second motor 3122, so as to realize the impact with the attachment mechanism 201, and strike the attachment mechanism 201 for a certain distance, and because the electromagnetic attraction force or the adhesion force of the attachment mechanism 201 is fixedly connected with the attachment point provided by the external environment, the support is provided for the movement of the parallel carrying device 100.

The parallel carrying device 100 of the embodiment of the application has the advantages that the driving mechanism 2 is arranged on the terminal movable platform (comprising the supporting body 1) to form a complete whole, the driving mechanism 2 is a terminal platform and a driving source, the driving mechanism 2 is arranged on the device supporting body 1, the parallel carrying device 100 is only connected with the external environment through a plurality of attachment points, the configuration of the device can be rapidly changed by randomly changing the positions of the attachment points, and the parallel carrying device has high mobility. Only the external environment provides the attachment condition of the attachment mechanism, the dependence on the external environment is greatly reduced, the rapid change of the configuration of the device can be realized by randomly changing the position of the attachment point, and the mobility of the cable robot body is improved.

The parallel carrying device 100 of the embodiment of the application has the advantages of simple structure, low manufacturing cost, easy migration and no gravity constraint, and can be completely adapted to the zero-gravity or microgravity environment of the on-orbit space station.

The modular design of the driving mechanism 2 and the ejection mechanism 3 of the parallel carrying device 100 of the embodiment of the application can increase or delete the number of the driving mechanism 2 and the ejection mechanism 3 according to different actual requirements, and the configuration of the device can be flexibly changed. Meanwhile, in a zero-gravity environment in the cabin, the parallel carrying device 100 can be attached to the external environment forcefully by actively applying a cable force, so that the rigidity of the body is improved, the movement precision of the terminal actuator is further ensured, and precise assembly and butt joint are realized.

The parallel carrying device 100 of the embodiment of the present application employs a redundancy and fault-tolerant mechanism, and if a certain rope 20 is broken or a certain driving mechanism 2 fails during a large-scale movement or transportation process, the device can still stably operate to a target point.

The parallel carrying device 100 of the embodiment of the application further comprises a control device (not shown), can realize real-time monitoring and control of the cable force in the operation process, ensures that the error of the cable force is within 5%, completes self-adaptive adjustment of the cable force according to different work task requirements, ensures safety of astronauts to the maximum extent during man-machine interaction, needs to properly reduce the cable force, and keeps great flexibility. In the process of large-scale movement or transportation, path planning between the starting point and the target point is automatically completed, and possible obstacles in the path are avoided.

The parallel carrier device 100 of the embodiment of the present application further includes a transport platform or a claw or a transport bin, etc. (not shown), which can be used for carrying articles.

In the description of the embodiments of the present application, the term "plurality" means two or more. In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "opposite", "four corners", "periphery", "mouth" word structure ", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the structures referred to have a specific orientation, are configured and operated in a specific orientation, and thus, are not to be construed as limiting the present application.

In the description of the embodiments of the present application, unless otherwise explicitly stated or limited, the terms "connected," "directly connected," "indirectly connected," "fixedly connected," "mounted," and "assembled" are to be construed broadly and, for example, may be fixedly connected, detachably connected, or integrally connected; the terms "mounted," "connected," and "fixedly connected" may be directly connected or indirectly connected through intervening media, or may be connected through two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Although the embodiments disclosed in the present application are described above, the descriptions are only for the convenience of understanding the present application, and are not intended to limit the present application. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims.