基于双四杆机构的可重复自动锁紧解锁装置

A Repetitive Automatic Locking/Unlocking Device Based on Double Four-Bar Mechanism

针对梦天实验舱对接、转位等工况,对日定向转动关节在轨多次锁紧解锁的需求,采用双四杆机构、自适应末端效应器等,设计一款可重复自动锁紧解锁装置。为了验证该锁紧解锁装置,利用研制产品,展开真空高温、真空低温、大气环境等多种状态下的锁紧解锁试验。结果表明:该机构可实现多种状态下的可重复自动锁紧解锁功能;在28 V直流工作电压下,锁紧动作执行时间为17.09~17.15 s,解锁动作执行时间为16.51~16.89 s。该机构具有高可靠、全角度、在轨可重复锁紧解锁等优点,在航天器锁紧解锁方面具有较大的工程应用潜力。

In view of the in-orbit multiple locking/unlocking requirements for the solar alpha rotary joints of the Mengtian lab module under docking and transposition conditions,a repetitive automatic locking/unlocking device is designed,where the double four-bar mechanism and the adaptive end effector are applied.In order to validate the function and performance of the locking/unlocking device,the developed product is tested in various states such as vacuum high-temperature,vacuum low-temperature,and atmospheric environment.The results show that the product can realize the repetitive automatic locking/unlocking function in various states.When the rated direct current operating voltage is 28 V,the execution time of the locking action is between 17.09 s and 17.15 s,and the execution time of the unlocking action is between 16.51 s and 16.89 s.The device has the advantages such as high reliability,full angle,and repetitive locking/unlocking in orbit,and has great engineering application potential in the locking/unlocking mechanisms for spacecrafts.