Abstract: A two-degree-of-freedom decoupled transmission apparatus for a spatial adhesion pawl mainly includes a tangential loading transmission mechanism and a normal de-adhesion transmission mechanism. The tangential loading transmission mechanism adopts a bevel gear pair, such that the tangential loading transmission mechanism is arranged in a bending manner, and a tangential loading motor of the tangential loading transmission mechanism is collected inside the apparatus. The tangential loading motor is connected to a cam pull plate through the bevel gear pair, a worm gear reducer and a key, and drive the cam pull plate to rotate around a central shaft of an adhesion apparatus. Six transmission bolts on six adhesion units are respectively driven through six cam grooves on the cam pull plate to simultaneously perform centripetal driving on the adhesion units with a further increased force, so as to realize tangential and centripetal loading of the adhesion units.
Type:
Grant
Filed:
February 14, 2020
Date of Patent:
May 30, 2023
Assignee:
SHANGHAI AEROSPACE CONTROL TECHNOLOGY INSTITUTE
Inventors:
Jun Sun, Jinhai Wang, Xiaolong Zhang, Ting Song, Zhigang Liu
Abstract: A two-degree-of-freedom decoupled transmission apparatus for a spatial adhesion pawl mainly includes a tangential loading transmission mechanism and a normal de-adhesion transmission mechanism. The tangential loading transmission mechanism adopts a bevel gear pair, such that the tangential loading transmission mechanism is arranged in a bending manner, and a tangential loading motor of the tangential loading transmission mechanism is collected inside the apparatus. The tangential loading motor is connected to a cam pull plate through the bevel gear pair, a worm gear reducer and a key, and drive the cam pull plate to rotate around a central shaft of an adhesion apparatus. Six transmission bolts on six adhesion units are respectively driven through six cam grooves on the cam pull plate to simultaneously perform centripetal driving on the adhesion units with a further increased force, so as to realize tangential and centripetal loading of the adhesion units.
Type:
Application
Filed:
February 14, 2020
Publication date:
March 10, 2022
Applicant:
SHANGHAI AEROSPACE CONTROL TECHNOLOGY INSTITUTE
Inventors:
Jun SUN, Jinhai WANG, Xiaolong ZHANG, Ting SONG, Zhigang LIU