CN114313321A - Center-expanded large-tolerance low-impact space docking mechanism - Google Patents
Center-expanded large-tolerance low-impact space docking mechanism Download PDFInfo
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- CN114313321A CN114313321A CN202111571465.9A CN202111571465A CN114313321A CN 114313321 A CN114313321 A CN 114313321A CN 202111571465 A CN202111571465 A CN 202111571465A CN 114313321 A CN114313321 A CN 114313321A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 title claims abstract description 29
- 210000001503 joint Anatomy 0.000 claims description 28
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000000034 method Methods 0.000 abstract description 7
- 238000000926 separation method Methods 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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Abstract
The invention relates to the technical field of space docking, in particular to a center-expanded large-tolerance low-impact space docking mechanism; the spacecraft tracking device comprises a tracking spacecraft and a target spacecraft, wherein eight grooves are annularly formed in a cabin section of the tracking spacecraft, an action module is respectively installed in each of the eight grooves, and eight passive capture devices are repeatedly installed on the circumference of the inner wall of the cabin section of the target spacecraft; the action module comprises a capturing hook, a swing rod part of the capturing hook is designed into a V shape, eight V-shaped grooves are formed in the target spacecraft, and the V-shaped swing rod part of the capturing hook is connected with the V-shaped grooves in a matched mode; the invention has the advantages of large tolerance capability and natural channel, can realize repeated capture, posture adjustment, pull-in, locking and separation actions, reduces axial impact in the capture process, and can also effectively utilize the internal pressure of the pressurized cabin section to realize self-locking.
Description
Technical Field
The invention relates to the technical field of space docking, in particular to a center-expanded large-tolerance low-impact space docking mechanism.
Background
The docking mechanism can realize the mutual repeated connection and separation of a plurality of in-orbit spacecrafts, construct a sealed channel between the spacecrafts, and realize the continuous resource transportation including personnel rotation, material supply and transportation of spacecraft components. In the on-orbit operation tasks of building and assembling space stations and large space facilities and maintaining long-term stability of the spacecraft, the mechanical connection is established through capturing, posture adjusting, drawing and locking of the active end and the passive end of the docking mechanism to realize on-orbit combination, wherein the capturing and posture adjusting play an important role in the docking process.
The existing butt joint mechanism can be divided into a central layout mode and a peripheral layout mode according to layout modes, wherein the central layout mode is compact in structure, high in capturing tolerance capacity and occupied in central channel space; the peripheral layout has strong universality, a natural central channel is provided, but the capturing tolerance capability is weak, strong axial impact can be generated in the capturing process of the central and peripheral docking mechanisms, and repeated capturing, posture adjustment, pulling-in, locking and separating actions cannot be realized.
Disclosure of Invention
In order to solve the problems, the invention provides a center-expanded large-tolerance low-impact space docking mechanism which has both large-tolerance capacity and a natural channel, can realize repeated capturing, posture adjustment, pulling-in, locking and separating actions, and reduces axial impact in the capturing process.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a center-expanded large-tolerance low-impact space docking mechanism comprises a tracking spacecraft, a target spacecraft, a tracking cabin section, a target cabin section and an action module, wherein the tracking spacecraft is connected with the tracking cabin section, the tracking cabin section is an active end, the target spacecraft is connected with the target cabin section, the target cabin section is a passive end, eight grooves are annularly formed in the tracking cabin section, an action module is respectively installed in each groove, eight V-shaped grooves are formed in the target cabin section, eight passive capture devices are repeatedly installed on the circumference of the inner wall of the target cabin section, when docking is conducted, the action module is located in each passive capture device, a motor is arranged on each action module, and the motor is located in the tracking cabin section;
the action module comprises a capture hook, a swing rod part of the capture hook is designed into a V shape, and the V-shaped swing rod part of the capture hook is connected with the V-shaped groove in a matched mode.
As a further illustration of the invention, eight of the motion modules are arranged at 45 ° intervals along the circumference of the inner wall of the tracking capsule.
As a further explanation of the present invention, the motion module further includes a crank, a connecting rod, a slider rail, a limiting roller and a torsion spring, two ends of the connecting rod are rotatably connected to the crank and the slider through a rotating shaft and a bearing, respectively, the crank is rotatably connected in the tracking cabin section, the slider is slidably connected to the slider rail, the slider rail and the limiting roller are both disposed in the tracking cabin section, and a head end of the capturing hook is mounted on the rotating shaft of the slider.
As a further explanation of the invention, the head end of the capturing hook is fixed by a torsion spring, so that the capturing hook and the central axis of the cabin section form a fixed angle of 40 degrees.
As a further explanation of the present invention, the crank is fixedly connected to an output shaft of the motor.
As a further illustration of the invention, the crank level in the butt lock state exceeds the groove level by 2-3 °.
As a further explanation of the invention, the passive capturing device comprises a plurality of passive rockers, a steel wire rope, a compression spring and a fixed hinge, wherein two passive rockers are in a group, one group of passive rockers are symmetrically arranged at two ends of the capturing hook through the fixed hinge, the passive rockers are in an inverted L shape, the passive rockers are respectively connected with one steel wire rope, a receiving taper hole is arranged on the inner wall of the target cabin section, the steel wire rope is wound and installed in the receiving taper hole, a conical column is arranged on the butt-joint section of the target cabin section, the tail end of the steel wire rope is connected with the tail end of the conical column, and two ends of the compression spring are respectively and fixedly connected to a V-shaped groove and the inner wall of the target cabin section.
As a further illustration of the invention, a tapered hole is arranged on the butt-joint section of the spacecraft tank section of the tracking spacecraft, and the tapered hole is matched with the tapered column.
As a further explanation of the invention, the tapered hole is located at the outer end of the cross-section sealing ring.
As a further explanation of the invention, an electromagnetic switch is installed in the conical hole.
Compared with the prior art, the invention has the following beneficial effects:
the invention has larger tolerance capability in the initial stage of butt joint, reasonably utilizes the space of the central channel, reduces the volume space of the cabin section occupied by the butt joint mechanism, and can form a natural channel after the butt joint is finished, the butt joint mechanism avoids larger axial collision impact in the capturing process of the traditional butt joint mechanism, converts the larger axial collision impact into controllable circumferential collision impact, improves the reliability and safety of the butt joint process, and each action module of the mechanism can be independently driven by a motor, so the butt joint mechanism has very high flexibility, realizes the capture strategy under different butt joint initial conditions by controlling the action sequence and the action time of the action modules, improves the butt joint reliability, and can effectively utilize the internal pressure of the cabin section after being pressurized to realize self-locking in the butt joint locking state by that the crank horizontal line is 2-3 degrees higher than the groove horizontal line, the invention effectively utilizes limited resources in the outer space, is formed by repeated arrangement of the same action modules, further has high universality and transportability aiming at different application environments, and realizes the posture adjustment between two butt joint cabin sections by the contact extrusion of each capturing hook and the inclined surface of the V-shaped groove.
Drawings
FIG. 1 is a schematic view of a docking mechanism;
FIG. 2 is a side view of a target deck section;
FIG. 3 is a schematic view of a catch hook;
FIG. 4 is a schematic view of a docking mechanism;
FIG. 5 is a schematic diagram of a passive capture device;
FIG. 6 is a schematic diagram of a wire rope connection;
FIG. 7 is a schematic diagram of an initial stage of docking;
FIG. 8 is a schematic view of a docking attitude adjustment stage;
FIG. 9 is a schematic view of a butt pull-in stage;
FIG. 10 is a schematic view of the self-locking principle in the docking locking stage;
FIG. 11 is a schematic view of the catch hook in contact with the V-groove;
in the figure: a tracking cabin section 1; a crank 2; a connecting rod 3; a slider 4; a catch hook 5; a target cabin segment 6; a limiting roller 7; a slider rail 8; a V-shaped groove 9; a passive capture device 10; receiving the taper hole 11; a passive rocker 12; a wire rope 13; compressing the spring 14.
Detailed description of the preferred embodiments
The invention is explained in detail below with reference to the figures and with reference to embodiments.
Referring to fig. 1 and 5, eight grooves are circumferentially arranged in a tracking cabin section 1, an action module is respectively installed in each groove, eight V-shaped grooves 9 and eight passive capture devices 10 are arranged in a target cabin section 6, when butt joint is performed, the action module is located in the passive capture devices 10, the action module comprises a capture hook 5, a swing rod part of the capture hook 5 is designed into a V shape, a V-shaped rod part of the capture hook 5 is matched and connected with the V-shaped grooves 9, when the relative position and posture of a tracking spacecraft 15 to be butt-jointed and a target spacecraft 16 enter a butt joint range, the eight action modules in the tracking cabin section 1 on the tracking spacecraft 15 are started through a motor, the action modules enter the corresponding passive capture devices 10, then the capture hook 5 enters the target cabin section 6, and each arm rod of the capture hook 5 is in contact with each corresponding passive capture device 10 in the target cabin section 6 to capture the capture hook 5, then the arm rod of the capture hook 5 is contacted and extruded with the inclined plane of the V-shaped groove to realize the posture adjustment of the two butt joint cabin sections, and then the tail end of the capture hook 5 is contacted with the tail end of the V-shaped groove 9 to realize the clamping and complete the capture.
Referring to fig. 1, 3 and 5, the eight action modules are arranged along the circumference of the inner wall of the tracking cabin section 1 at intervals of 45 degrees, so that when the tracking spacecraft 15 is in butt joint with the target spacecraft 16, large collision impact can be generated.
Referring to fig. 1, 3 and 5, a crank 2 is rotatably connected in a tracking cabin section 1, a slider rail 8 and a limiting roller 7 are arranged in the tracking cabin section 1, a slider 4 is slidably connected on the slider rail 8, two ends of a connecting rod 3 are rotatably connected on the crank 2 and the slider 4 through a rotating shaft and a bearing respectively, the head end of a capture hook 5 is installed on the rotating shaft of the slider 4, after a tracking spacecraft 15 and a target spacecraft 16 enter a butt-joint range, the crank 2 is rotated and the connecting rod 3 is driven to rotate, the connecting rod 3 drives the slider 4 to move towards the inside of the cabin section of the tracking spacecraft 1 along the slider rail 8, the capture hook 5 is contacted with the limiting roller 7 and extrudes a torsion spring, all the capture hooks 5 simultaneously swing towards the direction of the inner wall of the cabin section, after capture is completed, the crank 2 is continuously rotated and the connecting rod 3 is driven to rotate, the connecting rod 3 drives the slider 4 to continuously move towards the inside of the tracking section 1 along the slider rail 8, after the capture hook 5 is straightened, the capture hook is not moved towards the inside of the tracking cabin section 1 along with the sliding block 4, the capture hook is contacted with the tail end of the V-shaped groove 9 to drive the target cabin section 6 to be continuously close to the tracking cabin section 1, the distance between the end faces of the two cabin sections is continuously reduced, finally, the crank 2 rotates to be overlapped with a groove on the tracking cabin section 1, as shown in fig. 5, the crank 2 and the connecting rod 3 are close to an axis line overlapped state, the crank 2 and the connecting rod 3 are folded in parallel to trace the groove in the cabin section 1, the occupied channel is emptied, the space of the central channel is reasonably utilized, the volume space of the cabin section occupied by the butt joint mechanism is reduced, a natural channel can be formed after the butt joint is completed, the butt joint mechanism is formed by repeated arrangement of the same action modules, and further, different application environments can be aimed at, and high universality and transportability are achieved.
Referring to fig. 1 and 2, the head end of the capturing hook 5 is fixed by a torsion spring, so that the capturing hook 5 and the central axis of the tracking cabin section 1 form a fixed angle of 40 degrees, the capturing hook 5 in the tracking cabin section 1 is in a conical initial state, and when the tracking spacecraft 15 is in butt joint with the target spacecraft 16, the V-shaped parts of the capturing hooks 5 are conveniently located in the target cabin section 6, and the butt joint efficiency can be improved.
Referring to fig. 1, each crank 2 is fixedly connected to an output shaft of a motor, the cranks 2 are driven to rotate by starting the motor, and each crank 2 can be independently driven by the motor, so that the device has very high flexibility, the motor controls the action sequence and the action time of each crank 2 to rotate to drive the connecting rod 3 to rotate, capture strategies under different docking initial conditions are met, and the docking reliability is improved.
Referring to fig. 6, the final position of the crank 2 is 2-3 degrees beyond the horizontal line of the groove in the cabin section of the tracking spacecraft 1, so that the air pressure in the cabin can be effectively utilized to realize self-locking, and further, space resources are effectively utilized.
Referring to fig. 4, two passive rockers 12 are in a group, a group of passive rockers 12 are symmetrically arranged at two ends of the capturing hook 5 through a fixed hinge, the passive rockers 12 are in an inverted L shape, a steel wire rope 13 is connected to the passive rockers 12, a receiving taper hole 11 is arranged on the target cabin section 6, the steel wire rope 13 is wound and installed in the receiving taper hole 11, a taper cylinder is arranged on a butt joint section of the cabin section of the target spacecraft 6, the tail end of the steel wire rope 13 is connected with the tail end of the taper cylinder, two ends of the V-shaped groove 9 are respectively provided with a compression spring 14, and when capturing butt joint is carried out, capturing of the capturing hook 5 is triggered and realized through impact in the swinging process of the capturing hook 5.
Referring to fig. 1, a tapered hole is formed in a butt-joint section of the tracking cabin section 1, a conical column on the target cabin section 6 is matched with the tapered hole, the conical hole on the tracking cabin section 1 and the conical column on the target cabin section 6 are aligned with each other and then contact with each other and extrude the conical column to move backwards, and a steel wire rope 13 is driven to be tensioned and pull all passive devices to be opened so as to prepare for separation.
Referring to fig. 1, a tapered hole on the tracking cabin section 1 is located at the outer end of a section sealing ring, after the capture hook 5 is straightened, the capture hook is contacted with the tail end of the V-shaped groove 9 to drive the target cabin section 6 to be close to the tracking cabin section 1, so that the distance between the end surfaces of the two cabin sections is continuously reduced, and then the sealing ring is extruded to realize the sealing of the two cabin sections;
further, an electromagnetic switch is arranged in the conical hole, after butt joint is completed and separation is needed, after air pressure in the cabin is drawn out, all motors are started to rotate reversely, the crank 2 rotates to drive the connecting rod 3, the connecting rod 3 drives the sliding block 4 and the capturing hook 5 to move along the inner portion of the track, the sealing ring is released, the electromagnetic switch is electrified to ensure that the conical hole is continuously contacted and extruded with the conical column, so that the passive capturing device 10 is continuously opened, when the crank 2, the connecting rod 3 and the sliding block 4 move to the initial position, the capturing hook 5 deflects towards the central axis of the cabin under the action of a torsion spring, the electromagnetic switch is powered off, and safe separation of the two cabin sections is achieved.
Claims (10)
1. The utility model provides a large-tolerance low impact space docking mechanism of center development which characterized in that: the device comprises a tracking spacecraft (15), a target spacecraft (16), a tracking cabin section (1), a target cabin section (6) and an action module, wherein the tracking spacecraft (15) is connected with the tracking cabin section (1), the tracking cabin section (1) is an active end, the target spacecraft (16) is connected with the target cabin section (6), the target cabin section (6) is a passive end, eight grooves are annularly formed in the tracking cabin section (1), action modules are respectively installed in the eight grooves, eight V-shaped grooves (9) are formed in the target cabin section (6), a passive capture device (10) is respectively arranged in the eight V-shaped grooves (9), when in butt joint, the action modules are located in the passive capture devices (10), motors are arranged on the action modules, and the motors are located in the tracking cabin section (1);
the action module comprises a capturing hook (5), the swing rod part of the capturing hook (5) is designed into a V shape, and the V-shaped swing rod part of the capturing hook (5) is matched and connected with a V-shaped groove (9).
2. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 1, wherein: the eight action modules are arranged along the circumference of the inner wall of the tracking cabin section (1) at intervals of 45 degrees.
3. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 1, wherein: the action module further comprises a crank (2), a connecting rod (3), a sliding block (4), a sliding block track (8) and a limiting roller (7), wherein the two ends of the connecting rod (3) are respectively connected to the crank (2) and the sliding block (4) in a rotating mode through a rotating shaft and a bearing, the crank (2) is connected to the inside of the tracking cabin section (1) in a rotating mode, the sliding block (4) is connected to the sliding block track (8) in a sliding mode, the sliding block track (8) and the limiting roller (7) are all arranged in the tracking cabin section (1), and the head end of the capturing hook (5) is installed on the rotating shaft of the sliding block (4).
4. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 3, wherein: the action module further comprises a torsion spring, and the head end of the capturing hook (5) is fixed through the torsion spring, so that the capturing hook (5) and the central axis of the tracking cabin section (1) form a fixed angle of 40 degrees.
5. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 3, wherein: the crank (2) is fixedly connected to an output shaft of the motor.
6. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 5, wherein: the included angle between the horizontal line of the crank (2) and the horizontal line of the groove in the butt joint locking state is larger than 2 degrees.
7. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 1, wherein: the passive capturing device (10) comprises a plurality of passive rockers (12), steel wire ropes (13), compression springs (14) and fixed hinges, the two passive rockers (12) form a group, the passive rockers (12) are symmetrically arranged at two ends of the capturing hook (5) through the fixed hinges, the passive rockers (12) are inverted L-shaped, the passive rockers (12) are respectively connected with one steel wire rope (13), a receiving taper hole (11) is formed in the inner wall of the target cabin section (6), the steel wire ropes (13) are wound and installed in the receiving taper hole (11), a conical column is arranged on the butt joint section of the target cabin section (6), the tail end of each steel wire rope (13) is connected with the tail end of the corresponding conical column, and two ends of each compression spring (14) are respectively and fixedly connected to the inner walls of the V-shaped groove (9) and the target cabin section (6).
8. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 7, wherein: a tapered hole is formed in the butt joint section of the tracking cabin section (1), and the conical column is matched with the tapered hole.
9. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 8, wherein: the taper hole is located the cross-section sealing washer outer end.
10. The center-deployed, high-tolerance, low-impact space docking mechanism of claim 9, wherein: and an electromagnetic switch is arranged in the conical hole.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111571465.9A CN114313321A (en) | 2021-12-21 | 2021-12-21 | Center-expanded large-tolerance low-impact space docking mechanism |
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| CN202111571465.9A CN114313321A (en) | 2021-12-21 | 2021-12-21 | Center-expanded large-tolerance low-impact space docking mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114212255A (en) * | 2021-12-15 | 2022-03-22 | 南京航空航天大学 | Combined separating mechanism suitable for combined aircraft |
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| RU2222480C2 (en) * | 2001-10-10 | 2004-01-27 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П.Королева" | Device for docking developed modules of spacecraft |
| JP2004330943A (en) * | 2003-05-09 | 2004-11-25 | Natl Space Development Agency Of Japan | Artificial satellite joint mechanism, spacecraft with the same, and control method |
| CN102849228A (en) * | 2012-10-09 | 2013-01-02 | 黄刚 | Non-cooperative target docking mechanism with peripheral swing-rod-type expansion joint |
| CN106428647A (en) * | 2016-11-23 | 2017-02-22 | 西北工业大学 | Rod pin type blind alignment space butt joint mechanism |
| CN111439397A (en) * | 2020-03-30 | 2020-07-24 | 哈尔滨工业大学 | Peripheral large-tolerance space docking mechanism and working method thereof |
| US20210339893A1 (en) * | 2020-05-04 | 2021-11-04 | Northrop Grumman Systems Corporation | Vehicle capture assemblies and related devices, systems, and methods |
-
2021
- 2021-12-21 CN CN202111571465.9A patent/CN114313321A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2222480C2 (en) * | 2001-10-10 | 2004-01-27 | Открытое акционерное общество "Ракетно-космическая корпорация "Энергия" им. С.П.Королева" | Device for docking developed modules of spacecraft |
| JP2004330943A (en) * | 2003-05-09 | 2004-11-25 | Natl Space Development Agency Of Japan | Artificial satellite joint mechanism, spacecraft with the same, and control method |
| CN102849228A (en) * | 2012-10-09 | 2013-01-02 | 黄刚 | Non-cooperative target docking mechanism with peripheral swing-rod-type expansion joint |
| CN106428647A (en) * | 2016-11-23 | 2017-02-22 | 西北工业大学 | Rod pin type blind alignment space butt joint mechanism |
| CN111439397A (en) * | 2020-03-30 | 2020-07-24 | 哈尔滨工业大学 | Peripheral large-tolerance space docking mechanism and working method thereof |
| US20210339893A1 (en) * | 2020-05-04 | 2021-11-04 | Northrop Grumman Systems Corporation | Vehicle capture assemblies and related devices, systems, and methods |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114212255A (en) * | 2021-12-15 | 2022-03-22 | 南京航空航天大学 | Combined separating mechanism suitable for combined aircraft |
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