The invention relates to the technical field of space robots, in particular to a three-degree-of-freedom soft butt joint which comprises a transmission mechanism, a damping buffering assembly and a sensing assembly. The transmission mechanism comprises a clutch, a cross shaft structure, a Z-axis rotating shell, a Y-axis rotating shell and the like; the damping buffer assembly comprises a rotary magnetorheological damper, a torsion spring mechanism and the like; the sensing assembly comprises an encoder and the like. According to the soft butt joint, the flexibility of a butt joint mechanism is controlled mainly through a damping buffering assembly, space six-dimensional momentum unloading is achieved according to an operation task, and therefore soft butt joint of space operation is achieved.

    本发明涉及空间机器人技术领域,具体是一种三自由度软对接关节,包括传动机构、阻尼缓冲组件和传感组件。所述的传动机构包括离合器、十字轴结构、Z轴旋转外壳、Y轴旋转外壳等;阻尼缓冲组件包括旋转式磁流变阻尼器和扭转弹簧机构等;传感组件包括编码器等。所述的软对接关节主要利用阻尼缓冲组件控制对接机构的柔性,根据操作任务实现空间六维动量卸载,从而实现空间操作的软对接。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Three-degree-of-freedom soft butt joint for unloading spatial six-dimensional impulse


    Weitere Titelangaben:

    一种用于卸载空间六维冲量的三自由度软对接关节


    Beteiligte:
    CHU MING (Autor:in) / LI RUIDA (Autor:in)

    Erscheinungsdatum :

    2024-02-09


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    B64G Raumfahrt , COSMONAUTICS



    Five-degree-of-freedom flexible vertical butt joint assembly device

    CHEN ZIXUAN / LIU YANFANG / JIA SHUANLI et al. | Europäisches Patentamt | 2024

    Freier Zugriff

    Self-unloading-type automatic butt joint device

    ZHANG GUANG / YI SIJIA / CHONG LEILEI et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Three-dimensional active gravity unloading device suitable for multi-degree-of-freedom experimental object

    LIU GANGFENG / LI CHANGLE / FAN JIZHUANG et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Aircraft cabin butt joint method based on six-degree-of-freedom parallel mechanism

    QI RUOLONG / MENG LIXIA / LI SONGHUA | Europäisches Patentamt | 2023

    Freier Zugriff

    Six-degree-of-freedom high-precision transfer and flexible butt joint equipment for large cabin

    WANG RONG / DONG LIGANG / ZHANG YANGCHENG et al. | Europäisches Patentamt | 2020

    Freier Zugriff