CN104443444B - Docking and transfer integral type space capture mechanism - Google Patents
Docking and transfer integral type space capture mechanism Download PDFInfo
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- CN104443444B CN104443444B CN201310420594.7A CN201310420594A CN104443444B CN 104443444 B CN104443444 B CN 104443444B CN 201310420594 A CN201310420594 A CN 201310420594A CN 104443444 B CN104443444 B CN 104443444B
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Abstract
A kind of space capture mechanism, it is adaptable to the docking of small-sized aircraft and transfer, it is characterised in that described space capture mechanism includes multiple separate rack-and-pinion holding claw mechanism, so that target aircraft to continue docking and transfer.Present invention achieves the docking of two aircraft on space orbit and to the distance transfer of shuttle on target aircraft.Under conditions of load space limited in space station, weight range, while realizing capture target aircraft, after stroke range limited for drive mechanism is amplified several times, shuttle is transferred to specify position.Achieve compact conformation, light weight, stroke length, the capture beneficial effects such as transition altitude is integrated.
Description
Technical field
The present invention relates to the capture to target aircraft (docking) and to the transfer of shuttle on target aircraft, particularly relate to the new spatial mechanism being applicable to complete docking and forwarding function on lunar surface track.
Background technology
China's moon exploration program be divided into " around, fall, return " three developmental stage, lunar exploration the third stage of the project " returns " and refers to the moon and automatically sample return, and its target is development and launches new lunar orbiter, it is achieved lunar surface soft landing and return of automatically sampling.New lunar orbiter uses lunar orbital rendezvous docking concept, including orbiter, orbital vehicle, lander, lifting device, four modules of recoverable capsule.This docking with the task of transfer integral type space capture mechanism is: realizes the connection of orbiter, orbital vehicle and lifting device, and is transferred in orbiter, orbital vehicle by the shuttle of lifting device.Due to the particularity of lunar exploration three phase docked flight device, dock and shift the difficult point that integral type space capture mechanism need to break through transfer stroke length, alignment requirements is high, free space is little, lightweight requirements is high.Docking and transfer integral type space capture mechanism, as the important component part of lunar orbiter, are to ensure that shuttle can enter the basis of follow-up task link.There is no the design precedent of Proteins docking/transfer device at present.
Thus, industry needs a kind of new space capture mechanism.
Summary of the invention
It is contemplated that by proposing a kind of new spatial mechanism, in transfer stroke length, alignment requirements is high, free space is little, under the constraint of lightweight requirements high condition, realize the capture (docking) to target aircraft, and perform the transfer work to target aircraft shuttle.
In order to reach foregoing invention purpose, the present invention proposes a kind of space capture mechanism, it is adaptable to the docking of small-sized aircraft and transfer.Described space capture mechanism includes multiple separate rack-and-pinion holding claw mechanism, so that target aircraft to continue docking and transfer.
In some embodiments, the multiple rack-and-pinion holding claw mechanism of described space capture mechanism is along the axially symmetric disposition of described capture mechanism.
In some embodiments, described rack-and-pinion holding claw mechanism includes: holding claw mechanism, it realizes the capture to target aircraft；Rackwork, it realizes the transfer to target aircraft；Drive mechanism, it provides power for described rack-and-pinion holding claw mechanism；Housing, it installs all above-mentioned each mechanisms.
In some embodiments, described holding claw mechanism includes holding claw, freewheel clutch, gear I, tooth bar I, wherein said gear I drives described holding claw to rotate under the driving of described tooth bar I, it is achieved the capture to target aircraft, and is realized the one-way locking to target aircraft by described freewheel clutch.
In some embodiments, described rackwork includes tooth bar II and steel wire rope, wherein described tooth bar I is pulled to move by described steel wire rope, and drive holding claw to rotate by described tooth bar I, and wherein after holding claw embraces described target aircraft, described gear II inverts, and described tooth bar II drives described holding claw rearward movement, it is achieved the transfer to the shuttle on described target aircraft.
In some embodiments, described drive mechanism includes motor, decelerator, gear II, and wherein said motor is rotated by gear II described in described decelerator deceleration rear drive, provides power for described rack-and-pinion holding claw mechanism.
In some embodiments, described rackwork also includes triggering block, wherein under the driving of described gear II, described tooth bar II moves upward, described triggering block is triggered by housing thus described triggering block pulls described steel wire rope, and pull described tooth bar I to move by described steel wire rope, to drive described holding claw to rotate by described tooth bar I.
In some embodiments, described triggering include described tooth bar II move upward arrival certain position after, described triggering block is triggered by housing, and the most described triggering block no longer continues up with described tooth bar II so that capture be triggered.
In some embodiments, described motor is mutually redundant pair of set motor.
Present invention achieves the docking of two aircraft on space orbit and to the distance transfer of shuttle on target aircraft.Under conditions of load space limited in space station, weight range, while realizing capture target aircraft, after stroke range limited for drive mechanism is amplified several times, shuttle is transferred to specify position.Achieve compact conformation, light weight, stroke length, the capture beneficial effects such as transition altitude is integrated.
In conjunction with accompanying drawing, other aspects of the present invention and advantage can be understood according to the description being illustrated by way of example present subject matter hereafter.
Accompanying drawing explanation
The detailed description that non-limiting example is made made with reference to the following drawings by reading, the other features, objects and advantages of the present invention will become more apparent upon:
Fig. 1 is docking transfer integral type space capture mechanism scheme of installation；
Fig. 2 is rack-and-pinion holding claw mechanism structure schematic diagram；
Fig. 3 is holding claw mechanism structure schematic diagram；
Fig. 4 is rackwork structural representation.
Detailed description of the invention
See the accompanying drawing illustrating the embodiment of the present invention, the present invention is described in more detail.But, the present invention can realize in many different forms, and should not be construed as the embodiment by herein proposing and limited.
Should be understood that the part of description of the invention/be illustrated as individual unit may be present in the entity that two or more physically independent but cooperation realizes the function of described/diagram.Additionally, describe/be illustrated as two or more physically separate parts can be integrated into a single the most physically entity to carry out the function of described/diagram.
Description describes space capture mechanism according to embodiments of the present invention in detail.
Below in conjunction with accompanying drawing 1～4, by describing a preferably specific embodiment in detail, the present invention is further elaborated.
Fig. 1 is docking transfer integral mechanism scheme of installation, and Fig. 2 is rack-and-pinion holding claw mechanism structure schematic diagram, and Fig. 3 is holding claw mechanism structure schematic diagram, and Fig. 4 is rackwork structural representation.
As shown in drawings, three sleeve gear tooth bar holding claw mechanisms are arranged on butt joint ring by housing 4, become 120 ° of circumference symmetrical.During docking transfer integral mechanism work, three set shank of the keys of target aircraft are embraced by three sleeve gear tooth bar holding claw mechanisms, and perform to retract operation, until the shuttle being arranged on target aircraft arrives target location, shuttle departs from from target aircraft after arriving target location, go forward side by side and become owner of in aircraft nacelle, dock and shift work and complete.
Should be understood that and the invention is not restricted to this, but can be made up of appropriate number of rack-and-pinion holding claw mechanism.
The detailed operation of rack-and-pinion holding claw mechanism is as follows:
Initially rack-and-pinion holding claw mechanism is in installment state, after receiving docking preparation instruction, motor 301 drives tooth bar II201 to move to +X direction through decelerator 302, and this hour rack II 201 and triggering block 203 are in relative static conditions, and tooth bar I 104 and gear I 103 is also at relative static conditions；
After target aircraft arrives precalculated position, tooth bar holding claw mechanism performs mating operation, motor 301 drives tooth bar II 201 to continue to +X direction and moves, position-limiting action due to housing 4, triggering block 203 can not be moved further along, there is relative displacement in tooth bar II 201 and triggering block 203, owing to steel wire rope 202 is connected with triggering block 203, there is relative motion in steel wire rope 202 band carry-over bar I 104 and tooth bar II 201, tooth bar I 104 driven gear I103 rotates, the handle of target aircraft is held tightly by holding claw 101, effect due to freewheel clutch, holding claw is in one-way locking state, rack-and-pinion holding claw mechanism is formed with target aircraft and is rigidly connected, docking mission completes；
After receiving transfer instruction, motor reversal, tooth bar II 201, tooth bar I 104 move to-X direction, move to target aircraft specify position, and after shuttle enters main aircraft nacelle, target aircraft release shuttle, transfer task completes.
Present invention achieves the docking of two aircraft on space orbit and to the distance transfer of shuttle on target aircraft.Under conditions of load space limited in space station, weight range, while realizing capture target aircraft, after stroke range limited for drive mechanism is amplified several times, shuttle is transferred to specify position.Achieve compact conformation, light weight, stroke length, the capture beneficial effects such as transition altitude is integrated.
Claims (6)
1. a space capture mechanism, it is adaptable to the docking of small-sized aircraft and transfer, it is characterised in that described space is caught
Obtain mechanism and include multiple separate rack-and-pinion holding claw mechanism, target aircraft to be docked and shifts；Institute
State the multiple rack-and-pinion holding claw mechanism axially symmetric disposition along described capture mechanism of space capture mechanism；Described gear
Tooth bar holding claw mechanism includes:
Holding claw mechanism, it realizes the capture to target aircraft；
Rackwork, it realizes the transfer to target aircraft；
Drive mechanism, it provides power for described rack-and-pinion holding claw mechanism；
Housing (4), it installs above-mentioned each mechanism；
Described holding claw mechanism includes holding claw (101), freewheel clutch (102), gear I (103), tooth bar I (104), its
Described in gear I drive described holding claw to rotate under the driving of described tooth bar I, it is achieved the capture to target aircraft, and
The one-way locking to target aircraft is realized by described freewheel clutch.
Space the most according to claim 1 capture mechanism, it is characterised in that described drive mechanism include motor (301),
Decelerator (302), gear II (303), wherein said motor is by gear II described in described decelerator deceleration rear drive
Rotate, provide power for described rack-and-pinion holding claw mechanism.
Space the most according to claim 2 capture mechanism, it is characterised in that described rackwork (2) includes tooth bar
II (201) and steel wire rope (202), wherein pull described tooth bar I to move by described steel wire rope, and by described tooth
Bar I drives holding claw to rotate, and wherein after holding claw embraces described target aircraft, described gear II inverts, described
Tooth bar II drives described holding claw rearward movement, it is achieved the transfer to the shuttle on described target aircraft.
Space the most according to claim 3 capture mechanism, it is characterised in that described rackwork also includes triggering block
(203), wherein under the driving of described gear II (303), described tooth bar II moves upward, and described triggering block is by shell
Body triggers thus described triggering block pulls described steel wire rope, and pulls described tooth bar I to move by described steel wire rope,
To drive described holding claw to rotate by described tooth bar I.
Space the most according to claim 4 capture mechanism, it is characterised in that described triggering includes described tooth bar II upwards
After motion arrives certain position, described triggering block is triggered by housing, and the most described triggering block is no longer with described tooth bar
II continues up, so that capture is triggered.
Space the most according to claim 3 capture mechanism, it is characterised in that described motor is mutually redundant double set electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310420594.7A CN104443444B (en) | 2013-09-16 | 2013-09-16 | Docking and transfer integral type space capture mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310420594.7A CN104443444B (en) | 2013-09-16 | 2013-09-16 | Docking and transfer integral type space capture mechanism |
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| Publication Number | Publication Date |
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| CN104443444A CN104443444A (en) | 2015-03-25 |
| CN104443444B true CN104443444B (en) | 2016-08-17 |
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| CN201310420594.7A Active CN104443444B (en) | 2013-09-16 | 2013-09-16 | Docking and transfer integral type space capture mechanism |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107492749B (en) * | 2017-03-09 | 2019-04-05 | 兰州空间技术物理研究所 | A kind of space load butt-joint locking interface arrangement for realizing emergency unlock and locking instruction |
| CN107697320B (en) * | 2017-07-31 | 2020-07-07 | 上海宇航系统工程研究所 | Claw type aircraft connecting and separating device |
| CN108516110B (en) * | 2018-03-28 | 2021-07-30 | 哈尔滨工业大学 | Space clamping jaw type repeatable locking and unlocking butt joint mechanism |
| CN211223917U (en) * | 2018-07-30 | 2020-08-11 | 魏荣亮 | Landing device for vertical lifting aircraft and ship |
| CN109178354B (en) * | 2018-09-07 | 2022-09-20 | 哈尔滨工业大学 | Non-cooperative spacecraft docking locking system based on satellite and rocket docking ring |
| CN109050992B (en) * | 2018-09-17 | 2020-04-24 | 哈尔滨工业大学 | Docking type multi-module cooperative flexible taper rod type docking mechanism and working method thereof |
| CN110217410B (en) * | 2019-05-30 | 2021-09-03 | 北京控制工程研究所 | Docking ring capturing and locking mechanism and capturing and locking method |
| CN111114853B (en) * | 2019-12-24 | 2021-04-20 | 兰州空间技术物理研究所 | Docking and locking interface device capable of conducting heat actively for space aircraft |
| CN111114848B (en) * | 2019-12-25 | 2021-04-20 | 兰州空间技术物理研究所 | Active-centering retractable capturing butt joint device |
| CN111361767B (en) * | 2020-03-17 | 2023-02-17 | 上海宇航系统工程研究所 | Ultra-light steel wire rope linkage type space docking mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3738290B2 (en) * | 2003-05-09 | 2006-01-25 | 独立行政法人 宇宙航空研究開発機構 | Satellite coupling mechanism, spacecraft having the same, and control method |
| US6840481B1 (en) * | 2003-09-30 | 2005-01-11 | The Aerospace Corporation | Adjustable multipoint docking system |
| CN101323377B (en) * | 2008-08-06 | 2010-11-10 | 哈尔滨工业大学 | Three-arm type noncooperative target docking mechanism |
| CN101890722B (en) * | 2010-06-03 | 2012-06-06 | 西北工业大学 | Novel three-degree-of-freedom (three-DOF) mechanical claw |
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